Multi-dimensional measuring system

Abstract

A laser based tracking unit communicates with a target to obtain position information about the target. Specifically, the target is placed at the point to be measured. The pitch, yaw and roll movements of the target, and the spherical coordinates of the target relative to the tracking unit are then obtained. The target can be, for example, an active device incorporated into a moveable device such as a remote controlled robot.

1 . A multi-dimensional measuring system comprising: 
 a tracking unit that emits laser light and performs tracking using spherical coordinates;    a target in communication with the tracking unit, the target being capable of making pitch, yaw, and roll movements;    a distance determining module that determines a distance between the tracking unit and the target; and    an output module that outputs position information about the target relative to the tracking unit based on the spherical coordinates, the pitch, yaw and roll movements, and the distance.    
   
   
       2 . The system of  claim 1 , further comprising an output device that outputs the position information about the target.  
   
   
       3 . The system of  claim 1 , wherein the roll movement is based on at least one of a comparison between a horizontally polarized component of the laser light and a vertically polarized component of the laser light.  
   
   
       4 . The system of  claim 3 , further comprising a first photodetector that detects the horizontally polarized component of the laser light and a second photodetector that detects the vertically polarized component of the laser light.  
   
   
       5 . The system of  claim 4 , further comprising a roll determination circuit that receives an output of the first photodetector and an output of the second photodetector.  
   
   
       6 . The system of  claim 1 , further comprising an electronic level configured to measure roll movements associated with the target.  
   
   
       7 . The system of  claim 1 , wherein the target is an active target that is capable of moving relative to the tracking unit.  
   
   
       8 . The system of  claim 7 , wherein the target is at least one of incorporated into a remote unit, fixably attached to an object, used for feedback control, used for calibration, used for machine tool control, used for parts assembly, used for structural assembly, and used for dimensional inspection.  
   
   
       9 . The system of  claim 8 , wherein the remote unit is a robot.  
   
   
       10 . The system of  claim 9 , wherein the robot comprises a drive system and one or more traction devices that allow the robot to adhere to a surface.  
   
   
       11 . The system of  claim 10 , wherein the traction devices are suction cup type devices.  
   
   
       12 . The system of  claim 9 , wherein the robot comprises a positive air pressure system.  
   
   
       13 . The system of  claim 8 , further comprising a vacuum system.  
   
   
       14 . The system of  claim 8 , further comprising one or more accessories that allow a function to be performed based at least on the position information of the target.  
   
   
       15 . A target associated with a multi-dimensional measuring system comprising: 
 a retro-reflector having an apex, wherein the apex is configured to allow at least part of a laser beam light entering the retro-reflector to exit the retro-reflector; and    a laser light sensor configured to detect the at least part of the laser beam light exiting the retro-reflector through the apex.    
   
   
       16 . The target of  claim 15 , wherein the target is configured to be coupled to an optical measuring sensor.  
   
   
       17 . The target of  claim 15 , wherein the retro-reflector is a hollow retro-reflector.  
   
   
       18 . The target of  claim 17 , wherein the retro-reflector comprises an aperture at the apex, the aperture is configured to allow the at least part of the laser beam light to exit the retro-reflector.  
   
   
       19 . The target of  claim 17 , wherein the retro-reflector comprises three mirrors that form the apex.  
   
   
       20 . The target of  claim 15 , wherein the retro-reflector is a solid retro-reflector.  
   
   
       21 . The target of  claim 20 , wherein the apex comprises a small flat surface polished to allow the at least part of the laser beam light to exit the retro-reflector.  
   
   
       22 . The target of  claim 15 , wherein the laser light sensor is a photodetector.  
   
   
       23 . The target of  claim 15 , wherein the laser light sensor is a charge coupled device array sensor.  
   
   
       24 . The target of  claim 15 , wherein the laser light sensor is operable to detect at least one of the pitch and yaw movements of the target.  
   
   
       25 . A method for measuring a position of an object comprising: 
 monitoring spherical coordinates of a laser light emitting tracking unit;    monitoring pitch, yaw, and roll movements of a target in communication with the tracking unit;    determining a distance between the tracking unit and the target; and    outputting position information about the target relative to the tracking unit based on the spherical coordinates, the pitch, yaw, and roll movements, and the distance.    
   
   
       26 . The method of  claim 25 , wherein the roll movement is based on at least one of a comparison between a horizontally polarized component of a laser light emitted by the tracking unit and a vertically polarized component of the laser light.  
   
   
       27 . The method of  claim 26 , wherein a roll determination circuit performs the comparison between the horizontally polarized component of the laser light and the vertically polarized component of the laser light.  
   
   
       28 . The method of  claim 25 , wherein the target is an active target that is capable of moving relative to the tracking unit.  
   
   
       29 . The method of  claim 25 , wherein target is at least one of incorporated into a remote unit, fixably attached to an object, used for feedback control, used for calibration, used for machine tool control, used for parts assembly, used for structural assembly, and used for dimensional inspection.  
   
   
       30 . The method of  claim 29 , wherein the remote unit comprises a drive system and one or more traction devices that allow the remote unit to adhere to a surface.  
   
   
       31 . The method of  claim 30 , wherein the traction devices are suction cup type devices used in conjunction with a vacuum system.  
   
   
       32 . The method of  claim 29 , wherein the remote unit is remotely controlled.  
   
   
       33 . The method of  claim 29 , further comprising allowing a function to be performed by an accessory based at least on the position information of the target.  
   
   
       34 . The method of  claim 29 , wherein the robot comprises a positive air pressure system.  
   
   
       35 . A system for measuring the position of an object comprising: 
 means for monitoring spherical coordinates of a laser light emitting tracking unit;    means for monitoring pitch, yaw, and roll movements of a target in communication with the tracking unit;    means for determining a distance between the tracking unit and the target; and    means for outputting position information about the target relative to the tracking unit based on the spherical coordinates, the pitch, yaw, and roll movements, and the distance.    
   
   
       36 . The system of  claim 35 , wherein the roll movement is based on at least one of a comparison between a horizontally polarized component of a laser light emitted by the tracking unit and a vertically polarized component of the laser light.  
   
   
       37 . The system of  claim 36 , wherein a roll determination circuit performs the comparison between the horizontally polarized component the laser light and the vertically polarized component of the laser light.