JP2006276012A - 物体の六つの自由度を求めるための測定システム - Google Patents
物体の六つの自由度を求めるための測定システム Download PDFInfo
- Publication number
- JP2006276012A JP2006276012A JP2006078397A JP2006078397A JP2006276012A JP 2006276012 A JP2006276012 A JP 2006276012A JP 2006078397 A JP2006078397 A JP 2006078397A JP 2006078397 A JP2006078397 A JP 2006078397A JP 2006276012 A JP2006276012 A JP 2006276012A
- Authority
- JP
- Japan
- Prior art keywords
- reflector
- light
- angle
- additional
- freedom
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000005259 measurement Methods 0.000 claims description 78
- 238000000034 method Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 239000007787 solid Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
- G01S5/163—Determination of attitude
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
【解決手段】測定システムはレーザー光線を測定光線4として動作する角度・距離測定器1リフレクター2とを備え、リフレクター2は測定光線4を平行に反射するとともに、その頂点に開口部又は面6を有し、測定光線4の一部はこの頂点の開口部又は面6を通過して、頂点の後に配置された受光面7に当たり、角度・距離測定器1及び受光面7により生成された測定データから、リフレクター2又は物体3の五つの自由度を計算する。更に、光学的に検出可能な追加部品10を備え、追加部品10は一つの方向21又は直線を規定し、この追加部品の検出により得られた測定データに基づきリフレクター2又は物体3の六番目の自由度を計算する。
【選択図】図6
Description
・所定の座標系における角度・距離測定器の位置と向き
・物体固有の座標系におけるリフレクターとその後に配置された受光面の位置と向き
・物体固有又は測定器固有の座標系における追加部品の位置と向き
・場合によっては、物体固有又は測定器固有の座標系における追加部品を検出するための追加の検出手段の位置と向き
・測定器固有の座標系における角度・距離測定器により測定した測定光線の立体的な方向及び測定器とリフレクター間の距離
・リフレクターの頂点の後の受光面により測定した、測定光線とリフレクター軸との間の立体角(ピッチ角とヨー角)
・リフレクターの頂点の後の受光面又は追加の検出手段を用いて検出した、追加部品により規定される方向又は直線
当該のデータから、六つの自由度を計算するために利用可能な数学的なアルゴリズムは、当業者に周知である。
2 リフレクター
3 物体
4 測定光線
6 リフレクターの頂点に有る開口部又は面
7 受光面
8 計算機
10 追加部品
11 追加の検出手段
12,13 光点
15 カメラ
20 追加部品10の画像
21 方向
21’ 基準線
22 角度
30 光源
31 円
40 リング状センサー
41 受光素子
42 光線
43 ギャップ
x,y 画像の座標
A リフレクター軸
P 測定光線の一部が当たった位置
α,β,d 極座標
φ ピッチ角
χ ヨー角
ψ ロール角
Claims (10)
- リフレクター(2)又はその上にリフレクター(2)を配置した物体(3)の六つの自由度(α,β,d,φ,χ,ψ)を求めるための測定システムであって、この測定システムは、レーザー光線を測定光線(4)として動作する角度・距離測定器(1)と、リフレクター(2)と、計算機(8)とを備えており、その際リフレクター(2)は、測定光線(4)を平行に反射するために配備されるとともに、その頂点に開口部又は面(6)を有し、リフレクター(2)の方向に向けられた測定光線(4)の一部が、この頂点の開口部又は面(6)を通過して、リフレクターの頂点の後に配置された受光面(7)に当たり、計算機(8)は、角度・距離測定器(1)及び受光面(7)により生成された測定データから、リフレクター(2)又は物体(3)の五つの自由度(α,β,d,φ,χ)を計算するために配備されている測定システムにおいて、
この測定システムが、光学的に検出可能な追加部品(10)を備えており、この追加部品は、リフレクター(2)に対して静止しており、かつ角度・距離測定器(1)の方から検出可能であるか、或いは角度・距離測定器(1)に対して静止しており、かつ物体(3)の方から検出可能であり、その際この光学的に検出可能な追加部品(10)は、リフレクター軸(A)上又は測定光線(4)上には無い方向(21)又は直線を規定することと、計算機(8)は、更に、この追加部品の検出により得られた測定データから、リフレクター(2)又は物体(3)の六番目の自由度(ψ)を計算するために配備されていることとを特徴とする測定システム。 - 光学的に検出可能な追加部品(10)は、物体(3)上に配置されていることと、この追加部品を検出するために、角度・距離測定器(1)にカメラ(15)が配置されていることと、計算機(8)は、このカメラ(15)により撮影した追加部品(10)の画像(20)から、当該の六番目の自由度を計算するために配備されていることとを特徴とする請求項1に記載の測定システム。
- 当該の追加部品(10)は、二つの光点(12,13)を備えているか、一つの方向(21)又は一つの直線上に限定することが可能な光点の配列であるか、一つの方向(21)又は直線上に限定することが可能な平面的な形状を有するかのいずれかであることを特徴とする請求項2に記載の測定システム。
- 両方の光点(12,13)の中の一つが、リフレクター(2)であることを特徴とする請求項3に記載の測定システム。
- 光学的に検出可能な追加部品(10)が、角度・距離測定器(1)上に配置されていることと、この追加部品が、リフレクターの頂点の後に配置された受光面(7)により検出可能であることと、計算機(8)が、追加部品(10)と測定光線(4)によって生成される画像点の受光面(8)により測定した座標から、六番目の自由度(ψ)を計算するために配備されていることとを特徴とする請求項1に記載の測定システム。
- 当該の光学的に検出可能な追加部品が、測定光線(4)が有る面に対して垂直な面に光を放射する光源(30)であることを特徴とする請求項5に記載の測定システム。
- 光学的に検出可能な追加部品(10)が、角度・距離測定器(1)上に配置されていることと、この追加部品(10)を検出するために、追加の検出手段(11)が、物体(3)上に配備されていることと、計算機(8)が、この追加の検出手段(11)の測定データから、六番目の自由度(ψ)を計算するために配備されていることとを特徴とする請求項1に記載の測定システム。
- 追加部品(10)が、当該の物体に光線(42)を投射するための光源(30)であることと、追加の検出手段(11)が、リング形状の列の受光素子(41)を備えたリング状センサー(40)であることとを特徴とする請求項7に記載の測定システム。
- 角度・距離測定器(1)が、レーザートラッカーであることを特徴とする請求項1から8までのいずれか一つに記載の測定システム。
- 物体(3)が、走査器又は移動可能なレーザースキャナーであることと、計算機(8)は、この走査器又はレーザースキャナーの計算した六つの自由度(α,β,d,φ,χ,ψ)から、この走査器の走査点又はこのレーザースキャナーのスキャン点を計算するために配備されていることとを特徴とする請求項1から9までのいずれか一つに記載の測定システム。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CH528/05 | 2005-03-29 | ||
