Method and apparatus for using gestures to control a laser tracker

• US 9,360,301 B2
• Filed: 07/20/2015
• Issued: 06/07/2016
• Est. Priority Date: 05/01/2013
• Status: Active Grant

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Bridges, Robert E., Parker, David H., Fletcher, Kelley
• Primary Examiner(s): NGUYEN, SANG H
• Application Number:
  US14/803,540
• Publication Number:
  US 20150323306A1
• Time in Patent Office: 323 Days
• Field of Search: 356610-614, 356/625, 356/138, 356/139.03, 356/28
• US Class Current: 1/1
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 3/786 the desired condition being maintained automatically
• CPC Class Codes: G06F 3/015 Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
• CPC Class Codes: G06F 3/017 Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/20224 Image subtraction
• CPC Class Codes: G06T 2207/30196 Human being; Person
• CPC Class Codes: G06T 7/12 Edge-based segmentation
• CPC Class Codes: G06T 7/174 involving the use of two or more images
• CPC Class Codes: G06T 7/194 involving foreground-background segmentation
• CPC Class Codes: G06T 7/254 involving subtraction of images
• CPC Class Codes: G06T 7/30 Determination of transform parameters for the alignment of images, i.e. image registration
• CPC Class Codes: G06V 40/20 Movements or behaviour, e.g. gesture recognition recognition of facial expressions G06V40/16
• CPC Class Codes: G06V 40/28 Recognition of hand or arm movements, e.g. recognition of deaf sign language static hand signs G06V40/113

Abstract

A method and system are provided for controlling a laser tracker remotely from the laser tracker through gestures performed by a user. The method includes providing a rule of correspondence between each of a plurality of commands and each of a plurality of user gestures. A gesture is performed by the user with the user'"'"'s body that corresponds to one of the plurality of user gestures. The gesture performed by the user is detected. The gesture recognition engine determines a first command from one of the plurality of commands that correspond with the detected gesture. Then the first command is executed with the laser tracker.

Claims

1. A laser tracker comprising:

a structure rotatable about a first axis and a second axis;

a first light source is coupled to the structure, the first light source being configured to launch a first light beam from the structure;

a distance meter is operably coupled to the first light source;

a first angular encoder is operably coupled to the structure to measure a first angle of rotation about the first axis;

a second angular encoder is operably coupled to the structure to measure a second angle of rotation about the second axis;

a projector is operably coupled to the structure that projects a two-dimensional pattern of light, the projector being configured to project the two-dimensional pattern of light simultaneously with the first beam of light;

a first camera operably coupled to the structure;

a processor and computer readable media operably coupled to the structure, wherein the processor is responsive to executable computer instructions to determine three-dimensional coordinates of an object illuminated by the two-dimensional pattern of light and to determine a distance to a target based at least in part on a measurement by the distance meter.

2. The laser tracker of claim 1 wherein the target is a retroreflector target.

3. The laser tracker of claim 2 wherein the first camera and the projector are attached to the structure.

4. The laser tracker of claim 1 the projector and the first camera are attached to a portion of the laser tracker that rotates relative to the first axis and is fixed relative to the second axis.

5. laser tracker comprising:

a structure rotatable about a first axis and a second axis;

a first light source is coupled to the structure, the first light source being configured to launch a first light beam from the structure;

a distance meter is operably coupled to the first light source;

a first angular encoder is operably coupled to the structure to measure a first angle of rotation about the first axis;

a second angular encoder is operably coupled to the structure to measure a second angle of rotation about the second axis;

a projector is operably coupled to the structure that projects a two-dimensional pattern of light;

a first camera operably coupled to the structure;

a processor and computer readable media operably coupled to the structure, wherein the processor is responsive to executable computer instructions to determine three-dimensional coordinates of an object illuminated by the two-dimensional pattern of light and to determine a distance to a target based at least in part on a measurement by the distance meter;

wherein the target is a retroreflector target and

wherein the computer readable media includes a rule of correspondence between each of a plurality of commands and each of a plurality of gestures, each gesture from among the plurality of gestures including a spatial configuration of a first body part of the user relative to a second body part of the user, the rule of correspondence based at least in part on the spatial configuration.

6. A laser tracker comprising:

a structure rotatable about a first axis and a second axis;

a first light source is coupled to the structure, the first light source being configured to launch a first light beam from the structure;

a distance meter is operably coupled to the first light source;

a first angular encoder is operably coupled to the structure to measure a first angle of rotation about the first axis;

a second angular encoder is operably coupled to the structure to measure a second angle of rotation about the second axis;

a projector is operably coupled to the structure that projects a two-dimensional pattern of light;

a first camera operably coupled to the structure;

a processor and computer readable media operably coupled to the structure, wherein the processor is responsive to executable computer instructions to determine three-dimensional coordinates of an object illuminated by the two-dimensional pattern of light and to determine a distance to a retroreflector target based at least in part on a measurement by the distance meter;

wherein the computer readable media includes a rule of correspondence between each of a plurality of commands and each of a plurality of gestures, each gesture from among the plurality of gestures including a spatial configuration of a first body part of the user relative to a second body part of the user, the rule of correspondence based at least in part on the spatial configuration; and

wherein the processor is further responsive to determining a first command based at least in part on the three-dimensional coordinates of a first body part of a user and a second body part of the user, the three-dimensional coordinates of the first body part and the second body part being determined from the two-dimensional pattern of light.

7. The laser tracker of claim 6 wherein the processor is further responsive to executing the first command in response to determining the first command.

8. The laser tracker of claim 7 wherein the first command is selected from the group consisting of measuring a comp off point, measuring a comp axis point, measuring a plane, measuring a 2D line, measuring a circle, measuring a cylinder, measuring a sphere, changing an SMR, resetting an interferometer, setting a distance mode, searching for a target, toggling between single point mode and scan mode, collecting a reading, moving to a home position, removing a reading, autoadjusting an ADM using an SMR, autoadjusting an ADM using an internal retroreflector, initializing a command tablet, setting an SMR, and acquiring an SMR.

9. The laser tracker of claim 6 further comprising:

a second camera operably coupled to the structure; and

an auxiliary light source located proximate to the second camera.

10. The laser tracker of claim 9 wherein the processor is further responsive to executing the first command on the laser tracker, the first command includes illuminating the auxiliary light source to obtain a second light, reflecting the second light off a retroreflector, and capturing a portion of the second light with the second camera to obtain a digital representation of the portion of the second light.