公开(公告)号：US20220198704A1

公开(公告)日：2022-06-23

申请号：US17556083

申请日：2021-12-20

申请人： FARO Technologies, Inc.

发明人： Paul C. Atwell ,  John Lucas Creachbaum ,  Nitesh Dhasmana ,  Fabiano Kovalski ,  Andrea Riccardi ,  William E. Schoenfeldt ,  Marco Torsello ,  Christopher Michael Wilson

IPC分类号： G06T7/73 ,  H04N5/232 ,  H04N5/225 ,  G01C11/02

摘要： A handheld three-dimensional (3D) measuring system operates in a target mode and a geometry mode. In the target mode, a target-mode projector projects a first line of light onto an object, and a first illuminator sends light to markers on or near the object. A first camera captures an image of the first line of light and the illuminated markers. In the geometry mode, a geometry-mode projector projects onto the object a first multiplicity of lines, which are captured by the first camera and a second camera. One or more processors determines 3D coordinates in the target mode and the geometry mode.

公开(公告)号：US10969760B2

公开(公告)日：2021-04-06

申请号：US16364474

申请日：2019-03-26

申请人： FARO Technologies, Inc.

发明人： Kishore Lankalapalli ,  Kenneth Steffey ,  Keith G. Macfarlane ,  Paul C. Atwell ,  Dragos M. Stanescu

IPC分类号： G05B19/401 ,  G01B11/00 ,  G01B21/04

摘要： According to some aspects of the invention, auxiliary axis measurement systems for determining three-dimensional coordinates of an object are provided as shown and described herein. According to some aspects of the invention, methods for operating auxiliary axis measurement systems for determining three-dimensional coordinates of an object are provided as shown and described herein.

公开(公告)号：US10895445B2

公开(公告)日：2021-01-19

申请号：US16131314

申请日：2018-09-14

申请人： FARO Technologies, Inc.

发明人： Kishore Lankalapalli ,  Yue Li ,  John Lucas Creachbaum ,  Dragos M. Stanescu ,  Paul C. Atwell

IPC分类号： G01B5/008 ,  B25J9/12 ,  B25J13/02

摘要： Rotary assemblies for arm segments of an articulated arm coordinate measuring machines are provided. The rotary assemblies include a drive assembly having an output shaft passing therethrough. The drive assembly includes a motor subassembly and an output subassembly having a gear assembly and a shaft engagement element. The motor subassembly is configured to drive the gear assembly and the shaft engagement element to drive the output shaft. In some embodiments, a motor controller is operably coupled to the motor subassembly. The motor assembly provides a torque on an arm segment about a second axis in response to a signal from the motor controller.

公开(公告)号：US20180023935A1

公开(公告)日：2018-01-25

申请号：US15714247

申请日：2017-09-25

申请人： FARO Technologies, Inc.

发明人： Paul C. Atwell ,  Yu Gong

IPC分类号： G01B5/008 ,  G01B11/00 ,  G06T7/55

CPC分类号： G01B5/008 ,  G01B11/007 ,  G06T7/55

摘要： A method for measuring three-dimensional (3D) coordinates of a surface includes providing a manually positionable articulated arm portion having opposed first and second ends, providing a measurement device coupled to the first end, the measurement device including a camera having a lens and a photosensitive array and moving the camera to first and second positions and orientations to capture first and second images. Based on data from the camera, a first set of cardinal points common to the first and images and the second images are used to form a 3D coordinates that describe the surface.

公开(公告)号：US09772173B2

公开(公告)日：2017-09-26

申请号：US14315554

申请日：2014-06-26

申请人： FARO Technologies, Inc.

发明人： Paul C. Atwell ,  Yu Gong

IPC分类号： G01C11/06 ,  G01B5/008 ,  G01B11/00 ,  G06T7/55

CPC分类号： G01B5/008 ,  G01B11/007 ,  G06T7/55

摘要： A method for measuring three-dimensional (3D) coordinates of a surface includes providing a manually positionable articulated arm portion having opposed first and second ends, providing a measurement device coupled to the first end, the measurement device including a camera having a lens and a photosensitive array and moving the camera to first and second positions and orientations to capture first and second images. Based on data from the camera, a first set of cardinal points common to the first and images and the second images are used to form a 3D coordinates that describe the surface.

公开(公告)号：US09628775B2

公开(公告)日：2017-04-18

申请号：US14679580

申请日：2015-04-06

申请人： FARO Technologies, Inc.