CH5282005 | 2005-03-29 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006276012A true JP2006276012A (ja) | 2006-10-12 |
JP5016245B2 JP5016245B2 (ja) | 2012-09-05 |
Family
ID=36593732
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006078397A Active JP5016245B2 (ja) | 2005-03-29 | 2006-03-22 | 物体の六つの自由度を求めるための測定システム |
Country Status (3)
Country | Link |
---|---|
US (1) | US7312862B2 (ja) |
EP (1) | EP1710602B1 (ja) |
JP (1) | JP5016245B2 (ja) |
Cited By (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010066190A (ja) * | 2008-09-12 | 2010-03-25 | Toshio Waki | レーザ位置決め反射装置 |
JP2012509464A (ja) * | 2008-11-17 | 2012-04-19 | ファロ テクノロジーズ インコーポレーテッド | 六自由度計測装置及び方法 |
WO2012067012A1 (ja) * | 2010-11-15 | 2012-05-24 | Ntn株式会社 | レーザートラッカー |
JP2013525787A (ja) * | 2010-04-21 | 2013-06-20 | ファロ テクノロジーズ インコーポレーテッド | ジェスチャを使用してレーザトラッカを制御する方法及び装置 |
JP2015507744A (ja) * | 2011-12-30 | 2015-03-12 | ファロ テクノロジーズ インコーポレーテッド | ジェスチャを使用しレーザトラッカを制御する方法及び装置 |
US9046360B2 (en) | 2013-03-14 | 2015-06-02 | Faro Technologies, Inc. | System and method of acquiring three dimensional coordinates using multiple coordinate measurement devices |
US9146094B2 (en) | 2010-04-21 | 2015-09-29 | Faro Technologies, Inc. | Automatic measurement of dimensional data with a laser tracker |
US9151830B2 (en) | 2011-04-15 | 2015-10-06 | Faro Technologies, Inc. | Six degree-of-freedom laser tracker that cooperates with a remote structured-light scanner |
US9164173B2 (en) | 2011-04-15 | 2015-10-20 | Faro Technologies, Inc. | Laser tracker that uses a fiber-optic coupler and an achromatic launch to align and collimate two wavelengths of light |
US9188430B2 (en) | 2013-03-14 | 2015-11-17 | Faro Technologies, Inc. | Compensation of a structured light scanner that is tracked in six degrees-of-freedom |
US9377885B2 (en) | 2010-04-21 | 2016-06-28 | Faro Technologies, Inc. | Method and apparatus for locking onto a retroreflector with a laser tracker |
US9395174B2 (en) | 2014-06-27 | 2016-07-19 | Faro Technologies, Inc. | Determining retroreflector orientation by optimizing spatial fit |
US9400170B2 (en) | 2010-04-21 | 2016-07-26 | Faro Technologies, Inc. | Automatic measurement of dimensional data within an acceptance region by a laser tracker |
US9448059B2 (en) | 2011-04-15 | 2016-09-20 | Faro Technologies, Inc. | Three-dimensional scanner with external tactical probe and illuminated guidance |
US9482529B2 (en) | 2011-04-15 | 2016-11-01 | Faro Technologies, Inc. | Three-dimensional coordinate scanner and method of operation |
US9482755B2 (en) | 2008-11-17 | 2016-11-01 | Faro Technologies, Inc. | Measurement system having air temperature compensation between a target and a laser tracker |
US9638507B2 (en) | 2012-01-27 | 2017-05-02 | Faro Technologies, Inc. | Measurement machine utilizing a barcode to identify an inspection plan for an object |
US9686532B2 (en) | 2011-04-15 | 2017-06-20 | Faro Technologies, Inc. | System and method of acquiring three-dimensional coordinates using multiple coordinate measurement devices |
US9772394B2 (en) | 2010-04-21 | 2017-09-26 | Faro Technologies, Inc. | Method and apparatus for following an operator and locking onto a retroreflector with a laser tracker |
JP2019518222A (ja) * | 2016-03-11 | 2019-06-27 | カールタ インコーポレイテッド | リアルタイムオンラインエゴモーション推定を有するレーザスキャナ |
US11398075B2 (en) | 2018-02-23 | 2022-07-26 | Kaarta, Inc. | Methods and systems for processing and colorizing point clouds and meshes |
