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    PROBE THAT COOPERATES WITH A LASER TRACKER TO MEASURE SIX DEGREES OF FREEDOM
    134.
    发明申请
    PROBE THAT COOPERATES WITH A LASER TRACKER TO MEASURE SIX DEGREES OF FREEDOM 审中-公开
    探索与激光跟踪器合作以测量六个自由度

    公开(公告)号：US20160187470A1

    公开(公告)日：2016-06-30

    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 ,  G01S17/87 ,  G01S17/66

    CPC classification number: G01S7/497 ,  G01S7/481 ,  G01S7/4818 ,  G01S7/4863 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87

    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.

    Abstract translation: 一种系统包括测量装置，其被配置为测量与后向反射器目标的距离，第一角度和第二角度。 所述系统还包括具有后向反射器靶的探头，倾斜计传感器，相机和处理器，所述倾斜计传感器被配置为确定所述探针相对于重力矢量的二维倾斜度，所述相机配置成捕获所述探测器的图像 至少部分地基于所述距离，所述第一角度，所述第二角度，所述二维倾斜度和所述捕获图像来确定所述探测器的六个自由度的处理器，所述光从所述测量装置发射或反射， 的相机。

    HUMAN-CENTRIC ROBOT WITH NONCONTACT MEASUREMENT DEVICE
    135.
    发明申请
    HUMAN-CENTRIC ROBOT WITH NONCONTACT MEASUREMENT DEVICE 有权
    具有非线性测量装置的人机中心机器人

    公开(公告)号：US20160129594A1

    公开(公告)日：2016-05-12

    申请号：US14886135

    申请日：2015-10-19

    Applicant: FARO Technologies, Inc.

    Inventor： Gary L. Telling

    IPC: B25J9/16 ,  B25J15/04 ,  G06K7/10

    CPC classification number: G06K7/10405 ,  B25J9/161 ,  B25J9/1676 ,  B25J15/04 ,  B25J15/0408 ,  B25J19/021 ,  G06K7/10297 ,  G06K7/10376 ,  G06K7/10554 ,  Y10S901/09

    Abstract: A system measuring an object with a human-centric robot is provided. The robot including a movable end effector having a coupler, the robot including a plurality of transducers arranged to transmit signals to an electronic circuit, the electronic circuit configured in operation to determine the position and orientation of the end effector. At least one tool is provided having a first gripping portion, the gripping portion being sized and shaped to removably couple to the coupler. A three-dimensional (3D) scanner is provided that is configured in operation to determine three-dimensional coordinates of a surface of an object, the 3D scanner having a second gripping portion sized and shaped to removably couple to the coupler. A controller is configured to selectively couple one of the at least one tool or the 3D scanner to the coupler in response to an object signal.

    Abstract translation: 提供了以人为中心的机器人测量物体的系统。 所述机器人包括具有耦合器的可移动端部执行器，所述机器人包括布置成将信号传输到电子电路的多个换能器，所述电子电路被配置为操作以确定所述末端执行器的位置和取向。 提供至少一个具有第一抓握部分的工具，所述抓握部分的尺寸和形状可拆卸地联接到联接器。 提供三维（3D）扫描器，其被配置为操作以确定物体的表面的三维坐标，所述3D扫描仪具有尺寸和形状可拆卸地耦合到耦合器的第二抓握部分。 控制器被配置为响应于对象信号选择性地将至少一个工具或3D扫描仪中的一个耦合到耦合器。

    DEVICE AND METHOD FOR OPTICALLY SCANNING AND MEASURING AN ENVIRONMENT
    137.
    发明申请
    DEVICE AND METHOD FOR OPTICALLY SCANNING AND MEASURING AN ENVIRONMENT 审中-公开
    用于光学扫描和测量环境的设备和方法

    公开(公告)号：US20160073085A1

    公开(公告)日：2016-03-10

    申请号：US14712993

    申请日：2015-05-15

    Applicant: FARO Technologies, Inc.

