公开(公告)号：US10282854B2

公开(公告)日：2019-05-07

申请号：US15729010

申请日：2017-10-10

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  Aleksej Frank ,  Bernd-Dietmar Becker

IPC: G06T7/33 ,  G06T7/521 ,  G06T11/60 ,  G01S17/89 ,  B23K26/082 ,  G01S7/48

Abstract: A method and system of generating a two-dimensional map with an optical scanner is provided. The method comprises acquiring coordinate data of points in an area being scanned with a mobile optical scanner. A current 2D map from the coordinate data is generated. A copy of the current 2D map is saved on a periodic or aperiodic basis. At least one data registration error is identified in the current 2D map. The saved copy of the current 2D map from a point in time prior to the registration error is determined. A second data set of coordinate data acquired after the determined saved copy is identified. The second data set is aligned to the determined saved copy to form a new current 2D map. The new current 2D map is stored in memory.

公开(公告)号：US10175360B2

公开(公告)日：2019-01-08

申请号：US15084751

申请日：2016-03-30

Applicant: FARO Technologies, Inc.

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

IPC: G01C3/08 ,  G01S17/89 ,  G01S17/42 ,  G01S7/481 ,  G01B11/25 ,  H04W4/70 ,  G01S17/02 ,  G01S17/66 ,  H04W84/12 ,  G01S17/10 ,  G01S17/36 ,  G01S17/48

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.

公开(公告)号：US20180321382A1

公开(公告)日：2018-11-08

申请号：US16032353

申请日：2018-07-11

Applicant: FARO Technologies, Inc.

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

IPC: G01S17/42 ,  G01C15/00 ,  G01S7/00 ,  G01S7/48 ,  G01S7/481 ,  G09B29/00 ,  G01S17/36 ,  G05D1/02 ,  G01S17/89 ,  G01S17/02 ,  G01S17/10 ,  G01S17/87 ,  G01C7/04

CPC classification number: G01S17/42 ,  G01C7/04 ,  G01C15/002 ,  G01S7/003 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/10 ,  G01S17/36 ,  G01S17/87 ,  G01S17/89 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0207 ,  G09B29/004

Abstract: A method for measuring and registering three-dimensional (3D) coordinates by measuring 3D coordinates with a 3D scanner in a first position, measuring two-dimensional (2D) coordinates with a 2D scanner while moving from the first position to a second position, measuring 3D coordinates with the 3D scanner at the second position, and determining a correspondence among targets in the first and second positions while moving between the second position and a third registration position.

公开(公告)号：US20180100927A1

公开(公告)日：2018-04-12

申请号：US15723511

申请日：2017-10-03

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  Aleksej Frank

IPC: G01S17/89 ,  G01S17/02 ,  G06T7/73 ,  G06T11/40

CPC classification number: G01S17/89 ,  G01S7/4808 ,  G01S17/023 ,  G01S17/87 ,  G06T7/521 ,  G06T7/73 ,  G06T11/40 ,  G06T2207/10028

Abstract: A method and system for generating a two-dimensional map using a scanning system is provided. The method includes receiving laser scan data, a current two-dimensional environmental map, and a first estimated position and orientation of a scanning system. A set of two-dimensional coordinate data and a set of three-dimensional coordinate data are acquired while moving the scanning system from a first position to a second position. It is determined when a location included in the current two-dimensional environmental map includes new content based on the set of three-dimensional coordinate data. It is determined when a value of the new content is equal to or exceeds a threshold. At least one of the first set of two-dimensional coordinate data and the set of two-dimensional coordinate data are merged into the current two-dimensional environmental map when the value of the new content is equal to or exceeds the threshold.

公开(公告)号：US09739886B2

公开(公告)日：2017-08-22

申请号：US14559290

申请日：2014-12-03

Applicant: FARO Technologies, Inc.

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

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

CPC classification number: G01S17/42 ,  B25J13/08 ,  G01B11/002 ,  G01B11/272 ,  G01C7/04 ,  G01C15/002 ,  G01S7/003 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/36 ,  G01S17/87 ,  G01S17/88 ,  G01S17/89 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0207 ,  G09B29/004

Abstract: A method for measuring and registering 3D coordinates has a 3D scanner measure a first collection of 3D coordinates of points from a first registration position. A 2D scanner collects horizontal 2D scan sets as 3D measuring device moves from first to second registration positions. A processor determines first and second translation values and a first rotation value based on collected 2D scan sets. 3D scanner measures a second collection of 3D coordinates of points from second registration position. Processor adjusts second collection of points relative to first collection of points based at least in part on first and second translation values and first rotation value. Processor identifies a correspondence among registration targets in first and second collection of 3D coordinates, and uses this correspondence to further adjust the relative position and orientation of first and second collection of 3D coordinates.

公开(公告)号：US20150160342A1

公开(公告)日：2015-06-11

申请号：US14559335

申请日：2014-12-03

Applicant: FARO Technologies, Inc.

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

IPC: G01S17/42 ,  G01B11/27 ,  G01S7/481 ,  G01B11/00

CPC classification number: G01S17/42 ,  B25J13/08 ,  G01B11/002 ,  G01B11/272 ,  G01C7/04 ,  G01C15/002 ,  G01S7/003 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/36 ,  G01S17/87 ,  G01S17/88 ,  G01S17/89 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0207 ,  G09B29/004

Abstract: A method for measuring and registering 3D coordinates has a 3D scanner measure a first collection of 3D coordinates of points from a first registration position and a second collection of 3D coordinates of points from a second registration position. In between these positions, the 3D scanner collects 2D camera images. A processor determines first and second translation values and a first rotation value based on the 2D camera images. The processor adjusts the second collection of points relative to the first collection of points based at least in part on the first and second translation values and the first rotation value. The processor identifies a correspondence among registration targets in the first and second collection of 3D coordinates, and uses this correspondence to further adjust the relative position and orientation of the first and second collection of 3D coordinates.

Abstract translation: 用于测量和登记3D坐标的方法具有3D扫描器，测量来自第一登记位置的点的3D坐标的第一集合和来自第二登记位置的点的3D坐标的第二集合。 在这些位置之间，3D扫描仪收集2D相机图像。 处理器基于2D相机图像来确定第一和第二平移值以及第一旋转值。 至少部分地基于第一和第二平移值和第一旋转值，处理器相对于第一采集点调整点的第二集合。 处理器识别3D坐标的第一和第二集合中的注册目标之间的对应关系，并且使用该对应关系来进一步调整第一和第二3D坐标集合的相对位置和取向。