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公开(公告)号：US11479358B2
公开(公告)日：2022-10-25
申请号：US17619937
申请日：2021-05-21
申请人： John M. Hoffer, Jr.
发明人： John M. Hoffer, Jr.
摘要： A light-based measurement system is capable of directing a light beam to a cooperative target used in conjunction with an aerial robot to accurately control the position of the end effector within a large volume working environment defined by a single coordinate system. By measuring the end effector while the device is in operation, the aerial robot control system can be adjusted in real time to correct for errors that are introduced through the design of the robot itself providing accuracy in the tens or hundreds of micron range. A separate coordination computer runs control software that communicates with both the laser tracker and the aerial robot. An action plan file is loaded by the software that defines the coordinate system of the working volume, the locations where actions need to be performed by the aerial robot, and the actions to be taken.
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公开(公告)号：US20220326363A1
公开(公告)日：2022-10-13
申请号：US17619890
申请日：2021-04-28
申请人： John M. Hoffer, Jr.
发明人： John M. Hoffer, Jr.
摘要： A position measurement system is configured to measure its position in one or more degrees of freedom with respect to a beam of light while addressing errors caused by atmospheric distortions. Atmospheric distortions can be measured using a wavefront sensor. Data from such a sensor can be used in combination with a beam position sensing device, such that wavefront data can determine if beam position device data should be discarded or can be used to correct the beam position device mathematically. Alternately, the wavefront sensor data can be used to control an adaptive optic that has the ability to receive a distorted beam and then transmit an undistorted beam to the beam position sensing device, eliminating the need to mathematically correct the data from the beam position sensing device. Finally, the wavefront sensor itself can be used to both measure wavefront distortions as well as determine beam position.
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公开(公告)号：US20220204163A1
公开(公告)日：2022-06-30
申请号：US17619937
申请日：2021-05-21
申请人： John M. Hoffer, Jr.
发明人： John M. Hoffer, Jr.
摘要： A light-based measurement system is capable of directing a light beam to a cooperative target used in conjunction with an aerial robot to accurately control the position of the end effector within a large volume working environment defined by a single coordinate system. By measuring the end effector while the device is in operation, the aerial robot control system can be adjusted in real time to correct for errors that are introduced through the design of the robot itself providing accuracy in the tens or hundreds of micron range. A separate coordination computer runs control software that communicates with both the laser tracker and the aerial robot. An action plan file is loaded by the software that defines the coordinate system of the working volume, the locations where actions need to be performed by the aerial robot, and the actions to be taken.
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公开(公告)号：US08677643B2
公开(公告)日：2014-03-25
申请号：US13524028
申请日：2012-06-15
IPC分类号： G01B11/00
CPC分类号： G01B11/005 , G01B5/008 , G01B5/012 , G01B21/047 , G01B2210/58 , G05B19/401 , G05B2219/37193 , G05B2219/40233 , G05B2219/45061
摘要： 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.
摘要翻译： 提供了用于测量空间中物体的坐标的便携式铰接臂坐标测量机。 AACMM包括基部和具有相对的第一和第二端的臂部分。 所述臂部分包括多个连接的臂段，每个臂段包括用于产生位置信号的至少一个位置换能器。 提供一种电子电路，其接收来自至少一个位置传感器的位置信号，并提供对应于测量装置的位置的数据。 非接触式三维测量装置耦合到第一端，所述装置具有电磁辐射发射器，并且被配置成至少部分地基于空气中的光速来确定到物体的距离。 处理器被配置为响应于接收到位置信号和到对象的距离来确定对象上的点的三维坐标。
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公开(公告)号：US20130212889A9
公开(公告)日：2013-08-22
申请号：US13524028
申请日：2012-06-15
IPC分类号： G01B11/00
CPC分类号： G01B11/005 , G01B5/008 , G01B5/012 , G01B21/047 , G01B2210/58 , G05B19/401 , G05B2219/37193 , G05B2219/40233 , G05B2219/45061
摘要： 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.
摘要翻译： 提供了用于测量空间中物体的坐标的便携式铰接臂坐标测量机。 AACMM包括基部和具有相对的第一和第二端的臂部分。 所述臂部分包括多个连接的臂段，每个臂段包括用于产生位置信号的至少一个位置换能器。 提供一种电子电路，其接收来自至少一个位置传感器的位置信号，并提供对应于测量装置的位置的数据。 非接触式三维测量装置耦合到第一端，该装置具有电磁辐射发射器，并且被配置成至少部分地基于空气中的光速来确定到物体的距离。 处理器被配置为响应于接收到位置信号和到对象的距离来确定对象上的点的三维坐标。
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公开(公告)号：US08437011B2
公开(公告)日：2013-05-07
申请号：US13613345
申请日：2012-09-13
申请人： Nils P. Steffensen , Todd P. Wilson , Kenneth Steffey , John M. Hoffer, Jr. , Robert E. Bridges
发明人： Nils P. Steffensen , Todd P. Wilson , Kenneth Steffey , John M. Hoffer, Jr. , Robert E. Bridges
IPC分类号： G01B11/14
CPC分类号： G01J1/20 , G01B11/14 , G01C15/002 , G01S17/023 , G01S17/66 , G06F3/017 , G06F3/0304 , H04N5/23296
摘要： A method for optically communicating, from a user to a laser tracker, a command to control operation of the tracker includes providing a rule of correspondence between a plurality of commands and a plurality of positions, each position being a 3-D coordinate; selecting by the user a first command from among the commands and moving by the user a retroreflector to a first position wherein the first position corresponds to the first command. Also, projecting a first light from the tracker to the retroreflector, reflecting a second light from the retroreflector, the second light being a portion of the first light and obtaining first sensed data by sensing a third light, the third light being a portion of the second light. Further, determining the first command based on processing the first sensed data according to the rule of correspondence and executing the first command with the tracker.
