Absolute distance meter based on an undersampling method

• US 9,157,987 B2
• Filed: 04/09/2012
• Issued: 10/13/2015
• Est. Priority Date: 04/15/2011
• Status: Active Grant

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Mertz, Jacob J., Bridges, Robert E.
• Primary Examiner(s): Alsomiri, Isam
• Assistant Examiner(s): Abraham, Samantha K
• Application Number:
  US13/442,165
• Publication Number:
  US 20120262697A1
• Time in Patent Office: 1,282 Days
• Field of Search: 356/3.01, 356/4.01, 356/4.07, 356/5.01, 356/5.09, 356/9, 356/625
• US Class Current: 1/1
• CPC Class Codes: G01B 11/03 by measuring coordinates of points
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4818 using optical fibres
• CPC Class Codes: G01S 7/491 Details of non-pulse systems
• CPC Class Codes: G06F 17/40 Data acquisition and logging for input to computer G06F3/00
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass

Abstract

A measurement system includes a signal generator producing an RF modulation frequency and sampling frequency and sending the sampling frequency to an ADC, and sending the RF frequency to modulate a first light source to produce a first light; an optical system sending a portion of the first light to a reference optical detector a portion of the first light out a measurement device to a target that returns a second light to the optical system which sends the second light to a measure optical detector, the reference and measure optical detectors converting the optical signals into corresponding electrical signals; a first ADC channel receiving the electrical measure signal and producing digital measure values; a second ADC channel receiving the electrical reference signal and producing digital reference values; and a processor receiving the digital measure and reference values and calculating the device to target distance.

Claims

1. A dimensional measurement system including a dimensional measurement device and a target, comprising:

a signal generator configured to produce in a first mode a first electrical signal having a first frequency and a second electrical signal having a second frequency, wherein the second frequency divided by the first frequency is less than two and the first frequency is different than the second frequency;

a first light source producing a first light;

an optical system configured to send a first portion of the first light out of the measurement device as a first beam of light and to send a second portion of the first light to a reference optical detector, the first beam and the second portion having a first optical characteristic modulated at the first frequency;

the target configured as a retroreflector to receive the first beam and to return a second beam of light to the optical system;

the optical system further configured to send a third portion of the second beam of light to a measure optical detector, the measure optical detector configured to convert the third portion into a first measure electrical signal, the reference optical detector configured to convert the second portion into a first reference electrical signal;

a first analog-to-digital converter channel configured in the first mode to receive the second electrical signal, to receive the first measure electrical signal at the first frequency, and to provide a plurality of first digital measure values representative of the first measure electrical signal at a rate equal to the second frequency;

a second analog-to-digital converter channel configured in the first mode to receive the second electrical signal, to receive the first reference electrical signal at the first frequency, and to provide a plurality of first digital reference values representative of the first reference electrical signal at the rate equal to the second frequency; and

a processor configured in the first mode to calculate a first distance from the dimensional measurement device to the target, the calculated first distance based at least in part on the first frequency, the second frequency, the plurality of first digital measure values, the plurality of first digital reference values, and the speed of light in air.

2. The dimensional measurement system of claim 1, wherein:

the signal generator is further configured to produce in a second mode a fourth electrical signal having a fourth frequency and a fifth electrical signal having a fifth frequency, wherein the fifth frequency divided by the fourth frequency is less than two and the fourth frequency is different than the fifth frequency;

the optical system further configured to send a fourth portion of the first light out of the measurement device as a third beam of light and to send a fifth portion of the first light to the reference optical detector, the third beam and the fifth portion having the first optical characteristic modulated at the fourth frequency;

the retroreflector configured to receive the third beam and to return a fourth beam of light to the optical system;

the optical system further configured to send a sixth portion of the fourth beam of light to the measure optical detector, the measure optical detector configured to convert the sixth portion into a second measure electrical signal, the reference optical detector configured to convert the fifth portion into a second reference electrical signal;

the first analog-to-digital converter channel configured in the second mode to receive the fifth electrical signal, to receive the second measure electrical signal at the fourth frequency, and to provide a plurality of second digital measure values representative of the second measure electrical signal at a rate equal to the fifth frequency;

the second analog-to-digital converter channel configured in the second mode to receive the fifth electrical signal, to receive the second reference electrical signal at the fourth frequency, and to provide a plurality of second digital reference values representative of the second reference electrical signal at the rate equal to the fifth frequency; and

the processor further configured in a second mode to calculate the first distance based at least in part on the plurality of second digital measure values and the plurality of second digital reference values.

3. The dimensional measurement system of claim 2, wherein the signal generator is a dual-channel direct digital synthesizer.

4. The dimensional measurement system of claim 3, wherein the first frequency is selected by the processor.

5. The dimensional measurement system of claim 3, wherein both channels of the dual-channel direct digital synthesizer are included in a single electrical component.

6. The dimensional measurement system of claim 3, wherein the dual-channel direct digital synthesizer is operated in the super-Nyquist mode.

7. The dimensional measurement system of claim 2, wherein the first frequency minus the second frequency is equal to the fourth frequency minus the fifth frequency.

8. The dimensional measurement system of claim 2, wherein the first frequency divided by a first difference is an integer and the fourth frequency divided by a second difference is an integer, the first difference equal to the first frequency minus the second frequency and the second difference equal to the fourth frequency minus the fifth frequency.

9. The dimensional measurement system of claim 1, wherein the first light source is directly modulated at the first frequency.

10. The dimensional measurement system of claim 1, wherein the first light source is a laser.

11. The dimensional measurement system of claim 1, wherein the first optical characteristic is optical power.

12. The dimensional measurement system of claim 1, wherein the first beam of light is launched from a first optical fiber.

13. The dimensional measurement system of claim 1, wherein the target is a spherically mounted retroreflector.

14. The dimensional measurement system of claim 1, wherein the measure optical detector and the reference optical detector are pin photodiodes of the same type.

15. The dimensional measurement system of claim 14, wherein the measure optical detector and the reference optical detector are coupled to optical fibers.

16. The dimensional measurement device of claim 1, further comprising:

a first motor and a second motor that together are configured to direct the first beam of light to a first direction, the first direction determined by a first angle of rotation about a first axis and a second angle of rotation about a second axis, the first angle of rotation produced by the first motor and the second angle of rotation produced by the second motor; and

a first angle measuring device configured to measure the first angle of rotation and a second angle measuring device configured to measure the second angle of rotation, wherein the processor is further configured to provide three-dimensional coordinates of the target, the three-dimensional coordinates based at least in part on the first distance, the first angle of rotation, and the second angle of rotation.

17. The dimensional measurement device of claim 16, further comprising:

a position detector assembly that includes a position detector, the position detector assembly configured to receive a seventh portion of the second beam and to produce a position-detector electrical signal in response to a position of the seventh portion on the position detector; and

a control system that sends a first-motor signal to the first motor and a second-motor signal to the second motor, the first-motor signal and the second-motor signal based at least in part on the position-detector electrical signal, the control system configured to adjust the first direction of the first beam to a position in space of the target.