公开(公告)号：US20170054965A1

公开(公告)日：2017-02-23

申请号：US15233415

申请日：2016-08-10

Applicant: FARO Technologies, Inc.

Inventor： Simon Raab ,  Charles Pfeffer ,  Yazid Tohme ,  Duncan Andrew McArdle ,  Robert E. Bridges ,  Jae-Woo Choi

IPC: H04N13/02 ,  H04N5/225 ,  G01B11/00 ,  G06T7/20 ,  H04N5/378 ,  G06T7/40 ,  G06T7/60 ,  G06T7/00

Abstract: A three-dimensional (3D) measuring device includes a cooling fan and an enclosure attached to a projector and a camera. The camera images a pattern of light projected by the projector onto an object to determine 3D coordinates points on the object. A fan draws air through an opening in the front of the enclosure, across a plurality of components in the enclosure and out a second opening in the enclosure.

Abstract translation: 三维（3D）测量装置包括冷却风扇和连接到投影仪和相机的外壳。 相机将投影仪投射的光线图案映像到物体上，以确定物体上的3D坐标点。 风扇通过机壳前部的开口，穿过外壳中的多个部件并将外壳中的第二个开口吸入空气。

公开(公告)号：US20170052017A1

公开(公告)日：2017-02-23

申请号：US15345609

申请日：2016-11-08

Applicant: FARO Technologies, Inc.

Inventor： Sebastian Bartmann ,  Helmut Kramer ,  Daniel Pompe ,  Michael Schanz

IPC: G01B11/00 ,  G01S17/89 ,  G01S17/06 ,  G01B21/16 ,  G01B11/25

CPC classification number: G01B11/002 ,  G01B11/2518 ,  G01B21/16 ,  G01S7/4808 ,  G01S17/023 ,  G01S17/06 ,  G01S17/89

Abstract: A method for optically scanning and measuring a scene by a laser scanner includes generating multiple scans; tracking scanner positions with a position-tracking device for the multiple scans and providing tracked scanner positions in response; registering sequentially scans selected from the multiple scans into clusters using registration points or targets and confirming registration of the scans into the clusters according to specified quality criteria being fulfilled; selecting scans from the clusters and forming pairs of scans; forming an intersection of the selected pairs and comparing a size of the intersection with a threshold value obtained based at least in part on the tracked scanner positions; and attempting to register the pairs of scans if the size of the intersection exceeds the threshold value and accepting the registered pairs of scans if the registration is successful.

Abstract translation: 用于通过激光扫描仪光学扫描和测量场景的方法包括产生多次扫描; 用多个扫描的位置跟踪装置跟踪扫描器位置，并响应追踪的扫描器位置; 使用注册点或目标将从多次扫描中选择的扫描顺序注册到群集中，并根据满足的指定质量标准确认扫描到簇中的登记; 从群集中选择扫描并形成扫描对; 形成所选择的对的交集，并将所述交点的大小与至少部分地基于跟踪的扫描器位置获得的阈值进行比较; 并且如果交叉口的大小超过阈值并尝试注册扫描对，并且如果注册成功则接受注册的扫描对。

公开(公告)号：US20160349746A1

公开(公告)日：2016-12-01

申请号：US15141941

申请日：2016-04-29

Applicant: FARO Technologies, Inc.

Inventor： Markus Grau

IPC: G05D1/00 ,  B64D47/08 ,  G05D1/10 ,  B64C39/02

CPC classification number: G05D1/0094 ,  B64C2201/027 ,  B64C2201/127 ,  G05D1/102

Abstract: An unmanned aerial vehicle (UAV) such as a drone, quadcopter or octocopter having a projector on board for projecting information into physical space such as onto objects or locations while the UAV is in flight, and further with the position and orientation (i.e., the six degrees of freedom) of the UAV in flight being accurately tracked and controlled from the ground, e.g., by a laser tracker or a camera bar, thereby leading to a relatively more stable flight of the UAV.