    Inventor： Gerrit Hillebrand ,  Rasmus Debitsch ,  Rolf Heidemann

    IPC: H04N13/00 ,  H04N5/232 ,  G06T7/00 ,  G01B11/00

    CPC classification number: H04N13/167 ,  G01B11/002 ,  G01B11/2545 ,  G06T7/30 ,  G06T19/00 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2210/56 ,  H04N5/23293 ,  H04N13/15 ,  H04N13/189 ,  H04N13/239 ,  H04N13/254 ,  H04N2013/0081

    Abstract: A method for scanning and measuring an environment is provided. The method includes providing a three-dimensional (3D) measurement device having a controller. Images of the environment are recorded and a 3D scan of the environment is produced with a three-dimensional point cloud. A video image of the environment is recorded. The video image is displayed on a first portion of a display. A portion of the three-dimensional point cloud is displayed on a second portion of the display, the second portion of the display being arranged about the periphery of the first portion of the display. Wherein a portion of the 3D point cloud displayed in the second portion represents a portion of the environment outside of a field of view of the video image.

    Abstract translation: 提供了一种用于扫描和测量环境的方法。 该方法包括提供具有控制器的三维（3D）测量装置。 记录环境的图像，并用三维点云产生环境的3D扫描。 记录环境的视频图像。 视频图像显示在显示器的第一部分上。 三维点云的一部分显示在显示器的第二部分上，显示器的第二部分围绕显示器的第一部分的周边布置。 其中在第二部分中显示的3D点云的一部分表示视频图像的视场之外的环境的一部分。

    SIX DEGREE-OF-FREEDOM TRIANGULATION SCANNER AND CAMERA FOR AUGMENTED REALITY
    140.
    发明申请
    SIX DEGREE-OF-FREEDOM TRIANGULATION SCANNER AND CAMERA FOR AUGMENTED REALITY 有权
    自由自由三角扫描仪和相机实景相机

    公开(公告)号：US20150373321A1

    公开(公告)日：2015-12-24

    申请号：US14820665

    申请日：2015-08-07

    Applicant: FARO Technologies, Inc.

    Inventor： Robert E. Bridges

    IPC: H04N13/02 ,  G01S17/89 ,  G06T19/00 ,  G01B11/00

    CPC classification number: H04N13/275 ,  G01B5/004 ,  G01B11/002 ,  G01B11/2518 ,  G01C15/002 ,  G01S7/4813 ,  G01S17/023 ,  G01S17/48 ,  G01S17/66 ,  G01S17/89 ,  G06T19/006 ,  H04N13/111 ,  H04N13/211 ,  H04N13/296 ,  H04N2213/006

    Abstract: A 3D coordinate measuring system includes a six-DOF unit having a unit frame of reference and including a structure, a retroreflector, a triangulation scanner, and an augmented reality (AR) color camera. The retroreflector, scanner and AR camera are attached to the structure. The scanner includes a first camera configured to form a first image of the pattern of light projected onto the object by a projector. The first camera and projector configured to cooperate to determine first 3D coordinates of a point on the object in the unit frame of reference, the determination based at least in part on the projected pattern of light and the first image. The system also includes a coordinate measuring device having a device frame of reference and configured to measure a pose of the retroreflector in the device frame of reference, the measured pose including measurements of six degrees-of-freedom of the retroreflector.

    Abstract translation: 3D坐标测量系统包括具有单位参考系并包括结构，后向反射器，三角测量扫描仪和增强现实（AR）彩色照相机的六自由度单元。 后向反射器，扫描仪和AR相机连接到结构上。 扫描器包括配置成通过投影仪形成投影到物体上的光的图案的第一图像的第一照相机。 第一相机和投影仪被配置为协作以确定在单位参考系中的物体上的点的第一3D坐标，该至少部分地基于投射的光线和第一图像的确定。 该系统还包括具有装置参考系并被配置为测量装置参考系中的后向反射器的姿态的坐标测量装置，所测量的姿态包括后向反射器的六自由度的测量。

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