US 12,115,652 B2
Referencing pose manipulation system for marker based tracking of position measurement system
Rolf Heidemann, Stuttgart (DE); Matthias Wolke, Korntal-Münchingen (DE); and Steffen Kappes, Dedheim-Degmarn (DE)
Assigned to FARO Technologies, Inc., Lake Mary, FL (US)
Filed by FARO Technologies, Inc., Lake Mary, FL (US)
Filed on May 21, 2021, as Appl. No. 17/326,555.
Claims priority of provisional application 63/066,447, filed on Aug. 17, 2020.
Prior Publication US 2022/0048199 A1, Feb. 17, 2022
Int. Cl. B25J 13/08 (2006.01); B25J 9/16 (2006.01); G06T 7/73 (2017.01)
CPC B25J 13/089 (2013.01) [B25J 9/1692 (2013.01); B25J 9/1697 (2013.01); G06T 7/73 (2017.01)] 22 Claims
OG exemplary drawing
 
1. A system comprising:
a pose manipulation system operationally coupled to a position measurement system, wherein the pose manipulation system is configured to set a pose of the position measurement system with respect to an object that is to be measured, wherein the position measurement system measures a three-dimensional (3D) coordinate of a point in space;
a pose tracking system configured to record a relative pose between a coordinate system associated with the position measurement system and a coordinate system of the object; wherein:
the pose tracking system records a path along which the position measurement system is enabled to measure 3D coordinates of a surface of a type of an object, wherein recording the path comprises moving the pose manipulation system sequentially through a plurality of poses and recording, at each pose, the relative pose to measure the 3D coordinates; and
the pose manipulation system follows the path again, and the position measurement system measures the 3D coordinates of the surface of the object by applying one or more of the recorded poses,
wherein:
the position measurement system is a first position measurement system, and the pose manipulation system can manipulate the relative pose between a second position measurement system and an object, and wherein:
a fixed relative pose is calibrated between the second position measurement system and the pose manipulation system; and
the pose manipulation system changes the relative pose between the second position measurement system and an object according to relative poses in the recorded path at which the second position measurement system acquires measurements of the object.