公开(公告)号：US20200380195A1

公开(公告)日：2020-12-03

申请号：US16999224

申请日：2020-08-21

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  Aleksej Frank ,  Joao Santos ,  Ahmad Ramadneh

IPC: G06F30/392 ,  G06T11/00

Abstract: A system and method of automatic re-localization of a handheld scanning device in a previously mapped environment is provided. The system includes a two-dimensional (2D) scanner and one or more processors operably coupled to the 2D scanner. The one or more processors are responsive to non-transitory executable instructions for performing operations that include determining a current location of the 2D scanner in the environment relative to a location in a previously generated 2D image of the environment that was generated based on an image of a non-digital floorplan. The operations also include generating a new 2D image of at least a subset of the environment. The at least a subset of the environment includes the current location of the 2D scanner and at least one other location in the environment. The operations further include overlapping portions of the previously generated 2D image and the new 2D image.

公开(公告)号：US20200249357A1

公开(公告)日：2020-08-06

申请号：US16679700

申请日：2019-11-11

Applicant: FARO Technologies, Inc.

Inventor： Bernd-Dietmar Becker ,  Oliver Zweigle ,  Tobias Böhret

IPC: G01S17/89 ,  G01S17/42 ,  B64C39/02 ,  B64D47/08 ,  B64D47/02 ,  B64C25/32

Abstract: A system and method for measuring three-dimensional coordinates is provided. The system includes an aerial drone, an optical scanning device and a processor system. The aerial drone includes a plurality of landing support legs on one side and a plurality of plurality of support struts on an opposite side, the aerial drone having at least one thrust device. The optical scanning device is coupled to the aerial drone, the optical scanning device being configured to measure three-dimensional coordinates of at least one point. The processor system is configured to position the plurality of support struts against a surface in the environment using the thrust devices prior to operating the optical scanning device.

公开(公告)号：US20200248863A1

公开(公告)日：2020-08-06

申请号：US16682201

申请日：2019-11-13

Applicant: FARO Technologies, Inc.

Inventor： Muhammad Umair Tahir ,  Oliver Zweigle ,  Robert E. Bridges

IPC: F16M11/32 ,  G01C15/00 ,  F16M11/42 ,  G05D1/00 ,  G05D1/02

Abstract: Platforms configured to support coordinate measurement devices are described. The platforms include a base plate defining a stable mobile platform, at least one movement device configured to enable movement of the stable mobile platform, at least one stabilizing actuator configured to deploy a stabilizer to engage with a surface, the at least one stabilizing actuator moveable between a deployed state in which the stabilizer contacts a surface and a mobile state in which the at least one movement device contacts the surface, and a platform controller configured to drive movement of the stable mobile platform by controlling operation of the at least one movement device when the at least one stabilizing actuator is in the mobile state.

公开(公告)号：US10655946B2

公开(公告)日：2020-05-19

申请号：US16259423

申请日：2019-01-28

Applicant: FARO Technologies, Inc.

Inventor： Muhammad Umair Tahir ,  Oliver Zweigle ,  Robert E. Bridges

IPC: G01B11/03 ,  G01B11/00 ,  G01B5/004 ,  G01S7/497 ,  G01S17/66 ,  G02B5/132 ,  G02B5/122 ,  G01S17/42 ,  G01S7/481

Abstract: An apparatus includes a kinematic nest that supports an element having a spherical surface, a rotation mechanism that rotates the element, and processor that activates the rotation mechanism.

公开(公告)号：US20190392622A1

公开(公告)日：2019-12-26

申请号：US16561533

申请日：2019-09-05

Applicant: FARO Technologies, Inc.

Inventor： João Santos ,  Ahmad Ramadneh ,  Aleksej Frank ,  Oliver Zweigle

IPC: G06T11/60 ,  G06T3/00 ,  G01C15/00 ,  G06T7/521

Abstract: A system and method of generating a two-dimensional (2D) image of an environment is provided. The system includes a 2D scanner having a controller that determines a distance value to at least one of the object points. One or more processors are operably coupled to the 2D scanner, the one or more processors being responsive to nontransitory executable instructions for generating a plurality of 2D submaps of the environment based at least in part on the distance value, each submap generated from a different point in the environment. A map editor is provided that is configured to: select a subset of submaps from the plurality of 2D submaps; and generate the 2D image of the environment using the subset of 2D submaps. The method provides for realigning of 2D submaps to improve the quality of a global 2D map.

公开(公告)号：US20190339391A1

公开(公告)日：2019-11-07

申请号：US16389400

申请日：2019-04-19

Applicant: FARO Technologies, Inc.

