System and method of acquiring three dimensional coordinates using multiple coordinate measurement devices

摘要

A method is provided for determining the three dimensional coordinates of points on the surface of an object. The method includes providing a structured light scanner and a coordinate measurement device. The coordinate measurement device tracks the location and orientation of the structured light scanner during operation. The location and orientation data is combined with image frames captured by the scanner to allow registration of the image frames relative to each other. The three-dimensional coordinates of points on the surface of the object may then be determined in the frame of reference of the coordinate measurement device.

主权项

1. A method of determining coordinates of points on the surface of an object with a coordinate measurement device and a portable structured light scanner device, the method comprising:
providing a structured light scanner having a body, a first camera and a first projector coupled to the body wherein the first camera is configured to receive light reflected from the object surface, the structured light scanner having a probe extending from a first side of the body, the structured light scanner further having a six degree of freedom retroreflector coupled to a second side of the body, the structured light scanner further having a first processor configured to determine the coordinates of points on an object surface in a scanner frame of reference; providing a coordinate measurement device, the coordinate measurement device configured to measure a translational set of coordinates and an orientational set of coordinates, the translational set being values of three translational degrees of freedom of the structured light scanner in the device frame of reference and the orientational set being values of three orientational degrees of freedom of the structured light scanner in the device frame of reference, the translational set and the orientational set defining a position and orientation of the structured light scanner in space, the coordinate measurement device configured to send a first beam of light to the retroreflector and to receive a second beam of light from the retroreflector, the second beam of light being a portion of the first beam of light, the coordinate measurement device including a device processor, the device processor configured to determine the orientational set and the translational set, the translational set based at least in part on the second beam of light; providing a fixture having a portion configured to receive the probe; placing the probe on the portion; moving the structured light scanner in a predetermined pattern while maintaining the probe in contact with the portion and tracking the coordinates and orientation of the six degree of freedom retroreflector; and determining the translational set of coordinates and orientational set of coordinates for the structured light scanner in response to the movement of the structured light scanner.