Synchronization of the orientation of a 3D measurement device and the orientation of an intelligent guidance device
First Claim
1. A method for synchronizing a three-dimensional measurement device (3DM) having an internal 3D coordinate system O3DM, X3DM, Y3DM, and Z3DM, with an intelligent guidance device (IGD) separate from the 3DM, the IGD having a display device, a gravity direction measurement device, an electronic compass, and an internal 3D coordinate system OIGD, XIGD, YIGD, ZIGD, the method comprising:
- defining a coordinate system OIGD-Earth, XIGD-Earth, YIGD-Earth, ZIGD-Earth using a direction opposite to gravity as ZIGD-Earth and a direction corresponding to a magnetic north pole as YIGD-Earth, from a perspective of the IGD by;
measuring a direction of gravity using the gravity direction measurement device and defining a vector ZIGD-Earth as opposite to the direction of gravity;
measuring a direction of North magnetic pole using the electronic compass and defining a vector YIGD-Earth pointing in the North magnetic pole direction; and
computing a vector product of YIGD-Earth and ZIGD-Earth defining vector XIGD-Earth;
computing and applying a rigid transformation TIGD-To-IGDEarth to transform OIGD, XIGD, YIGD, ZIGD to OIGD-Earth, XIGD-Earth, YIGD-Earth, ZIGD-Earth;
defining a coordinate system O3DM-Earth, X3DM-Earth, Y3DM-Earth, Z3DM-Earth using a direction opposite to gravity as Z3DM-Earth and the direction corresponding to the magnetic north pole as Y3DM-Earth, from a perspective of the 3DM; and
computing and applying a rigid transformation T3DM-To-3DMEarth to transform O3DM, X3DM, Y3DM, and Z3DM to O3DM-Earth, X3DM-Earth, Y3DM-Earth, Z3DM-Earth , such that XIGD-Earth and X3DM-Earth are substantially parallel and point in a first direction, YIGD-Earth and Y3DM-Earth are substantially parallel and point in a second direction, and ZIGD-Earth and Z3DM-Earth are substantially parallel and point in a third direction, thereby synchronizing an orientation of the IGD with an orientation of the 3DM.
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Accused Products
Abstract
There is described a method to synchronize the orientation of an IGD 3D Coordinate System and the orientation of a 3DM 3D Coordinate System, in which the IGD'"'"'s gravity direction measurement device and electronic compass are used explicitly. There is also described how an IGD, once its orientation has been synchronized to the orientation of a 3DM, can be used to display 3D graphics that guide the measurement process.
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Citations
16 Claims
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1. A method for synchronizing a three-dimensional measurement device (3DM) having an internal 3D coordinate system O3DM, X3DM, Y3DM, and Z3DM, with an intelligent guidance device (IGD) separate from the 3DM, the IGD having a display device, a gravity direction measurement device, an electronic compass, and an internal 3D coordinate system OIGD, XIGD, YIGD, ZIGD, the method comprising:
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defining a coordinate system OIGD-Earth, XIGD-Earth, YIGD-Earth, ZIGD-Earth using a direction opposite to gravity as ZIGD-Earth and a direction corresponding to a magnetic north pole as YIGD-Earth, from a perspective of the IGD by; measuring a direction of gravity using the gravity direction measurement device and defining a vector ZIGD-Earth as opposite to the direction of gravity; measuring a direction of North magnetic pole using the electronic compass and defining a vector YIGD-Earth pointing in the North magnetic pole direction; and computing a vector product of YIGD-Earth and ZIGD-Earth defining vector XIGD-Earth; computing and applying a rigid transformation TIGD-To-IGDEarth to transform OIGD, XIGD, YIGD, ZIGD to