A device for optically scanning and measuring an environment is provided. The device includes a movable scanner having at least one first projector for producing at least one uncoded first pattern on an object in the environment. The scanner includes at least one camera for recording images of the object provided with the pattern and a controller coupled to the first projector and the camera. The device further includes at least one second projector which projects a stationary uncoded second pattern on the object while the scanner is moved. Wherein the controller has a processor configured to determine a set of three-dimensional coordinates of points on a surface of the object from a set of images acquired by the camera based at least in part on the first pattern. The controller is further configured to register the set of images relative based in part on the stationary second pattern.

Device for optically scanning and measuring an environment

A portable articulated arm coordinate measuring machine for measuring the coordinates of an object in space is provided. The AACMM includes a base and an arm portion having an opposed first and second ends. The arm portion including a plurality of connected arm segments that each includes at least one position transducer for producing a position signal. An electronic circuit is provided that receives the position signal from the at least one position transducer and provides data corresponding to a position of the measurement device. A noncontact three-dimensional measuring device is coupled to the first end, the device having an electromagnetic radiation transmitter and is configured to determine a distance to an object based at least in part on the speed of light in air. A processor is configured to determine the three-dimensional coordinates of a point on the object in response to receiving the position signals and the distance to the object.

Coordinate measurement machines with removable accessories

A laser tracker system for measuring six degrees of freedom may include a main optics assembly structured to emit a first laser beam, a pattern projector assembly structured to emit a second laser beam shaped into a two-dimensional pattern, and a target. The target may include a retroreflector and a position sensor assembly. A center of symmetry of the retroreflector may be provided on a different plane than a plane of the position sensor assembly. A method of measuring orientation of a target may include illuminating the target with a laser beam comprising a two-dimensional pattern, recording a position of the two-dimensional pattern on a position sensor assembly to create a measured signature value of the two-dimensional pattern, and calculating an orientation of the target based on the measured signature value.

Device and method for measuring six degrees of freedom

Apparatus includes at least two devices that communicate with each other, wherein a first one of the at least two devices having an IEEE 1588 precision time protocol interface, the interface including one or more components configured for communications in both a wired manner and a wireless manner with a second one of the at least two devices. The second one of the at least two devices having an IEEE 1588 precision time protocol interface, the interface including one or more components configured for communications in both a wired manner and a wireless manner with the first one of the at least two devices. Wherein one of the at least two devices includes a master clock and the other one of the at least two devices includes a slave clock, wherein the master clock communicates a time to the slave clock and the slave clock is responsive to the communicated time from the master clock to adjust a time of the slave clock if necessary to substantially correspond to the time of the master clock, thereby time synchronizing the at least two devices together.

Method and apparatus for synchronizing measurements taken by multiple metrology devices

A noncontact optical three-dimensional measuring device that includes a projector, a first camera, and a second camera; a processor electrically coupled to the projector, the first camera and the second camera; and computer readable media which, when executed by the processor, causes the first digital signal to be collected at a first time and the second digital signal to be collected at a second time different than the first time and determines three-dimensional coordinates of a first point on the surface based at least in part on the first digital signal and the first distance and determines three-dimensional coordinates of a second point on the surface based at least in part on the second digital signal and the second distance.

Three-dimensional coordinate scanner and method of operation

The system has an optically detectable addition unit (10) which is stationary relative to the angle and distance measurement apparatus and is detected from an object (3). A computer is equipped for computing five degrees of freedom of the reflector or the object, from the measurement data produced by the angle and distance measurement apparatus and by the light-sensitive surface (7). The computer computes the sixth degree of freedom of the reflector or the object from measurement data obtained by the detection of the addition unit.

Measurement system for determining six degrees of freedom of an object

Disclosed is a measuring system comprising a laser tracker (10), a target point marked by a reflector (12), a surveying apparatus (13), and an arithmetic and control unit (14). The laser tracker emits a measuring beam (M) which is reflected by the reflector, a process that is used for determining the distance between the laser tracker (10) and the reflector (12). The surveying apparatus has a known position and orientation relative to the measuring beam (M) while preferably being embodied as a survey camera. The inventive measuring system is designed so as to track the reflector (12) via the measuring beam (M). In a normal tracking mode (A), a measured value for controlling the orientation of the measuring beam (M) is derived from the detection of the measuring beam reflected by the reflector (12). If the measuring beam is not directed onto the reflector, i.e. the measuring beam (M) is not reflected by the reflector and thus no reflected measuring beam can be detected by the laser tracker, the system switches to a special tracking mode in which the measured value for controlling the orientation of the measuring beam (M) is derived from an image (20) of the survey camera (13).

