Laser projection system having a multiplicity of laser projectors
At least two laser projectors detect their spatial position relative to the mobile target system and a higher-level control system determines relative poses of the at least two laser projectors to one another from the detected spatial positions, wherein the higher-level control system is designed to repeat the determination of the relative poses in different spatial positions of the mobile target system until at least one relative pose to other laser projector is determined, wherein in addition at least one spatially fixed target system is provided, which can be detected by at least one laser projector, and the higher-level control system is designed to convert the relative poses of all laser projectors from the reflection angles of the detected markers of the spatially fixed target system by the at least one laser projector into spatial poses.
1 . A laser projection system having a multiplicity of laser projectors, each having a projection area into which points in space can be projected by means of a laser beam, the projection areas forming meshed areas in which points in space belong to two or more projection areas, at least one mobile target system is provided, which has four or more markers and whose position relative to one of the laser projectors, at least two laser projectors detect their spatial position relative to the mobile target system and a higher-level control system determines the relative position of the at least two laser projectors to one another from the detected spatial positions, wherein the higher-level control system is designed to repeat the determination of the relative position in different positions of the movable target system in space until at least one relative position of each of the laser projectors to another laser projector is determined, wherein in addition a stationary target system is provided which is equipped with four or more markings, the markings of which can be detected by at least one laser projector, and the higher-level control system is designed in such a way that it converts the relative position of all laser projectors into spatial positions from the markings of the stationary target system, which are detected by the at least one laser projector.
2 . The laser projection system according to claim 1 , wherein the mobile target system is movable through the space and can be detected in different positions.
3 . The laser projection system according to claim 1 , wherein the four or more markings of the spatially fixed target system are positioned at least partially in a peripheral area of the total projection area.
4 . The laser projection system according to claim 3 , wherein the overall projection area is covered at least once by the union of the projection areas of the laser projectors.
5 . The laser projection system according to claim 1 , wherein the higher-level control is designed to carry out a minimization calculation with the relative poses and the spatial poses of the laser projectors in order to determine the spatial poses of all the laser projectors with minimal error.
6 . The laser projection system according to claim 1 , wherein a mobile system which has at least four retro-reflective markers is provided as mobile target system.
7 . The laser projection system according to claim 1 , wherein the higher-level control system is designed such that during a movement of an individual marker, one or more laser projectors detect this and determine its spatial position.
8 . The laser projection system according to claim 1 , wherein the mobile target systems have at least four markers which are arranged in a predetermined orientation with respect to one another, so that the laser projector can determine its relative position with respect to the markers of the mobile target system.
9 . The laser projection system according to claim 1 , wherein the laser projectors are mounted in a fixed position.
10 . The laser projection system according to claim 1 , wherein the markers of the target systems are designed as retro-reflecting markers.