OIGD-Earth, XIGD-Earth, YIGD-Earth, ZIGD-Earth; defining a coordinate system O3DM-Earth, X3DM-Earth, Y3DM-Earth, Z3DM-Earth using a direction opposite to gravity as Z3DM-Earth and the direction corresponding to the magnetic north pole as Y3DM-Earth, from a perspective of the 3DM; and computing and applying a rigid transformation T3DM-To-3DMEarth to transform O3DM, X3DM, Y3DM, and Z3DM to O3DM-Earth, X3DM-Earth, Y3DM-Earth, Z3DM-Earth , such that XIGD-Earth and X3DM-Earth are substantially parallel and point in a first direction, YIGD-Earth and Y3DM-Earth are substantially parallel and point in a second direction, and ZIGD-Earth and Z3DM-Earth are substantially parallel and point in a third direction, thereby synchronizing an orientation of the IGD with an orientation of the 3DM. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for synchronizing a three-dimensional measurement device (3DM) having an internal 3D coordinate system O3DM, X3DM, Y3DM, and Z3DM , with an intelligent guidance device (IGD) separate from the 3DM, the IGD having a display device, a gravity direction measurement device, an electronic compass, and an internal 3D coordinate system OIGD, XIGD, YIGD, ZIGD, the system comprising:
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an IGD transformation module operatively connected to the IGD and adapted to define a coordinate system OIGD-Earth, XIGD-Earth, YIGD-Earth, ZIGD-Earth using a direction opposite to gravity as ZIGD-Earth as measured by the gravity direction measurement device and a direction corresponding to a magnetic north pole as YIGD-Earth as measured by the electronic compass, from a perspective of the IGD, and compute and apply a rigid transformation TIGD-To-IGDEarth to transform OIGD, XIGD, YIGD, ZIGD to OIGD-Earth, XIGD-Earth, YIGD-Earth, ZIGD-Earth at least in part by computing a vector product of YIGD-Earth and ZIGD-Earth to define vector XIGD-Earth; and a 3DM transformation module operatively connected to the 3DM and adapted to define a coordinate system O3DM-Earth, X3DM-Earth, Y3DM-Earth, Z3DM-Earth using a direction opposite to gravity as Z3DM-Earth and the direction corresponding to the magnetic north pole as Y3DM-Earth , from a perspective of the 3DM, compute and apply a rigid transformation T3DM-To-3DMEarth to transform O3DM, X3DM, Y3DM, and Z3DM to O3DM-Earth, X3DM-Earth, Y3DM-Earth, Z3DM-Earth, such that XIGD-Earth and X3DM-Earth are substantially parallel and point in a first direction, ZIGD-Earth and Y3DM-Earth are substantially parallel and point in a second direction, and ZIGD-Earth and Z3DM-Earth are substantially parallel and point in a third direction, thereby synchronizing an orientation of the IGD with an orientation of the 3DM. - View Dependent Claims (12, 13)
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14. An intelligent guidance device having an internal 3D coordinate system OIGD, XIGD, YIGD, ZIGD, the device comprising:
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a gravity direction measurement device; an electronic compass; an IGD transformation module operatively connected to the IGD and adapted to define a coordinate system OIGD-Earth, XIGD-Earth, YIGD-Earth, ZIGD-Earth using a direction opposite to gravity as ZIGD-Earth as measured by the gravity direction measurement device and a direction corresponding to a magnetic north pole as YIGD-Earth as measured by the electronic compass, and to compute and apply a rigid transformation TIGD-To-IGDEarth to transform OIGD, XIGD, YIGD, ZIGD to OIGD-Earth, XIGD-Earth, YIGD-Earth, ZIGD-Earth at least in part by computing a vector product of YIGD-Earth And ZIGD-Earth to define vector XIGD-Earth;
anda display device for displaying 3D graphics in a 3D coordinate system synchronized with a 3D coordinate system of a three-dimensional measurement device separate from the intelligent guidance device.