US11506500B2 (en) | 2016-03-11 | 2022-11-22 | Kaarta, Inc. | Aligning measured signal data with SLAM localization data and uses thereof |
US11567201B2 (en) | 2016-03-11 | 2023-01-31 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
US11573325B2 (en) | 2016-03-11 | 2023-02-07 | Kaarta, Inc. | Systems and methods for improvements in scanning and mapping |
US11815601B2 (en) | 2017-11-17 | 2023-11-14 | Carnegie Mellon University | Methods and systems for geo-referencing mapping systems |
US11830136B2 (en) | 2018-07-05 | 2023-11-28 | Carnegie Mellon University | Methods and systems for auto-leveling of point clouds and 3D models |
US12014533B2 (en) | 2018-04-03 | 2024-06-18 | Carnegie Mellon University | Methods and systems for real or near real-time point cloud map data confidence evaluation |
Families Citing this family (70)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1659417A1 (de) * | 2004-11-19 | 2006-05-24 | Leica Geosystems AG | Verfahren zur Bestimmung der Ausrichtung eines Ausrichtungsindikators |
EP1703300A1 (de) * | 2005-03-17 | 2006-09-20 | Leica Geosystems AG | Verfahren und System zur Bestimmung von Position und Orientierung eines Objekts |
WO2007124902A2 (de) * | 2006-04-28 | 2007-11-08 | Prueftechnik Dieter Busch Ag | Vorrichtung und verfahren zur beurteilung der relativen raumlage zweier gegenstände |
DE102006031580A1 (de) | 2006-07-03 | 2008-01-17 | Faro Technologies, Inc., Lake Mary | Verfahren und Vorrichtung zum dreidimensionalen Erfassen eines Raumbereichs |
EP1990649A1 (de) * | 2007-05-10 | 2008-11-12 | Leica Geosystems AG | Lagerbestimmungsverfahren, Laserstrahldetektor und Detektor-Reflektorvorrichtung für ein Lagebestimmungssystem |
US20080306708A1 (en) * | 2007-06-05 | 2008-12-11 | Raydon Corporation | System and method for orientation and location calibration for image sensors |
US9020240B2 (en) | 2007-08-10 | 2015-04-28 | Leica Geosystems Ag | Method and surveying system for noncontact coordinate measurement on an object surface |
US8036452B2 (en) | 2007-08-10 | 2011-10-11 | Leica Geosystems Ag | Method and measurement system for contactless coordinate measurement on an object surface |
DE102007061384A1 (de) | 2007-12-19 | 2009-06-25 | Robert Bosch Gmbh | Entfernungsmessvorrichtung sowie System |
US8963804B2 (en) * | 2008-10-30 | 2015-02-24 | Honeywell International Inc. | Method and system for operating a near-to-eye display |
CN101738161B (zh) * | 2008-11-14 | 2012-11-07 | 中国科学院沈阳自动化研究所 | 一种测量运动物体六维位姿的设备和方法 |
FR2938908B1 (fr) * | 2008-11-24 | 2011-01-21 | Commissariat Energie Atomique | Dispositif et procede de mesure de la position d'au moins un objet en mouvement dans un repere a trois dimensions |
CN101750012A (zh) * | 2008-12-19 | 2010-06-23 | 中国科学院沈阳自动化研究所 | 一种测量物体六维位姿的装置 |
DE102009015920B4 (de) | 2009-03-25 | 2014-11-20 | Faro Technologies, Inc. | Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
US9551575B2 (en) | 2009-03-25 | 2017-01-24 | Faro Technologies, Inc. | Laser scanner having a multi-color light source and real-time color receiver |
US9210288B2 (en) | 2009-11-20 | 2015-12-08 | Faro Technologies, Inc. | Three-dimensional scanner with dichroic beam splitters to capture a variety of signals |
US9529083B2 (en) | 2009-11-20 | 2016-12-27 | Faro Technologies, Inc. | Three-dimensional scanner with enhanced spectroscopic energy detector |
US9113023B2 (en) | 2009-11-20 | 2015-08-18 | Faro Technologies, Inc. | Three-dimensional scanner with spectroscopic energy detector |
DE102009057101A1 (de) | 2009-11-20 | 2011-05-26 | Faro Technologies, Inc., Lake Mary | Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
