公开(公告)号：US11112501B2

公开(公告)日：2021-09-07

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

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：US20210216730A1

公开(公告)日：2021-07-15

申请号：US17142859

申请日：2021-01-06

Applicant: FARO Technologies, Inc.

Inventor： Muhammad Umair Tahir ,  Oliver Zweigle ,  João Santos

IPC: G06K7/10

Abstract: A system including a multi-dimensional scanner includes a body including a chassis extending from the body, a connector assembly coupled to the chassis, and a plurality of interchangeable attachments. Each of the plurality of interchangeable attachments is securable to the body via the connector assembly and each of the plurality of interchangeable attachments is associated with a type of operation of the system.

公开(公告)号：US11035955B2

公开(公告)日：2021-06-15

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 ,  G01S17/89 ,  G01S7/48 ,  G01S7/481 ,  G01C15/00 ,  G01S17/36 ,  G01S7/00 ,  G05D1/02 ,  G09B29/00 ,  G01C7/04 ,  G01S17/87 ,  G01S17/10 ,  G01S17/86

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：US10989795B2

公开(公告)日：2021-04-27

申请号：US16185435

申请日：2018-11-09

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  Aleksej Frank ,  Johannes Buback

IPC: G01S7/481 ,  G06T7/521 ,  G06T7/00 ,  G06T7/73 ,  G01B11/00 ,  G01B11/24 ,  G01C15/00 ,  G01S7/48 ,  G01S7/4865 ,  G01S7/51 ,  G01S17/08 ,  G01S17/89 ,  G01B11/26 ,  G06T17/05

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：US10914569B2

公开(公告)日：2021-02-09

申请号：US16154240

申请日：2018-10-08

Applicant: FARO Technologies, Inc.

Inventor： Oliver Zweigle ,  João Santos ,  Aleksej Frank ,  Ahmad Ramadneh ,  Muhammad Umair Tahir ,  Tobias Boehret

IPC: G01B11/00 ,  G01C21/32 ,  B25J9/16 ,  B25J9/06 ,  B25J5/00 ,  G06T7/521 ,  G01C21/16

Abstract: A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The method including moving a 2D scanner through the environment. A 2D map of the environment is generated using the 2D scanner. A path is defined through the environment using the 2D scanner. 3D scan locations along the path are defined using the 2D scanner. The 2D scanner is operably coupled to a mobile base unit. The mobile base unit is moved along the path based at least in part on the 2D map and the defined path. 3D coordinate values are measured at the 3D scan locations with a 3D scanner, the 3D scanner being coupled to the mobile base unit.

公开(公告)号：US20200349773A1

公开(公告)日：2020-11-05

申请号：US16929897

申请日：2020-07-15

Applicant: FARO Technologies, Inc.

Inventor： Aleksej Frank ,  Oliver Zweigle

IPC: G06T19/00 ,  G06T17/00 ,  G06Q20/00

Abstract: A system and method for generating and viewing a virtual reality scene from scanned point cloud data having user defined content is provided. A method of viewing point cloud data with user defined content in a virtual reality device includes measuring three-dimensional coordinate data by scanning an environment using a coordinate measurement device. A point cloud data is generated based at least in part on the three-dimensional coordinate data. A user defined content is selected. An area in the point cloud data is selected for the user defined content. The user defined content is inserted into the area of the point cloud data. A virtual reality data file is generated from the point cloud data with the user defined content. The virtual reality data file is transmitted to the virtual reality device.

公开(公告)号：US10748318B2

公开(公告)日：2020-08-18

申请号：US16561533

申请日：2019-09-05

Applicant: FARO Technologies, Inc.

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

IPC: G06T11/60 ,  G06T7/521 ,  G01C15/00 ,  G06T3/00 ,  G01S17/42 ,  G01S17/89 ,  G01S7/48 ,  G01S17/86

Abstract: A system and method of generating a two-dimensional (2D) image of an environment is provided. The system includes a 2D scanner having a controller that determines a distance value to at least one of the object points. One or more processors are operably coupled to the 2D scanner, the one or more processors being responsive to nontransitory executable instructions for generating a plurality of 2D submaps of the environment based at least in part on the distance value, each submap generated from a different point in the environment. A map editor is provided that is configured to: select a subset of submaps from the plurality of 2D submaps; and generate the 2D image of the environment using the subset of 2D submaps. The method provides for realigning of 2D submaps to improve the quality of a global 2D map.

公开(公告)号：US20200249013A1

公开(公告)日：2020-08-06

申请号：US16268547

申请日：2019-02-06

Applicant: FARO Technologies, Inc.

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

IPC: G01B11/25 ,  G01B11/00 ,  G01C15/00 ,  G02B26/10 ,  G06F3/14

Abstract: Provided are embodiments for a system and method for performing real-time detection for mapping. The embodiments include one or more processors, a scanner, and a mobile computing device removably coupled to the 2D scanner where the mobile computing device having a display. Embodiments include collecting scan data of an environment to generate a first map and identifying lines from the collected scan data corresponding to a surface of a structure. Embodiments also include grouping the identified lines into buckets based at least in part on a characteristic of the identified lines and combining the identified lines in each bucket. Embodiments also include optimizing the first map to generate a second map and displaying the second map on the display.

公开(公告)号：US10657691B2

公开(公告)日：2020-05-19

申请号：US15936834

申请日：2018-03-27

Applicant: FARO Technologies, Inc.

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

IPC: G06T11/60 ,  G06K9/00 ,  G06K9/22 ,  G06T7/73 ,  H04N13/271 ,  H04N13/25 ,  H04N13/254

Abstract: A system that includes a coordinate measurement scanner having a first image sensor, one or more processors coupled to the scanner for generating a 2D image of the environment, a portable computing device having a second image sensor coupled to the one or more processors, and a mapping system. The one or more processors correlate a location captured by a first image from the portable computing device with the location in the 2D image of the environment in response to the first image being acquired by the second image sensor. The system further includes a mapping system configured to: generate a 2D map based on the 2D image of the environment, apply image recognition to the first image to identify and label an object in the first image, and update the 2D map based at least in part on the label of the object in the first image.

公开(公告)号：US20200050727A1

公开(公告)日：2020-02-13

申请号：US16101660

申请日：2018-08-13

Applicant: FARO Technologies, Inc.

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

IPC: G06F17/50 ,  G06T11/00

Abstract: A system and method of automatic re-localization of a handheld scanning device in a previously mapped environment is provided. The system includes a two-dimensional (2D) scanner and one or more processors operably coupled to the 2D scanner. The one or more processors are responsive to non-transitory executable instructions for performing operations that include determining a current location of the 2D scanner in an environment relative to a location in a previously generated 2D image of the environment. The operations also include generating a new 2D image of at least a subset of the environment based at least in part in response to a signal from a first sensor. The at least a subset of the environment includes the current location of the 2D scanner and at least one other location in the environment. The operations further include overlapping portions of the previously generated 2D image and the current 2D image.