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15. A 3D graphics measurement and display system comprising:
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a three-dimensional measurement device (3DM) having an internal 3D coordinate system O3DM, X3DM, Y3DM, and Z3DM; a 3DM transformation module operatively connected to the 3DM and adapted to define a coordinate system O3DM-Earth, X3DM-Earth, Y3DM-Earth, Z3DM-Earth, using a direction opposite to gravity as Z3DM -Earth and the direction corresponding to the magnetic north pole as Y3DM-Earth, from a perspective of the 3DM, compute and apply a rigid transformation T3DM-To-3DMEarth to transform O3DM, X3DM, Y3DM, and Z3DM to O3DM-Earth, X3DM-Earth, Y3DM-Earth, Z3DM-Earth. an intelligent guidance device (IGD) separate from the 3DM, the IGD having an internal 3D coordinate system OIGD, XIGD, YIGD, ZIGD; a gravity direction measurement device integrated in the IGD; an electronic compass integrated in the IGD; an IGD transformation module operatively connected to the IGD and adapted to define a coordinate system OIGD-Earth, XIGD-Earth, YIGD-Earth, ZIGD-Earth using a direction opposite to gravity as ZIGD-Earth as measured by the gravity direction measurement device and a direction corresponding to a magnetic north pole as YIGD-Earth as measured by the electronic compass, and to compute and apply a rigid transformation TIGD-To-IGDEarth to transform OIGD, XIGD, YIGD, ZIGD to OIGD-Earth, XIGD-Earth, YIGD-Earth , ZIGD-Earth, at least in part by computing a vector product of YIGD-Earth and ZIGD-Earthto define vector XIGD-Earthand such that XIGD-Earth and X3DM- Earth are substantially parallel and point in a first direction, YIGD-Earth and Y3DM-Earth are substantially parallel and point in a second direction, and ZIGD-Earth and Z3DM-Earth are substantially parallel and point in a third direction, thereby synchronizing an orientation of the IGD with an orientation of the 3DM; and a display device on the IGD for displaying 3D graphics in a 3D coordinate system synchronized with a 3D coordinate system of a three-dimensional measurement device.
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16. A non-transitory computer readable memory having recorded thereon statements and instructions for execution by a computer to carry out a method for synchronizing a three-dimensional measurement device (3DM) having an internal 3D coordinate system O3DM, X3DM, Y3DM, and Z3DM , with an intelligent guidance device (IGD) separate from the 3DM, the IGD having a display device, a gravity direction measurement device, an electronic compass, and an internal 3D coordinate system OIGD, XIGD, YIGD, ZIGD, the statements and instructions being directed to:
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defining a coordinate system OIGD-Earth, XIGD-Earth, YIGD-Earth, ZIGD-Earth using a direction opposite to gravity as ZIGD- Earth and a direction corresponding to a magnetic north pole as YIGD-Earth, from a perspective of the IGD by; measuring a direction of gravity using the gravity direction measurement device and defining a vector ZIGD-Earthas opposite to the direction of gravity;
,measuring a direction of North magnetic pole using the electronic compass and defining a vector YIGD-Earth pointing in the North magnetic pole direction; and computing a vector product of YIGD-Eartand ZIGD-Earthdefining vertor XIGD-Earth; computing and applying a rigid transformation TIGD-To- IGDEarth to transform OIGD, XIGD, YIGD, ZIGD to OIGD-Earth, XIGD-Earth, YIGD-Earth, ZIGDEarth; defining a coordinate system O3DM-Earth, X3DM-Earth, Y3DM-Earth, Z3DM-Earth using a direction opposite to gravity as Z3DM-Earth and the direction corresponding to the magnetic north pole as Y3DM-Earth, from a perspective of the 3DM; and computing and applying a rigid transformation T3DM-To-3DMEarth to transform O3DM, X3DM, Y3DM, and Z3DM to O3DM-Earth, X3DM-Earth, Y3D-Earth, Z3DM -Earth, such that XIGD-Earth and X3DM-Earth are substantially parallel and point in a first direction, YIGD-Earth and Y3DM-Earth are substantially parallel and point in a second direction, and ZIGD-Earth and Z3DM-Earth are substantially parallel and point in a third direction, thereby synchronizing an orientation of the IGD with an orientation of the 3DM.
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Specification