US8630314B2 (en) | 2010-01-11 | 2014-01-14 | Faro Technologies, Inc. | Method and apparatus for synchronizing measurements taken by multiple metrology devices |
US8677643B2 (en) | 2010-01-20 | 2014-03-25 | Faro Technologies, Inc. | Coordinate measurement machines with removable accessories |
US9163922B2 (en) | 2010-01-20 | 2015-10-20 | Faro Technologies, Inc. | Coordinate measurement machine with distance meter and camera to determine dimensions within camera images |
US8832954B2 (en) | 2010-01-20 | 2014-09-16 | Faro Technologies, Inc. | Coordinate measurement machines with removable accessories |
GB2489837A (en) | 2010-01-20 | 2012-10-10 | Faro Tech Inc | Portable articulated arm coordinate measuring machine and integrated environmental recorder |
US8898919B2 (en) | 2010-01-20 | 2014-12-02 | Faro Technologies, Inc. | Coordinate measurement machine with distance meter used to establish frame of reference |
US9628775B2 (en) | 2010-01-20 | 2017-04-18 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
CN102713776B (zh) | 2010-01-20 | 2015-04-22 | 法罗技术股份有限公司 | 利用了多总线臂技术的便携式铰接臂坐标测量机 |
GB2489370B (en) | 2010-01-20 | 2014-05-14 | Faro Tech Inc | Coordinate measuring machine having an illuminated probe end and method of operation |
US8615893B2 (en) | 2010-01-20 | 2013-12-31 | Faro Technologies, Inc. | Portable articulated arm coordinate measuring machine having integrated software controls |
US9879976B2 (en) | 2010-01-20 | 2018-01-30 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine that uses a 2D camera to determine 3D coordinates of smoothly continuous edge features |
US8875409B2 (en) | 2010-01-20 | 2014-11-04 | Faro Technologies, Inc. | Coordinate measurement machines with removable accessories |
US9607239B2 (en) | 2010-01-20 | 2017-03-28 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
US8724119B2 (en) | 2010-04-21 | 2014-05-13 | Faro Technologies, Inc. | Method for using a handheld appliance to select, lock onto, and track a retroreflector with a laser tracker |
DE102010020925B4 (de) | 2010-05-10 | 2014-02-27 | Faro Technologies, Inc. | Verfahren zum optischen Abtasten und Vermessen einer Umgebung |
DE112011102995B4 (de) * | 2010-09-08 | 2016-05-19 | Faro Technologies Inc. | Laserscanner oder Lasernachführungsgerät mit einem Projektor |
EP2633364B1 (en) | 2010-10-25 | 2023-09-06 | Nikon Corporation | Apparatus, optical assembly, method for inspection or measurement of an object and method for manufacturing a structure |
US9168654B2 (en) | 2010-11-16 | 2015-10-27 | Faro Technologies, Inc. | Coordinate measuring machines with dual layer arm |
US9239232B2 (en) | 2011-01-10 | 2016-01-19 | Trimble Ab | Method and system for determining position and orientation of a measuring instrument |
US8607536B2 (en) | 2011-01-14 | 2013-12-17 | Faro Technologies, Inc. | Case for a device |
WO2012112388A1 (en) * | 2011-02-14 | 2012-08-23 | Faro Technologies, Inc. | Cube corner retroreflector for measuring six degrees of freedom |
JP5797282B2 (ja) | 2011-03-03 | 2015-10-21 | ファロ テクノロジーズ インコーポレーテッド | ターゲット装置及び方法 |
DE102011105376A1 (de) * | 2011-06-20 | 2012-12-20 | Hochschule Bochum | Vorrichtung und Verfahren zur Richtungskalibrierung eines Polarmessgerätes |
DE102011107451B3 (de) | 2011-07-08 | 2012-08-23 | Albert-Ludwigs-Universität Freiburg | Verfahren und Vorrichtung zur Bestimmung der Position und Orientierung eines Körpers |
US9222771B2 (en) | 2011-10-17 | 2015-12-29 | Kla-Tencor Corp. | Acquisition of information for a construction site |
