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    Portable device for optically measuring three-dimensional coordinates
    22.
    发明授权
    Portable device for optically measuring three-dimensional coordinates 有权

    公开(公告)号：US09671221B2

    公开(公告)日：2017-06-06

    申请号：US14826859

    申请日：2015-08-14

    Applicant: FARO Technologies, Inc.

    Inventor： Axel Ruhland ,  Rolf Heidemann ,  Reinhard Becker ,  Martin Ossig

    IPC: G01B11/30 ,  G01B11/25 ,  G01B11/00 ,  H04N13/00 ,  H04N13/02

    CPC classification number: G01B11/2545 ,  G01B11/002 ,  H04N13/189 ,  H04N13/239 ,  H04N13/243

    Abstract: A device for scanning and obtaining three-dimensional coordinates is provided. The device may be a hand-held scanner that includes a carrying structure having a front and reverse side, the carrying structure having a first arm, a second arm and a third arm arranged in a T-shape or a Y-shape. A housing is coupled to the reverse side, a handle is positioned opposite the carrying structure, the housing and carrying structure defining an interior space. At least one projector is configured to project at least one pattern on an object, the projector being positioned within the interior space and oriented to project the at least one pattern from the front side. At least two cameras are provided spaced apart from each other, the cameras being configured to record images of the object. The cameras and projector are spaced apart from each other by a pre-determined distance.

    PROBE THAT COOPERATES WITH A LASER TRACKER TO MEASURE SIX DEGREES OF FREEDOM
    25.
    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。

    DEVICE AND METHOD FOR OPTICALLY SCANNING AND MEASURING AN ENVIRONMENT
    26.
    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。

    REFERENCING POSE MANIPULATION SYSTEM FOR MARKER BASED TRACKING OF POSITION MEASUREMENT SYSTEM
    27.
    发明申请
    REFERENCING POSE MANIPULATION SYSTEM FOR MARKER BASED TRACKING OF POSITION MEASUREMENT SYSTEM 有权

    公开(公告)号：US20250128427A1

    公开(公告)日：2025-04-24

    申请号：US18887411

    申请日：2024-09-17

    Applicant: FARO Technologies, Inc.

    Inventor： Rolf Heidemann ,  Matthias Wolke ,  Steffen Kappes

    IPC: B25J13/08 ,  B25J9/16 ,  G06T7/73

    Abstract: A method for calibration of a system for tracking a measurement system is provided. The method includes recording a path of relative poses that the system is in when acquiring three-dimensional (3D) coordinates of an object by a measurement system. The recording the path includes moving the system sequentially through relative poses between a measurement system and an object, at which the measurement system measures the 3D coordinates and the pose tracking system records a relative pose. The pose manipulation system is caused to move sequentially along the poses in the path, and the measurement system measures the 3D coordinates and applying the recorded poses. The relative pose is calibrated between the tracked manipulated coordinate system and one of a coordinate system of the object and the measurement system. The measured positions are transformed based on the calibrated relative pose and the tracked relative pose into the common coordinate system.

    Referencing pose manipulation system for marker based tracking of position measurement system
    28.
    发明授权
    Referencing pose manipulation system for marker based tracking of position measurement system 有权

    公开(公告)号：US12115652B2

    公开(公告)日：2024-10-15

    申请号：US17326555

    申请日：2021-05-21

    Applicant: FARO Technologies, Inc.

    Inventor： Rolf Heidemann ,  Matthias Wolke ,  Steffen Kappes

    IPC: B25J13/08 ,  B25J9/16 ,  G06T7/73

    CPC classification number: B25J13/089 ,  B25J9/1692 ,  B25J9/1697 ,  G06T7/73

    Abstract: A system includes a pose manipulation system operationally that sets a pose of a position measurement system with respect to an object that is to be measured. The system further includes a pose tracking system configured to record a relative pose between a coordinate system associated with the position measurement system and a coordinate system of the object. The pose tracking system records a path along which the position measurement system is enabled to measure 3D coordinates of a surface of a type of an object, wherein recording the path comprises moving the pose manipulation system sequentially through a plurality of poses and recording, at each pose, the relative pose to measure the 3D coordinates. The pose manipulation system follows the path again, and the position measurement system measures the 3D coordinates by applying one or more of the recorded poses.

    THREE-DIMENSIONAL SCANNER WITH EVENT CAMERA
    29.
    发明申请
    THREE-DIMENSIONAL SCANNER WITH EVENT CAMERA 有权

    公开(公告)号：US20220196386A1

    公开(公告)日：2022-06-23

    申请号：US17645375

    申请日：2021-12-21

    Applicant: FARO Technologies, Inc.

    Inventor： Rolf Heidemann ,  Matthias Wolke

    IPC: G01B11/00 ,  G01B11/245 ,  G01B11/25

    Abstract: According to one aspect of the disclosure, a three-dimensional coordinate scanner is provided. The scanner includes a projector configured to emit a pattern of light; a sensor arranged in a fixed predetermined relationship to the projector, the sensor having a photosensitive array comprised of a plurality of event-based pixels, each of the event-based pixels being configured to transmit a signal in response to a change in irradiance exceeding a threshold. One or more processors are electrically coupled to the projector and the sensor, the one or more processors being configured to modulate the pattern of light and determine a three-dimensional coordinate of a surface based at least in part on the pattern of light and the signal.

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