CPC G01S 17/42 (2013.01) [B25J 13/08 (2013.01); G01B 11/002 (2013.01); G01B 11/272 (2013.01); G01C 15/002 (2013.01); G01S 7/003 (2013.01); G01S 7/4808 (2013.01); G01S 7/4813 (2013.01); G01S 7/4817 (2013.01); G01S 17/36 (2013.01); G01S 17/88 (2013.01); G01S 17/89 (2013.01); G05D 1/024 (2013.01); G05D 1/0274 (2013.01); G09B 29/004 (2013.01); G01C 7/04 (2013.01); G01S 17/86 (2020.01); G01S 17/87 (2013.01); G05D 2201/0207 (2013.01)] | 20 Claims |
1. A method for measuring and registering three-dimensional (3D) coordinates comprising:
providing a 3D measuring device that includes a processor system, a 3D scanner and a two-dimensional (2D) scanner and a processor system operably coupled to the 3D scanner and the 2D scanner;
measuring with the 3D scanner 3D coordinates of a first collection of points on an object surface while the 3D scanner is at a first position;
measuring with the processor system a plurality of 2D scan sets, each of the plurality of 2D scan sets being a set of 2D coordinates of points on the object surface measured by the 2D scanner as the 2D scanner moves from the first position to a second position, at least one of the plurality of 2D scan sets being collected by the 2D scanner at a different position relative to the first position;
determining by the processor system a first translation value corresponding to a first translation direction, a second translation value corresponding to a second translation direction, and a first rotation value corresponding to a first orientational axis, wherein the first translation value, the second translation value, and the first rotation value are determined based at least in part on the plurality of 2D scan sets;
measuring with the 3D scanner 3D coordinates of a second collection of points on the object surface while the 3D scanner is located at the second position;
determining by the processor system an alignment between the first collection of points and the second collection of points, the alignment based at least in part on the first translation value, the second translation value, and the first rotation value;
determining 3D coordinates of a 3D collection of points based at least in part on the alignment between the first collection of points and the second collection of points, the 3D coordinates of the first collection of points and the 3D coordinates of the second collection of points; and
storing the 3D coordinates of the registered 3D collection of points.
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