FR2983292B1 (fr) * | 2011-11-28 | 2013-12-13 | Bouygues Travaux Publics | Mire de guidage d'un tunnelier |
DE102012100609A1 (de) | 2012-01-25 | 2013-07-25 | Faro Technologies, Inc. | Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
WO2013115836A1 (en) * | 2012-01-30 | 2013-08-08 | Faro Technologies, Inc. | Laser tracker used with six degree-of-freedom probe having separable spherical retroreflector |
DE102012101640B4 (de) * | 2012-02-29 | 2013-10-31 | Carl Zeiss Ag | Verfahren und System zum Ermitteln einer Position und Orientierung eines Objekts in einem Bezugssystem |
DE102012009512A1 (de) * | 2012-05-14 | 2013-11-14 | Mbda Deutschland Gmbh | Positionsbestimmung und Datenübertragung mittels Laser |
US8937725B2 (en) | 2012-06-14 | 2015-01-20 | Nikon Corporation | Measurement assembly including a metrology system and a pointer that directs the metrology system |
US8997362B2 (en) | 2012-07-17 | 2015-04-07 | Faro Technologies, Inc. | Portable articulated arm coordinate measuring machine with optical communications bus |
US9513107B2 (en) | 2012-10-05 | 2016-12-06 | Faro Technologies, Inc. | Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner |
DE102012109481A1 (de) | 2012-10-05 | 2014-04-10 | Faro Technologies, Inc. | Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
US10067231B2 (en) | 2012-10-05 | 2018-09-04 | Faro Technologies, Inc. | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner |
KR102007772B1 (ko) * | 2012-12-28 | 2019-08-06 | 엘지전자 주식회사 | 3차원 공간 측정 장치 및 동작 방법 |
US9157795B1 (en) * | 2013-07-16 | 2015-10-13 | Bot & Dolly, Llc | Systems and methods for calibrating light sources |
US9857160B1 (en) | 2013-09-24 | 2018-01-02 | TVS Holdings, LLC | Multi-mode frequency sweeping interferometer and method of using same |
US9297656B2 (en) | 2014-03-07 | 2016-03-29 | Hexagon Technology Center Gmbh | Sensor arrangement having code element |
US9976947B1 (en) | 2014-11-24 | 2018-05-22 | TVS Holdings, LLC | Position measurement device |
US9575183B2 (en) * | 2015-03-31 | 2017-02-21 | The Boeing Company | Tracking measurement system and method |
JP2017019072A (ja) * | 2015-07-14 | 2017-01-26 | トヨタ自動車株式会社 | 位置計測システム |
CN105081627B (zh) * | 2015-08-13 | 2017-03-08 | 江苏北人机器人***股份有限公司 | 基于双线激光测量***的焊缝测量方法 |
DE102015122844A1 (de) | 2015-12-27 | 2017-06-29 | Faro Technologies, Inc. | 3D-Messvorrichtung mit Batteriepack |
DE102016203255A1 (de) | 2016-02-29 | 2017-08-31 | Siemens Healthcare Gmbh | Verfahren und Vorrichtung zur Positionsbestimmung in einem Magnetresonanztomographen |
DE102017001643A1 (de) | 2017-02-21 | 2018-08-23 | Oliver Hofherr | Verfahren und Vorrichtung zur Bestimmung des Rollwinkels |
DE102017210166A1 (de) * | 2017-06-19 | 2018-12-20 | eumetron GmbH | System und Verfahren zur Positionierungsmessung |
CN107782244B (zh) * | 2017-10-24 | 2019-07-26 | 南京航空航天大学 | 一种基于视觉的六自由度小位移检测方法 |
DE102017220876B4 (de) * | 2017-11-22 | 2020-12-24 | Ford Global Technologies, Llc | Verfahren und Vorrichtung zur Positions- und Lagebestimmung |
CN109443211A (zh) * | 2018-12-13 | 2019-03-08 | 中国航空工业集团公司北京长城计量测试技术研究所 | 一种空间三维位置测量装置 |
CN110500990B (zh) | 2019-07-09 | 2020-08-18 | 同济大学 | 一种六自由度测量***及方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60237307A (ja) * | 1984-05-11 | 1985-11-26 | Yokogawa Hewlett Packard Ltd | レ−ザ測長器 |
JPH07218217A (ja) * | 1994-02-08 | 1995-08-18 | Mitsubishi Heavy Ind Ltd | 3次元位置標定装置 |
JP2003506691A (ja) * | 1999-07-28 | 2003-02-18 | ライカ・ゲオジステームス・アクチェンゲゼルシャフト | 空間的な位置と方向づけを決定する方法と装置 |
