Mobile three-dimensional measuring instrument

Abstract

A mobile three-dimensional (3D) measuring system includes a 3D measuring device, a multi-legged stand coupled to the 3D measuring device, and a motorized dolly detachably coupled to the multi-legged stand.

What is claimed is: 
     
         1 . A mobile three-dimensional (3D) measuring system, comprising:
 a 3D measuring device;   a stand having a plurality of legs coupled to the 3D measuring device, wherein the stand includes a plurality of motorized wheels configured to propel and turn the stand under computer system control; and   a motorized dolly detachably coupled to the stand;   a position sensor configured to obtain a position of the 3D measuring device;   a computer system in communication with the 3D measuring system, wherein the computer system is configured to control the motorized dolly based at least in part on data from the position sensor.   
     
     
         2 . The system of  claim 1 , wherein the motorized dolly is configured to move forward or backward and to rotate. 
     
     
         3 . The system of  claim 1 , wherein the motorized dolly is configured to fold into a compact shape. 
     
     
         4 . The system of  claim 1 , wherein the 3D measuring device is a time-of-flight scanner. 
     
     
         5 . The system of  claim 1 , further including a sensor configured for obstacle avoidance. 
     
     
         6 . The system of  claim 5 , wherein the sensor is selected from the group consisting of a two-dimensional (2D) scanner, a 3D scanner that directs light in a horizontal plane, a 2D camera, a 3D depth camera, and an ultrasound sensor. 
     
     
         7 . The system of  claim 4 , wherein the 3D measuring device emits a collimated beam of light. 
     
     
         8 . The system of  claim 4 , wherein the 3D measuring device emits a focused beam of light. 
     
     
         9 . The system of  claim 8 , wherein the 3D measuring device is configured to measure 3D coordinates of a tooling ball. 
     
     
         10 . The system of  claim 1 , wherein the 3D measuring device is a laser tracker or a total station. 
     
     
         11 . The system of  claim 10 , wherein the 3D measuring device is configured to measure 3D coordinates of a retroreflector. 
     
     
         12 . The system of  claim 11 , wherein the 3D measuring device is further configured to measure 3D coordinates of a diffuse surface. 
     
     
         13 . The system of  claim 1 , wherein the 3D measuring device is further configured for wireless communication, wherein the wireless communication is based on at least one of an IEEE 802.11 standard or a cellular communication. 
     
     
         14 . The system of  claim 1 , wherein the stand is a tripod. 
     
     
         15 . The system of  claim 1 , wherein the motorized dolly includes two wheels that turn, each wheel connected to an axle driven by a motor, wherein a rotation of the motor is measured by an angular encoder. 
     
     
         16 . The system of  claim 15 , wherein the motorized dolly includes independent motors attached to each axle. 
     
     
         17 . The system of  claim 1 , wherein the motorized dolly further includes one or more extensions to which a sensor may be attached. 
     
     
         18 . A method, comprising:
 providing a mobile three-dimensional (3D) measuring system including a 3D time-of-flight (TOF) scanner coupled to a first motorized stand and to a plurality of targets, the first motorized stand including a plurality of motorized wheels configured to propel and turn the first motorized stand under computer control;   providing a first image sensor in an environment;   providing a computer system in communication with the mobile 3D measuring system and the first image sensor;   obtaining with the first image sensor a first image of the plurality of targets;   determining by the computer system a first position of the mobile 3D measuring system within an environment frame of reference, the first position based at least in part on the first image;   providing the first position to the mobile 3D measuring system; and   determining by the mobile 3D measuring system its position within the environment frame of reference based at least in part on the provided first position;   projecting a beam of scanner light from the 3D TOF scanner onto an object;   measuring with the 3D TOF scanner, in response to the projected beam of scanner light, first 3D coordinates of a first point on the object;   determining 3D coordinates of the first point in the environment frame of reference based at least in part on the first 3D coordinates of the first point and on the first position of the mobile 3D measuring system in the environment frame of reference; and   storing the first 3D coordinates of the first point in the environment frame of reference.   
     
     
         19 . A mobile three-dimensional (3D) measuring system, comprising:
 a 3D measuring device;   a stand having a plurality of legs coupled to the 3D measuring device, wherein the stand includes a plurality of motorized wheels configured to propel and turn the stand under computer system control; and   a motorized dolly detachably coupled to the stand;   an image sensor configured to obtain an image from a plurality of targets;   a computer system in communication with the 3D measuring system and the image sensor, wherein the computer system is configured to control the motorized dolly.   
     
     
         20 . The system of  claim 19 , wherein the computer system is configured to control the 3D measuring system upon completion of a first scan by the 3D measuring device at a first position, perform a second scan when the 3D measuring system beings to move to a second position.