Tracking method and measuring system comprising a laser tracker

PROBLEM TO BE SOLVED: To provide a measuring system for obtaining six degrees of freedom of a reflector or an object mounted with the reflector. SOLUTION: The measuring system is equipped with a degree/distance measuring device 1 and the reflector 2 which perform with a laser light as a measuring light 4. The reflector 2 reflects the measuring light 4 in parallel, and part of it has an aperture or a surface 6 at a vertex. Part of the measuring light 4, which passes through the aperture or the surface 6 of the vertex and impinges on a light-receiving surface 7 mounted at the rear of the vertex, and the five degrees of freedom of the reflector 2 or the object 3 is calculated by the measured data obtained from the degree/distance-measuring device 1 and the light receiving surface 7. An additional part 10 which is optically detectable is equipped, and the additional part 10 specifies one direction 21 or a straight line. The sixth degree of freedom of the reflector 2 or the object 3 is calculated, based on the measured data obtained by the detection of the additional part. COPYRIGHT: (C)2007,JPO&INPIT

Measuring system for obtaining six degrees of freedom of object

Das beschriebene Messsystem weist einen Lasertracker (10), einen mit einem Reflektor (12) markierten Zielpunkt, eine Ubersichtskamera (13) und eine Rechen- und Steuereinheit (14) auf. The measuring system described has a laser tracker (10), one with a reflector (12) labeled target point, an overview camera (13) and an arithmetic and control unit (14). Der Lasertracker emittiert einen Messstrahl (M), der vom Reflektor reflektiert wird, was zur Bestimmung der Distanz zwischen Lasertracker (10) und Reflektor (12) verwendet wird. The laser tracker emits a measuring beam (M), which is reflected by the reflector, which is used for determining the distance between the laser tracker (10) and reflector (12). Die Ubersichtskamera hat eine relativ zum Messstrahl (M) bekannte Position und Orientierung. The overview camera has a relative to the measuring beam (M) known position and orientation. Das Messsystem ist ausgerustet fur eine Verfolgung des Reflektors (12) durch den Messstrahl (M). The measurement system is equipped for tracking of the reflector (12) through said measuring beam (M). Dabei wird eine Messgrosse zur Steuerung der Ausrichtung des Messstrahles (M) in einem normalen Tracking-Modus (A) aus der Detektion des vom Reflektor (12) reflektierten Messstrahls abgeleitet, und in einen ausserordentlichen Tracking-Modus wird die Messgrosse aus Bilddaten (20) der Ubersichtskamera (13) abgeleitet. In this case, a measure for controlling the orientation of the measurement beam (M) in a normal tracking mode (A) is derived from the detection of the reflector (12) reflected measuring beam, and in an exceptional tracking mode, the measured variable is obtained from image data (20) the overview camera (13) is derived. Dabei befindet sich im Bereich des Ubersichtsgerats ein Beleuchtungsmittel (15), welches den Reflektor (12) beleuchtet, oder aber der Zielpunkt ist zusatzlich ausgerustet mit um den Reflektor (12) angeordneten Lichtpunkten (16) oder reflektierenden Markierungselementen, wobei die Ubersichtskamera zur Generierung von Bildkoordinaten einer Abbildung der Mehrzahl von den um den Reflektor (12) angeordneten Lichtpunkten (16) bzw. reflektierenden Markierungselementen als Daten ausgebildet ist. In this case located in the region of the vision device, an illumination means (15), which illuminates the reflector (12), or the target point is additionally equipped with the reflector (12) arranged light points (16) or reflecting marker elements, the overview camera for generating image coordinates of an image of the plurality of the arranged around the reflector (12) light spots (16) or reflecting marker elements is formed as a data.

Roland Zumbrunn

Papers

Measurement system for determining six degrees of freedom of an object

Tracking method and measuring system comprising a laser tracker

Measuring system for obtaining six degrees of freedom of object

Tracking method and measuring system with laser tracker