US20040032596A1 (en) * | 2002-08-13 | 2004-02-19 | Harris Corporation | Apparatus for determining relative positioning of objects and related methods |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE418909B (sv) * | 1978-03-02 | 1981-06-29 | Saab Scania Ab | Sett och anleggning for att medelst modulerad optisk stralning overfora information till foremal |
DE3714776A1 (de) * | 1987-05-04 | 1988-11-24 | Dietmar Klinger | Optoelektronische messanordnung |
NO174025C (no) | 1991-10-11 | 1994-03-02 | Metronor Sa | System for punktvis maaling av romlige koordinater |
NO301999B1 (no) * | 1995-10-12 | 1998-01-05 | Metronor As | Kombinasjon av laser tracker og kamerabasert koordinatmåling |
GB2341025A (en) * | 1998-04-23 | 2000-03-01 | Barry James Gorham | Positioning measuring apparatus having a non-linear target array |
US6115111A (en) * | 1998-10-05 | 2000-09-05 | Korah; John K. | Semiconductor laser based sensing device |
US6420694B1 (en) * | 1999-09-21 | 2002-07-16 | The Boeing Company | Steerable retroreflective system and method |
US6362875B1 (en) * | 1999-12-10 | 2002-03-26 | Cognax Technology And Investment Corp. | Machine vision system and method for inspection, homing, guidance and docking with respect to remote objects |
US7230689B2 (en) * | 2002-08-26 | 2007-06-12 | Lau Kam C | Multi-dimensional measuring system |
-
2006
- 2006-03-22 JP JP2006078397A patent/JP5016245B2/ja active Active
- 2006-03-23 EP EP06405125A patent/EP1710602B1/de active Active
- 2006-03-27 US US11/389,757 patent/US7312862B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60237307A (ja) * | 1984-05-11 | 1985-11-26 | Yokogawa Hewlett Packard Ltd | レ−ザ測長器 |
JPH07218217A (ja) * | 1994-02-08 | 1995-08-18 | Mitsubishi Heavy Ind Ltd | 3次元位置標定装置 |
JP2003506691A (ja) * | 1999-07-28 | 2003-02-18 | ライカ・ゲオジステームス・アクチェンゲゼルシャフト | 空間的な位置と方向づけを決定する方法と装置 |
US20040032596A1 (en) * | 2002-08-13 | 2004-02-19 | Harris Corporation | Apparatus for determining relative positioning of objects and related methods |
Cited By (41)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010066190A (ja) * | 2008-09-12 | 2010-03-25 | Toshio Waki | レーザ位置決め反射装置 |
JP2012509464A (ja) * | 2008-11-17 | 2012-04-19 | ファロ テクノロジーズ インコーポレーテッド | 六自由度計測装置及び方法 |
US9482755B2 (en) | 2008-11-17 | 2016-11-01 | Faro Technologies, Inc. | Measurement system having air temperature compensation between a target and a laser tracker |
US10209059B2 (en) | 2010-04-21 | 2019-02-19 | Faro Technologies, Inc. | Method and apparatus for following an operator and locking onto a retroreflector with a laser tracker |
JP2013145240A (ja) * | 2010-04-21 | 2013-07-25 | Faro Technologies Inc | ジェスチャを使用してレーザトラッカを制御する方法及び装置 |
US10480929B2 (en) | 2010-04-21 | 2019-11-19 | Faro Technologies, Inc. | Method and apparatus for following an operator and locking onto a retroreflector with a laser tracker |
US9400170B2 (en) | 2010-04-21 | 2016-07-26 | Faro Technologies, Inc. | Automatic measurement of dimensional data within an acceptance region by a laser tracker |
US9146094B2 (en) | 2010-04-21 | 2015-09-29 | Faro Technologies, Inc. | Automatic measurement of dimensional data with a laser tracker |
US9885559B2 (en) | 2010-04-21 | 2018-02-06 | Faro Technologies, Inc. | Method and apparatus for following an operator and locking onto a retroreflector with a laser tracker |
US9772394B2 (en) | 2010-04-21 | 2017-09-26 | Faro Technologies, Inc. | Method and apparatus for following an operator and locking onto a retroreflector with a laser tracker |
JP2013525787A (ja) * | 2010-04-21 | 2013-06-20 | ファロ テクノロジーズ インコーポレーテッド | ジェスチャを使用してレーザトラッカを制御する方法及び装置 |