Inventor： João Santos ,  Aleksej Frank ,  Ahmad Ramadneh ,  Oliver Zweigle

IPC: G01S17/66 ,  G06T7/246 ,  G01S17/42 ,  G06T7/521

Abstract: A system and method of measuring 3D points is provided. The method includes defining a first frame of reference with a mobile computing device. A second frame of reference is defined with a mobile 3D measurement device. The mobile computing device is moved within a predetermined distance of the mobile 3D measurement device. The first frame of reference and the second frame of reference are registered when the mobile computing device is within the predetermined distance from the mobile 3D measurement device. The mobile computing device is moved along a path to define a trajectory in the first frame of reference. The trajectory is transmitted to the mobile 3D measurement device. The mobile 3D measurement device is moved along the trajectory in response to receiving the trajectory. 3D coordinates of point on an object are acquired with the mobile 3D measurement device.

公开(公告)号：US20190272655A1

公开(公告)日：2019-09-05

申请号：US15911956

申请日：2018-03-05

Applicant: FARO Technologies, Inc.

Inventor： Joao Santos ,  Ahmad Ramadneh ,  Aleksej Frank ,  Oliver Zweigle

IPC: G06T11/60 ,  G01C15/00 ,  G06T7/521 ,  G06T3/00

Abstract: One or more embodiments are described for generating a two dimensional map of an environment using a set of submaps that include point clouds of the environment that are captured using a scanner device that is moved from one position to another in the environment. An example method includes revising the two-dimensional map by editing at least one of the submaps from the set, independently of the other submaps from the set. In one or more examples, the editing may be based on one or more of the other submaps from the set. The one or more embodiments facilitate revising the two-dimensional map in an offline manner and without rescanning the environment.

公开(公告)号：US20190156568A1

公开(公告)日：2019-05-23

申请号：US16179357

申请日：2018-11-02

Applicant: FARO Technologies, Inc.

Inventor： Aleksej Frank ,  Matthias Wolke ,  Oliver Zweigle

IPC: G06T17/05 ,  H04N5/232 ,  H04N13/282

Abstract: A system and method for scanning an environment and generating an annotated 2D map is provided. The system includes a 2D scanner having a light source, an image sensor and a first controller. The first controller determines a distance value to at least one of the object points. The system further includes a 360° camera having a movable platform, and a second controller that merges the images acquired by the cameras to generate an image having a 360° view in a horizontal plane. The system also includes processors coupled to the 2D scanner and the 360° camera. The processors are responsive to generate a 2D map of the environment based at least in part on a signal from an operator and the distance value. The processors being further responsive for acquiring a 360° image and integrating it at a location on the 2D map.

公开(公告)号：US10126415B2

公开(公告)日：2018-11-13

申请号：US14982259

申请日：2015-12-29

Applicant: FARO Technologies, Inc.

Inventor： Bernd-Dietmar Becker ,  Rolf Heidemann ,  Oliver Zweigle ,  Matthias Wolke

IPC: G01S7/497 ,  G01S17/66 ,  G01S17/87 ,  G01S17/42 ,  G01S7/481 ,  G01S7/486

Abstract: A system includes a measurement device configured to measure a distance, a first angle, and a second angle to a retroreflector target. The system further includes a probe having the retroreflector target, an inclinometer sensor, a camera, and a processor, the inclinometer sensor configured to determine a two-dimensional inclination of the probe relative to a gravity vector, the camera configured to capture an image of a light emitted from or reflected by the measurement device, the processor configured to determine six degrees of freedom of the probe based at least in part on the distance, the first angle, the second angle, the two-dimensional inclination, and the captured image of the camera.

公开(公告)号：US20170336508A1

公开(公告)日：2017-11-23

申请号：US15673999

申请日：2017-08-10

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  Bernd-Dietmar Becker ,  Reinhard Becker

IPC: G01S17/42 ,  G01B11/27 ,  G05D1/02 ,  G01S17/89 ,  G01S17/88 ,  G01C15/00 ,  G01S17/36 ,  B25J13/08 ,  G01S7/481 ,  G01S7/48 ,  G01S7/00 ,  G09B29/00 ,  G01B11/00 ,  G01C7/04 ,  G01S17/02 ,  G01S17/87

Abstract: A method and system for scanning and measuring an environment is provided. The method includes providing a three-dimensional (3D) measurement device. The 3D measurement device being operable in a helical mode or a compound mode, wherein a plurality of light beams are emitted along a first path defined by a first axis and a second axis in the compound mode and along a second path defined by the first axis in the helical mode. A mobile platform holding the 3D measurement device is moved from a first position. A first group of 3D coordinates of the area is acquired by the 3D measurement device when the mobile platform is moving. A second group of 3D coordinates of the area is acquired with a second 3D measurement device that with six-degrees of freedom (6DOF). The first group of 3D coordinates is registered based on the third group of 3D coordinates.