公开(公告)号：US20190251741A1

公开(公告)日：2019-08-15

申请号：US15896547

申请日：2018-02-14

Applicant: FARO Technologies, Inc.

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

IPC: G06T17/05 ,  G06T19/00 ,  G06K9/00 ,  G06K9/22 ,  G06K9/32

CPC classification number: G06T17/05 ,  G06K9/00671 ,  G06K9/228 ,  G06K9/3241 ,  G06T19/006 ,  H04N1/00827 ,  H04N1/32101 ,  H04N1/32144 ,  H04N2201/3245

Abstract: Technical solutions are described for generating an augmented reality map of an environment. An example method includes obtaining, by a 2D scanner, a 2D scan set including 2D coordinates of points in the environment. The method further includes capturing and displaying, by a portable computing device, a live video stream of a field of view, the portable computing device being fixed at a relative position with respect to the 2D scanner. The method further includes displaying a selection marker overlaid on the live video stream at a location in response to a user input. The method further includes projecting a beam of visible light on an object point in the field of view, corresponding to the location on the display of the selection marker. The method further includes receiving, via the portable computing device, a selection input and in response generating and storing an annotation at the object point.

公开(公告)号：US20190170876A1

公开(公告)日：2019-06-06

申请号：US16272237

申请日：2019-02-11

Applicant: FARO Technologies, Inc.

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

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

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：US20190154806A1

公开(公告)日：2019-05-23

申请号：US16185435

申请日：2018-11-09

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  Aleksej Frank ,  Johannes Buback

IPC: G01S7/481 ,  G06T17/05 ,  G01B11/00 ,  G01B11/24 ,  G01C15/00 ,  G01S17/89 ,  G01S17/08 ,  G01S7/48 ,  G01S7/486 ,  G01S7/51

Abstract: A system and method for analyzing a surface of an object is provided. The system includes a 3D measurement device operable to acquire a plurality of points on the surface of the object and determine 3D coordinates for each of the points. The system further includes processors operably coupled to the 3D measurement device. The processors are responsive to computer instructions when executed on the processors for performing a method comprising: generating a point cloud from the 3D coordinates of the plurality of points; extracting a first set of points from the plurality of points; defining a first reference geometry through the first set of points; measuring at least one first metric from each of the points in the first set of points to the first reference geometry; and identifying a nonconforming feature based at least in part on the at least one first metric.

公开(公告)号：US09964398B2

公开(公告)日：2018-05-08

申请号：US15146925

申请日：2016-05-05

Applicant: FARO Technologies, Inc.

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

IPC: G01C9/00 ,  G01B11/00 ,  G01B11/25

CPC classification number: G01B11/005 ,  G01B11/25 ,  Y10S901/01 ,  Y10S901/47

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：US20180101961A1

公开(公告)日：2018-04-12

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

CPC classification number: G06T7/337 ,  G01S7/4808 ,  G01S17/89 ,  G06T7/521 ,  G06T11/60 ,  G06T2200/04 ,  G06T2207/10028 ,  G06T2207/20108 ,  G06T2207/20221 ,  G06T2210/04

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：US20180052233A1

公开(公告)日：2018-02-22

申请号：US15675006

申请日：2017-08-11

Applicant: FARO Technologies, Inc.

Inventor： Aleksej Frank ,  Oliver Zweigle

IPC: G01S17/36 ,  G01C15/00 ,  G01C3/06 ,  G01S17/89 ,  G06T7/33

CPC classification number: G01S17/36 ,  G01C3/06 ,  G01C15/002 ,  G01S7/4808 ,  G01S17/42 ,  G01S17/87 ,  G01S17/89 ,  G06T7/344 ,  G06T2207/10028 ,  H04N1/1135 ,  H04N1/12 ,  H04N2201/04789

Abstract: A method and system for generating a three-dimensional (3D) map of an environment is provided. An example method includes receiving, by a processor system, via a 3D scanner, located at a scan position, a 3D scan of the environment. The method further includes receiving via a two-dimensional (2D) scanner accessory, a portion of a 2d map of the environment. The method further includes receiving coordinates of the scan position in the 2d map in response to the 3D scanner initiating the acquisition of the 3D scan. The method further includes associating the coordinates of the scan position with the portion of the 2D map. The method further includes determining a displacement vector for the 2D map using a loop closure algorithm. The method further includes computing a revised scan position based on the scan position and the displacement vector, where the 3D scan is registered using the revised scan position.

公开(公告)号：US20170343674A1

公开(公告)日：2017-11-30

申请号：US15681862

申请日：2017-08-21

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

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：US09746559B2

公开(公告)日：2017-08-29

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 ,  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 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.

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。

公开(公告)号：US20150160348A1

公开(公告)日：2015-06-11

申请号：US14559311

申请日：2014-12-03

Applicant: FARO Technologies, Inc.

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

IPC: G01S17/89 ,  G01C15/00 ,  G01S7/00 ,  G01S17/36

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. The 3D scanner collects 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 the 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.

Abstract translation: 用于测量和记录3D坐标的方法具有3D扫描仪，测量来自第一登记位置的点的3D坐标的第一集合。 3D扫描仪收集2D扫描组，因为3D测量装置从第一到第二注册位置移动。 处理器基于收集的2D扫描集合来确定第一和第二平移值以及第一旋转值。 3D扫描仪测量来自第二注册位置的点的3D坐标的第二集合。 处理器至少部分地基于第一和第二平移值和第一旋转值来调整相对于第一采集点的第二采集点。 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。