US9377885B2 (en) | 2010-04-21 | 2016-06-28 | Faro Technologies, Inc. | Method and apparatus for locking onto a retroreflector with a laser tracker |
WO2012067012A1 (ja) * | 2010-11-15 | 2012-05-24 | Ntn株式会社 | レーザートラッカー |
US9164173B2 (en) | 2011-04-15 | 2015-10-20 | Faro Technologies, Inc. | Laser tracker that uses a fiber-optic coupler and an achromatic launch to align and collimate two wavelengths of light |
US10578423B2 (en) | 2011-04-15 | 2020-03-03 | Faro Technologies, Inc. | Diagnosing multipath interference and eliminating multipath interference in 3D scanners using projection patterns |
US9448059B2 (en) | 2011-04-15 | 2016-09-20 | Faro Technologies, Inc. | Three-dimensional scanner with external tactical probe and illuminated guidance |
US9453717B2 (en) | 2011-04-15 | 2016-09-27 | Faro Technologies, Inc. | Diagnosing multipath interference and eliminating multipath interference in 3D scanners using projection patterns |
US9482529B2 (en) | 2011-04-15 | 2016-11-01 | Faro Technologies, Inc. | Three-dimensional coordinate scanner and method of operation |
US9482746B2 (en) | 2011-04-15 | 2016-11-01 | Faro Technologies, Inc. | Six degree-of-freedom laser tracker that cooperates with a remote sensor |
US10302413B2 (en) | 2011-04-15 | 2019-05-28 | Faro Technologies, Inc. | Six degree-of-freedom laser tracker that cooperates with a remote sensor |
US10267619B2 (en) | 2011-04-15 | 2019-04-23 | Faro Technologies, Inc. | Three-dimensional coordinate scanner and method of operation |
US9494412B2 (en) | 2011-04-15 | 2016-11-15 | Faro Technologies, Inc. | Diagnosing multipath interference and eliminating multipath interference in 3D scanners using automated repositioning |
US10119805B2 (en) | 2011-04-15 | 2018-11-06 | Faro Technologies, Inc. | Three-dimensional coordinate scanner and method of operation |
US9686532B2 (en) | 2011-04-15 | 2017-06-20 | Faro Technologies, Inc. | System and method of acquiring three-dimensional coordinates using multiple coordinate measurement devices |
US9157987B2 (en) | 2011-04-15 | 2015-10-13 | Faro Technologies, Inc. | Absolute distance meter based on an undersampling method |
US9151830B2 (en) | 2011-04-15 | 2015-10-06 | Faro Technologies, Inc. | Six degree-of-freedom laser tracker that cooperates with a remote structured-light scanner |
JP2015507744A (ja) * | 2011-12-30 | 2015-03-12 | ファロ テクノロジーズ インコーポレーテッド | ジェスチャを使用しレーザトラッカを制御する方法及び装置 |
US9638507B2 (en) | 2012-01-27 | 2017-05-02 | Faro Technologies, Inc. | Measurement machine utilizing a barcode to identify an inspection plan for an object |
US9046360B2 (en) | 2013-03-14 | 2015-06-02 | Faro Technologies, Inc. | System and method of acquiring three dimensional coordinates using multiple coordinate measurement devices |
US9188430B2 (en) | 2013-03-14 | 2015-11-17 | Faro Technologies, Inc. | Compensation of a structured light scanner that is tracked in six degrees-of-freedom |
US9482514B2 (en) | 2013-03-15 | 2016-11-01 | Faro Technologies, Inc. | Diagnosing multipath interference and eliminating multipath interference in 3D scanners by directed probing |
US9395174B2 (en) | 2014-06-27 | 2016-07-19 | Faro Technologies, Inc. | Determining retroreflector orientation by optimizing spatial fit |
JP2019518222A (ja) * | 2016-03-11 | 2019-06-27 | カールタ インコーポレイテッド | リアルタイムオンラインエゴモーション推定を有するレーザスキャナ |
US11506500B2 (en) | 2016-03-11 | 2022-11-22 | Kaarta, Inc. | Aligning measured signal data with SLAM localization data and uses thereof |
US11567201B2 (en) | 2016-03-11 | 2023-01-31 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