Abstract translation: 无人驾驶飞行器（UAV），如无人驾驶飞机，四轮直升机或八面体飞机，其上有一台投影机，用于在UAV飞行期间将信息投射到物理空间（如物体或位置）上，并且还具有位置和方向（即， 六个自由度）的UAV在飞行中被准确地从地面跟踪和控制，例如通过激光跟踪器或照相机杆，从而导致UAV的相对更稳定的飞行。

公开(公告)号：US09482514B2

公开(公告)日：2016-11-01

申请号：US14139169

申请日：2013-12-23

Applicant: FARO Technologies, Inc.

Inventor： Robert E. Bridges

IPC: H04N13/02 ,  G01B11/00 ,  G01C3/10 ,  G01B21/04 ,  G01B11/25 ,  G01S17/66 ,  G01B5/004 ,  G01S17/00 ,  G01S17/48

CPC classification number: G01B11/002 ,  G01B5/004 ,  G01B11/2513 ,  G01B11/2531 ,  G01B21/045 ,  G01C3/10 ,  G01S17/003 ,  G01S17/48 ,  G01S17/66 ,  G06T7/593 ,  G06T7/70 ,  G06T2200/04 ,  G06T2207/10028 ,  H04N13/204 ,  H04N13/239 ,  H04N13/254 ,  H04N13/275

Abstract: A method for determining 3D coordinates of points on a surface of the object by providing a remote probe having a probe tip and a non-contact 3D measuring device having a projector and camera coupled to a processor, projecting a pattern onto the surface to determine a first set of 3D coordinates of points on the surface, determining susceptibility of the object to multipath interference by projecting and reflecting rays from the measured 3D coordinates of the points, projecting a first light to direct positioning of the remote probe by the user, the first light determined at least in part by the susceptibility to multipath interference, touching the probe tip to the surface at the indicated region, illuminating at least three spots of light on the remote probe, capturing an image of the at least three spots with the camera, and determining 3D coordinates of the probe tip.

Abstract translation: 一种用于通过提供具有探针尖端的远程探针和具有耦合到处理器的投影仪和照相机的非接触3D测量装置来确定物体表面上的点的3D坐标的方法，将图案投影到表面上以确定 表面上的第一组3D坐标，通过从测量的点的三维坐标投射和反射光线来确定物体对多径干涉的敏感性，投射第一光以直接由用户定位远程探针，第一 光至少部分地由多径干涉的敏感性确定，将探针尖端接触到指示区域处的表面，照射远程探测器上的至少三个光点，用相机捕获至少三个斑点的图像， 并确定探针尖端的3D坐标。

公开(公告)号：US09476695B2

公开(公告)日：2016-10-25

申请号：US14321876

申请日：2014-07-02

Applicant: FARO Technologies, Inc.

Inventor： Bernd-Dietmar Becker ,  Robert E. Bridges

IPC: G01B11/03 ,  G01B11/00 ,  G01C15/00 ,  G01S17/02 ,  G01S17/66 ,  G01S5/16 ,  G01B11/14 ,  H04N5/247

CPC classification number: G01B11/002 ,  G01B11/14 ,  G01C15/002 ,  G01S5/163 ,  G01S17/023 ,  G01S17/66 ,  H04N5/247

Abstract: A system includes a laser tracker, a camera bar, an accessory, and an electrical system, the camera bar including a mounting structure, two cameras, and three non-collinear reflector points, the accessory including a plurality of light markers, the electrical system including a processor that causes the tracker to measure 3D coordinates of the three reflector points, to measure the light markers with the cameras, and to determine a position and orientation of the assembly in a tracker coordinate system.

Abstract translation: 一种系统包括激光跟踪器，相机杆，附件和电气系统，相机杆包括安装结构，两个相机和三个非共线反射器点，该附件包括多个光标记，电气系统 包括处理器，其使跟踪器测量三个反射器点的3D坐标，以测量相机的光标记，以及确定组件在跟踪器坐标系中的位置和方位。

公开(公告)号：US20160284079A1

公开(公告)日：2016-09-29

申请号：US15081032

申请日：2016-03-25

Applicant: FARO Technologies, Inc.

Inventor： Robert M. Persely

IPC: G06T7/00 ,  G06T19/00

CPC classification number: G06T7/0004 ,  G01B11/00 ,  G01B11/002 ,  G01B21/00 ,  G06T7/33 ,  G06T7/521 ,  G06T19/006 ,  G06T2207/10028 ,  G06T2207/30164 ,  G06T2207/30204

Abstract: A method of comparing measured three-dimensional (3D) measurement data to an object is provided. The method includes the steps of providing a three dimensional measurement device configured to measure 3D coordinates of points on the object and a computing device having a camera and display. During an inspection process, the method measures the object with the 3D measurement device which provides a first collection of 3D coordinates. The first collection of 3D coordinates is stored on the computer network and is associated with an AR marker. During an observation process the method reads the AR marker and transmits from the computer network the first collection of 3D coordinates and a dimensional representation of the object to the computing device. A portion of the first collection of 3D coordinates is registered to the camera image. On the integrated display the registered collection of 3D coordinates and the camera image are shown.

Abstract translation: 提供了将测量的三维（3D）测量数据与对象进行比较的方法。 该方法包括以下步骤：提供被配置为测量物体上的点的3D坐标的三维测量装置和具有相机和显示器的计算装置。 在检查过程中，该方法使用提供3D坐标的第一集合的3D测量装置测量对象。 3D坐标的第一个集合存储在计算机网络上，并与AR标记相关联。 在观察过程中，该方法读取AR标记并从计算机网络发送第一组3D坐标和物体的尺寸表示到计算设备。 第一组3D坐标的一部分被注册到相机图像。 在集成显示器上，显示了3D坐标的注册集合和摄像机图像。

公开(公告)号：US09453913B2

公开(公告)日：2016-09-27

申请号：US13832658

申请日：2013-03-15

Applicant: FARO Technologies, Inc.

Inventor： Peter G. Cramer ,  Robert E. Bridges ,  Nils P. Steffensen ,  Robert C. Mehler ,  Kenneth Steffey ,  John M. Hoffer, Jr. ,  Daniel G. Lasley

IPC: G01S17/66 ,  G01B11/03 ,  G01S7/48 ,  G01S17/42 ,  G01S17/74 ,  G01C15/00 ,  G01C15/06 ,  G01B11/14 ,  G02B5/12 ,  G01K7/02 ,  G01K7/22 ,  G01S7/497 ,  G01B11/00 ,  G01B11/26 ,  G02B5/122

CPC classification number: G01S17/66 ,  G01B11/002 ,  G01B11/03 ,  G01B11/14 ,  G01B11/26 ,  G01C15/004 ,  G01C15/06 ,  G01K7/02 ,  G01K7/22 ,  G01S7/48 ,  G01S7/497 ,  G01S17/42 ,  G01S17/74 ,  G02B5/12 ,  G02B5/122

Abstract: A target is provided having a retroreflector. A body is provided having a spherical exterior portion, the body containing a cavity. The cavity is sized to hold the retroreflector, the cavity open to the exterior of the body and having at least one surface opposite the opening, the retroreflector at least partially disposed in the cavity, wherein the retroreflector and at least one surface define a space therebetween. A transmitter is configured to emit an electromagnetic signal. A first actuator is configured to initiate emission of the electromagnetic signal, wherein the transmitter and the first actuator are affixed to the body.

Abstract translation: 提供具有回射器的目标。 提供具有球形外部部分的主体，该主体包含空腔。 空腔的大小适于保持后向反射器，空腔向主体的外部开放并具有与开口相对的至少一个表面，后向反射器至少部分地设置在空腔中，其中后向反射器和至少一个表面限定了它们之间的空间 。 发射机被配置为发射电磁信号。 第一致动器被配置为启动电磁信号的发射，其中发射器和第一致动器固定到主体。

公开(公告)号：US09423492B2

公开(公告)日：2016-08-23

申请号：US14102921

申请日：2013-12-11

Applicant: FARO Technologies, Inc.

Inventor： Robert E. Bridges

IPC: G01S7/497 ,  G01S17/08 ,  G01S17/66 ,  G01C15/00 ,  G01B11/00 ,  G01C15/06

CPC classification number: G01S7/4972 ,  G01B11/002 ,  G01C15/002 ,  G01C15/06 ,  G01S7/497 ,  G01S17/08 ,  G01S17/66

Abstract: A method of finding a home reference distance of a 3D coordinate measurement device in which a mathematical adjustment is made to move the vertex point to the sphere center of a spherically mounted retroreflector (SMR).

Abstract translation: 一种找到3D坐标测量装置的原始参考距离的方法，其中进行数学调整以将顶点移动到球形安装的后向反射器（SMR）的球形中心。

公开(公告)号：US20160238710A1

公开(公告)日：2016-08-18

申请号：US15140909

申请日：2016-04-28

Applicant: FARO Technologies, Inc.

Inventor： Martin Ossig ,  Dag Frommhold ,  Daniel Flohr

IPC: G01S17/89 ,  G01S7/51 ,  G01S17/42

CPC classification number: G01S17/89 ,  G01S7/003 ,  G01S7/4808 ,  G01S7/4817 ,  G01S7/51 ,  G01S17/42

Abstract: A method, system and computer program product are provided for displaying three-dimensional measurement points on a two-dimensional plane of a display screen having a plurality of pixels. The method includes projecting the measurement points onto the plane. Each of the measurement points is assigned to one of the pixels. A depth value is assigned to each of the pixels. A first pixel is selected having a first measurement point and a first depth value. A first side is searched for a second pixel having a second measurement point and a second depth value. A second side is searched for a third pixel having a third measurement point and a third depth value. It is determined whether the second and third measurement points are on a same plane. The first depth value of the first pixel is changed when the second and third measurement points are on the same plane.

Abstract translation: 提供了一种用于在具有多个像素的显示屏的二维平面上显示三维测量点的方法，系统和计算机程序产品。 该方法包括将测量点投影到平面上。 每个测量点被分配给像素之一。 深度值被分配给每个像素。 选择具有第一测量点和第一深度值的第一像素。 搜索具有第二测量点和第二深度值的第二像素的第一侧。 搜索具有第三测量点和第三深度值的第三像素的第二侧。 确定第二和第三测量点是否在同一平面上。 当第二和第三测量点在同一平面上时，第一像素的第一深度值被改变。

公开(公告)号：US09410787B2

公开(公告)日：2016-08-09

申请号：US14524073

申请日：2014-10-27

Applicant: FARO Technologies, Inc.

Inventor： Simon Raab ,  Marc M. Barber

IPC: G01B5/008 ,  B25J9/16 ,  G01B11/00 ,  G01B21/04 ,  G01C25/00 ,  G05B19/401 ,  G01B7/008

CPC classification number: G01B5/008 ,  B25J9/1692 ,  G01B7/008 ,  G01B11/005 ,  G01B21/042 ,  G01C25/00 ,  G05B19/401 ,  G05B2219/37193 ,  G05B2219/40233 ,  G05B2219/45061

Abstract: A portable articulated arm coordinate measurement machine having an articulated arm that includes a first arm connected to a second arm segment by a connecting segment. An assembly is provided having a first pair of bearings and a first optical encoder and a second pair of bearings and a second optical encoder The first optical encoder includes a first patterned disk and a first read head. The second optical encoder includes a second patterned disk and a second read head. The first and second patterned disks are both fixed with respect to the connecting segment. An electronic circuit is operably coupled to the first read head and the second read head, the electronics being configured to determine three-dimensional coordinates of the probe based at least in part on a first angle and a second angle measured by the first and second optical encoders.

Abstract translation: 一种便携式铰接臂坐标测量机，其具有铰接臂，该铰接臂包括通过连接段连接到第二臂段的第一臂。 提供具有第一对轴承和第一光学编码器以及第二对轴承和第二光学编码器的组件。第一光学编码器包括第一图案化盘和第一读取头。 第二光学编码器包括第二图案化盘和第二读取头。 第一和第二图案化盘相对于连接段固定。 电子电路可操作地耦合到第一读取头和第二读取头，电子设备被配置为至少部分地基于由第一和第二光学器件测量的第一角度和第二角度来确定探针的三维坐标 编码器