摘要翻译： 从用户向激光跟踪器光学传送控制跟踪器的操作的命令的方法包括提供多个命令与多个位置之间的对应规则，每个位置是3-D坐标; 由用户选择第一命令并由用户将后向反射器移动到第一位置，其中第一位置对应于第一命令。 此外，将来自跟踪器的第一光投射到后向反射器，反射来自后向反射器的第二光，第二光是第一光的一部分，并且通过感测第三光获得第一感测数据，第三光是 第二盏灯 此外，基于根据对应规则处理第一感测数据并使用跟踪器执行第一命令来确定第一命令。
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公开(公告)号：US20130097882A1
公开(公告)日：2013-04-25
申请号：US13524028
申请日：2012-06-15
IPC分类号： G01B11/00
CPC分类号： G01B11/005 , G01B5/008 , G01B5/012 , G01B21/047 , G01B2210/58 , G05B19/401 , G05B2219/37193 , G05B2219/40233 , G05B2219/45061
摘要： 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.
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公开(公告)号：US20130010308A1
公开(公告)日：2013-01-10
申请号：US13613370
申请日：2012-09-13
申请人： Nils P. Steffensen , Todd P. Wilson , Kenneth Steffey , John M. Hoffer, JR. , Robert E. Bridges
发明人： Nils P. Steffensen , Todd P. Wilson , Kenneth Steffey , John M. Hoffer, JR. , Robert E. Bridges
IPC分类号： G01B11/14
CPC分类号： G01J1/20 , G01B11/14 , G01C15/002 , G01S17/023 , G01S17/66 , G06F3/017 , G06F3/0304 , H04N5/23296
摘要： A method for optically communicating, from a user to a six degree-of-freedom (6DOF) laser tracker, a command to control operation of the tracker includes providing a rule of correspondence between commands and pose patterns, each pattern including a change in a coordinate from an initial to a final pose, each pose having three translational coordinates and three orientational coordinates. Also, selecting a first command from among the commands and measuring the coordinate of a first pose of the 6DOF target with the tracker. Further, changing between first and second times, the coordinate of the pose of the target and measuring the coordinate of a second pose of the target with the tracker. Also, determining the first command based on the difference between the measured coordinates of the first and second poses according to the rule of correspondence and executing the first command by the tracker.
摘要翻译： 一种用于从用户到六自由度（6DOF）激光跟踪器的光学通信的方法，用于控制跟踪器的操作的命令包括提供命令和姿势模式之间的对应规则，每个模式包括： 每个姿势具有三个平移坐标和三个定向坐标。 此外，从命令中选择第一命令，并用跟踪器测量6DOF目标的第一姿势的坐标。 此外，在第一次和第二次之间改变目标的姿态的坐标并且利用跟踪器测量目标的第二姿态的坐标。 此外，根据对应规则，基于第一和第二姿态的测量坐标之间的差来确定第一命令，并且由跟踪器执行第一命令。
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公开(公告)号：US20120320943A1
公开(公告)日：2012-12-20
申请号：US13494257
申请日：2012-06-12
IPC分类号： G01K3/00
CPC分类号： G01S7/497 , G01C25/00 , G01S7/4811 , G01S17/42 , G01S17/66
摘要： A method for warming up a first instrument that includes providing an instrument measuring a first instrument temperature with the first temperature sensor at a starting time; measuring a first air temperature with the second temperature sensor at the starting time; determining a first profile based at least in part on the first instrument temperature and the first air temperature, the first profile representing an amount of first electrical current applied as a function of time, the first profile selected to provide a predicted level of instrument performance within a warm-up time; applying the first electrical current according to the first profile; and providing an operator at the starting time with a numerical value for the warm-up time of the instrument, wherein the warm-up time is based at least in part on the first instrument temperature and the first air temperature.
摘要翻译： 一种用于预热第一仪器的方法，所述方法包括在起始时间向所述第一温度传感器提供测量第一仪器温度的仪器; 在启动时用第二温度传感器测量第一空气温度; 至少部分地基于第一仪器温度和第一空气温度确定第一轮廓，所述第一轮廓表示作为时间的函数施加的第一电流的量，所选择的第一轮廓被选择以提供仪器性能的预测水平 预热时间; 根据第一轮廓施加第一电流; 以及在开始时间向操作者提供用于所述仪器的预热时间的数值，其中所述预热时间至少部分地基于所述第一仪器温度和所述第一空气温度。
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公开(公告)号：US20100128259A1
公开(公告)日：2010-05-27
申请号：US12620070
申请日：2009-11-17
CPC分类号： G01C15/002 , G01B11/03 , G01S1/70 , G01S5/163 , G01S17/66
摘要： 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.
摘要翻译： 用于测量六个自由度的激光跟踪器系统可以包括被构造为发射第一激光束的主光学组件，被构造为发射成形为二维图案的第二激光束的图案投影仪组件和目标。 目标可以包括后向反射器和位置传感器组件。 后向反射器的对称中心可以设置在与位置传感器组件的平面不同的平面上。 测量目标的取向的方法可以包括用包括二维图案的激光束照射目标，将二维图案的位置记录在位置传感器组件上以产生二维图案的测量的签名值 ，并且基于所测量的签名值来计算所述目标的方位。
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