US11573325B2 (en) | 2016-03-11 | 2023-02-07 | Kaarta, Inc. | Systems and methods for improvements in scanning and mapping |
US11585662B2 (en) | 2016-03-11 | 2023-02-21 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
US11815601B2 (en) | 2017-11-17 | 2023-11-14 | Carnegie Mellon University | Methods and systems for geo-referencing mapping systems |
US11398075B2 (en) | 2018-02-23 | 2022-07-26 | Kaarta, Inc. | Methods and systems for processing and colorizing point clouds and meshes |
US12014533B2 (en) | 2018-04-03 | 2024-06-18 | Carnegie Mellon University | Methods and systems for real or near real-time point cloud map data confidence evaluation |
US11830136B2 (en) | 2018-07-05 | 2023-11-28 | Carnegie Mellon University | Methods and systems for auto-leveling of point clouds and 3D models |
Also Published As
Publication number | Publication date |
---|---|
EP1710602B1 (de) | 2012-11-14 |
US7312862B2 (en) | 2007-12-25 |
US20060222314A1 (en) | 2006-10-05 |
EP1710602A1 (de) | 2006-10-11 |
JP5016245B2 (ja) | 2012-09-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5016245B2 (ja) | 物体の六つの自由度を求めるための測定システム | |
US9967545B2 (en) | System and method of acquiring three-dimensional coordinates using multiple coordinate measurment devices | |
EP3115742B1 (en) | 3d measuring machine | |
US9188430B2 (en) | Compensation of a structured light scanner that is tracked in six degrees-of-freedom | |
US9476695B2 (en) | Laser tracker that cooperates with a remote camera bar and coordinate measurement device | |
JP5123932B2 (ja) | 回動鏡を備えるカメラ利用6自由度標的計測装置及び標的追尾装置 | |
US9207309B2 (en) | Six degree-of-freedom laser tracker that cooperates with a remote line scanner | |
US8384914B2 (en) | Device for optically scanning and measuring an environment | |
US6862097B2 (en) | Three-dimensional shape measuring method, and three-dimensional shape measuring apparatus | |
US7274461B2 (en) | Optical lens system and position measurement system using the same | |
JP2004170412A (ja) | 測定系の較正のための方法と装置 | |
CN107407727A (zh) | 用于光检测与测距光学对准的方法与*** | |
US20050023448A1 (en) | Position-detecting device | |
JP2014066728A (ja) | 六自由度計測装置及び方法 | |
WO2005100911A2 (en) | An apparatus and method for optical determination of intermediate distances | |
US9696143B2 (en) | Device for optical profilometry with conical light beams | |
JP2014511493A (ja) | ターゲット装置及び方法 | |
CN102538679B (zh) | 图像相关位移传感器 | |
JP2002139304A (ja) | 距離測定装置、及び距離測定方法 | |
US10655946B2 (en) | Automated rotation mechanism for spherically mounted retroreflector | |
CN111580127A (zh) | 具有旋转反射镜的测绘*** | |
WO2024004166A1 (ja) | 距離測定装置 | |
JP7050342B2 (ja) | 光コム座標測定装置、自動追尾装置及び自動追尾光コム測位装置、並びに光コム座標測定装置の校正方法 | |
JP2000162307A (ja) | 原子炉容器点検ロボットの位置標定用レーザ追尾装置 | |
JP2006189390A (ja) | 光学式変位測定方法および装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20080423 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A821 Effective date: 20080423 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20090203 |
|
RD04 | Notification of resignation of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20100527 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20120110 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20120405 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20120515 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20120608 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20150615 Year of fee payment: 3 |
|
R150 | Certificate of patent or registration of utility model |
Free format text: JAPANESE INTERMEDIATE CODE: R150 Ref document number: 5016245 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |