公开(公告)号：US20200265621A1

公开(公告)日：2020-08-20

申请号：US16275525

申请日：2019-02-14

Applicant: FARO Technologies, Inc.

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

IPC: G06T11/60 ,  H04W4/33 ,  G06T7/521 ,  H04N5/247 ,  G06T7/33 ,  G06T3/00 ,  H04N13/254 ,  H04N13/243 ,  G06T7/70

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 multiple scanner systems that move independently from one position to another in the environment. Each 2D scanner system steers a beam of light within a first plane to illuminate object points in the environment, and a controller determines a distance value to at least one of the object points. The 2D submaps of the environment are generated based on an activation signal from an operator and based at least in part on the distance value, each submap generated from a respective point in the environment and by a respective 2D scanner system. A central processor generates the 2D image of the environment using the 2D submaps.

公开(公告)号：US10739458B2

公开(公告)日：2020-08-11

申请号：US15673999

申请日：2017-08-10

Applicant: FARO Technologies, Inc.

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

IPC: G01C15/00 ,  G01S7/00 ,  G01S7/48 ,  G01S7/481 ,  G01S17/88 ,  G01S17/89 ,  G05D1/02 ,  G01S17/42 ,  B25J13/08 ,  G09B29/00 ,  G01B11/00 ,  G01B11/27 ,  G01S17/36 ,  G01C7/04 ,  G01S17/87 ,  G01S17/86

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.

公开(公告)号：US10663292B2

公开(公告)日：2020-05-26

申请号：US16527828

申请日：2019-07-31

Applicant: FARO Technologies, Inc.

Inventor： Simon Raab ,  Bernd-Dietmar Becker ,  Rolf Heidemann ,  Steffen Kappes ,  João Santos ,  Oliver Zweigle ,  Aleksej Frank

IPC: G01B11/14 ,  G01B11/25 ,  G06T7/20 ,  G01S17/06 ,  G06T7/00 ,  G06T7/73

Abstract: An inspection system for measuring an object is provided. The inspection system includes an entryway sized to receive the object. At least two non-contact coordinate measurement devices are positioned with a field of view being at least partially within or adjacent to the entryway, each of the at least two non-contact coordinate measurement devices being operable to measure 3D coordinates for a plurality of points on the object as one of the object or the entryway move from a first position to a final position. A pose measurement device is operable to determine the six-degree of freedom (6DOF) pose of the object. One or more processors are provided that register the 3D coordinates for the plurality of points from each of the at least two non-contact coordinate measurement devices based at least in part on the 6DOF pose of the object.

公开(公告)号：US10598479B2

公开(公告)日：2020-03-24

申请号：US15609519

申请日：2017-05-31

Applicant: FARO Technologies, Inc.

Inventor： Bernd-Dietmar Becker ,  Hamidreza Rajaie ,  Oliver Zweigle

IPC: G01B11/00 ,  G01B11/25

Abstract: A motorized mobile platform includes a robotic articulated arm and a triangulation scanner for performing three-dimensional measurements, the robotic arm and the triangulation scanner removably coupled with connectors.

公开(公告)号：US10565718B2

公开(公告)日：2020-02-18

申请号：US15955824

申请日：2018-04-18

Applicant: FARO Technologies, Inc.

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

IPC: G06T7/521 ,  G01S17/89 ,  G06T7/593 ,  G06T11/00 ,  H04N13/257 ,  H04W4/02 ,  G01S7/481

Abstract: A system and method of generating a two-dimensional image of an environment is provided. The system includes a 2D scanner that comprises a light source, an image sensor and a controller. The controller determines a distance value to at least one of the object points. An inertial measurement unit is coupled to the scanner and has a first sensor. The first sensor has a first characteristic. A mobile computing device is removably coupled to the 2D scanner, the mobile computing device having a second sensor, the second sensor having a second characteristic. Processors are provided that are responsive to compare the first characteristic and the second characteristic and select one of the first or second sensor based on the comparison. The processors are further generate an image of the environment based on a signal from the selected first or second sensor.

公开(公告)号：US20200005546A1

公开(公告)日：2020-01-02

申请号：US16545612

申请日：2019-08-20

Applicant: FARO Technologies, Inc.

Inventor： Aleksej Frank ,  Oliver Zweigle

IPC: G06T19/00

Abstract: A system and method for generating a virtual reality scene from scanned point cloud data having user defined content is provided. The system includes a coordinate measurement device operable to measure three-dimensional coordinates. A computing device having a processor is operably coupled to the coordinate measurement device, the processor being operable to generate a point cloud data and insert user defined content into the point cloud data in response to an input from a user, the processor further being operable to generate a virtual reality data file based at least in part on the point cloud data with the user defined content. A virtual reality device is operably coupled to the computing device, the virtual reality device being operable to display the virtual reality data file to the user.

公开(公告)号：US20190340433A1

公开(公告)日：2019-11-07

申请号：US16396857

申请日：2019-04-29

Applicant: FARO Technologies, Inc.

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

IPC: G06K9/00 ,  G06T7/70 ,  G01C21/32 ,  G01S17/89

Abstract: A system that includes computer executable instructions that, when executed by the processor, cause the processor to perform operations including receiving a first 2D map of a location. The first 2D map was generated at a first time based on first scan data from a coordinate measurement scanner and a portable computing device. The coordinate measurement scanner includes a light source, a first image sensor, and a controller. The portable computing device includes a second image sensor. A second 2D map of the location is received. The second 2D map was generated at a second time based on second scan data from the coordinate measurement scanner and the portable computing device. The first 2D map is aligned with the second 2D map, and their contents are compared. Any differences in the contents of the first 2D map and the second 2D map are output.

公开(公告)号：US20190325592A1

公开(公告)日：2019-10-24

申请号：US15955824

申请日：2018-04-18

Applicant: FARO Technologies, Inc.

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

IPC: G06T7/521 ,  G01S17/89 ,  G01S7/481 ,  H04N13/239 ,  H04N13/257 ,  G06T7/593 ,  G06T11/00

Abstract: A system and method of generating a two-dimensional image of an environment is provided. The system includes a 2D scanner that comprises a light source, an image sensor and a controller. The controller determines a distance value to at least one of the object points. An inertial measurement unit is coupled to the scanner and has a first sensor. The first sensor has a first characteristic. A mobile computing device is removably coupled to the 2D scanner, the mobile computing device having a second sensor, the second sensor having a second characteristic. Processors are provided that are responsive to compare the first characteristic and the second characteristic and select one of the first or second sensor based on the comparison. The processors are further generate an image of the environment based on a signal from the selected first or second sensor.

公开(公告)号：US10445913B2

公开(公告)日：2019-10-15

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 ,  G06T3/00 ,  G06T7/521

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：US20190137627A1

公开(公告)日：2019-05-09

申请号：US16240843

申请日：2019-01-07

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  Bernd-Dietmar Becker ,  Hamidreza Rajaie ,  Robert E. Bridges

IPC: G01S17/89 ,  G01S17/66 ,  G01S17/02 ,  G01S7/481 ,  G01B11/25 ,  H04W4/70 ,  G01S17/42

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.