发明人： Robert E. Bridges ,  Paul C. Atwell

IPC分类号： G01B5/008 ,  G01B11/25 ,  G06K9/46 ,  H04N13/02 ,  H04N5/225 ,  G01B21/04 ,  G01B5/012 ,  G05B19/401

CPC分类号： H04N13/204 ,  G01B5/008 ,  G01B5/012 ,  G01B11/2509 ,  G01B11/2513 ,  G01B21/047 ,  G01B2210/58 ,  G05B19/401 ,  G05B2219/37193 ,  G05B2219/40233 ,  G05B2219/45061 ,  H04N5/2252

摘要： A portable articulated arm coordinate measuring machine includes a noncontact 3D measuring device that has a projector that is manually movable by an operator from a first position to a second position. The projector is configured to emit a first pattern of light onto an object. The noncontact 3D measuring device further includes a scanner camera and an edge-detecting camera. The scanner camera is arranged to receive the first pattern of light reflected from the surface of the object. The edge-detecting camera arranged to receive light reflected from an edge feature of the object. The articulated arm coordinate measurement machine includes a processor configured to determine first 3D coordinates of an edge point of the edge feature based on electrical signals received from the scanner camera and the edge-detecting camera.

公开(公告)号：US09607239B2

公开(公告)日：2017-03-28

申请号：US14485876

申请日：2014-09-15

申请人： FARO Technologies, Inc.

发明人： Robert E. Bridges ,  Paul C. Atwell

IPC分类号： G01B11/03 ,  G06K9/46 ,  G01B21/04 ,  G01B5/008 ,  G01B5/012 ,  G01B11/25 ,  G05B19/401

CPC分类号： G01B11/005 ,  G01B5/008 ,  G01B5/012 ,  G01B11/2509 ,  G01B11/2513 ,  G01B21/047 ,  G01B2210/58 ,  G05B19/401 ,  G05B2219/37193 ,  G05B2219/40233 ,  G05B2219/45061 ,  G06K9/4604 ,  G06T7/13 ,  G06T7/521 ,  G06T7/73 ,  G06T2200/04 ,  G06T2207/10028 ,  H04N13/239 ,  H04N13/257

摘要： A portable articulated arm coordinate measuring machine includes a noncontact 3D measuring device that has a projector configured to emit a first pattern of light onto an object, a scanner camera arranged to receive the first pattern of light reflected from the surface of the object, an edge-detecting camera arranged to receive light reflected from an edge feature of the object, and a processor configured to determine first 3D coordinates of an edge point of the edge feature based on electrical signals received from the scanner camera and the edge-detecting camera.

公开(公告)号：US09188430B2

公开(公告)日：2015-11-17

申请号：US14207953

申请日：2014-03-13

申请人： FARO Technologies, Inc.

发明人： Paul C. Atwell ,  Robert E. Bridges

IPC分类号： G01B11/24 ,  G01B11/03 ,  G01B11/00 ,  G01C15/00 ,  G01C25/00 ,  G01S17/02 ,  G01S17/66

CPC分类号： G01B11/24 ,  G01B11/005 ,  G01C15/002 ,  G01C25/005 ,  G01S17/023 ,  G01S17/66

摘要： A method is provided for determining the three dimensional coordinates of points on the surface of an object. The method includes providing a structured light scanner and a coordinate measurement device. The coordinate measurement device tracks the location and orientation of the structured light scanner during operation. The location and orientation data is combined with image frames captured by the scanner to allow registration of the image frames relative to each other. The three-dimensional coordinates of points on the surface of the object may then be determined in the frame of reference of the coordinate measurement device.

摘要翻译： 提供了一种用于确定物体表面上的点的三维坐标的方法。 该方法包括提供结构化光扫描器和坐标测量装置。 坐标测量装置在操作期间跟踪结构化光扫描器的位置和方向。 位置和方向数据与由扫描仪捕获的图像帧组合以允许图像帧相对于彼此的注册。 然后可以在坐标测量装置的参考系中确定物体表面上的点的三维坐标。

公开(公告)号：US09046360B2

公开(公告)日：2015-06-02

申请号：US13826584

申请日：2013-03-14

申请人： FARO Technologies, Inc.

发明人： Paul C. Atwell ,  Robert E. Bridges

IPC分类号： G01B11/14 ,  G01C15/00

CPC分类号： G01C15/00

摘要： A method is provided for determining the three dimensional coordinates of points on the surface of an object. The method includes providing a structured light scanner and a coordinate measurement device. The coordinate measurement device tracks the location and orientation of the structured light scanner during operation. The location and orientation data is combined with image frames captured by the scanner to allow registration of the image frames relative to each other. The three-dimensional coordinates of points on the surface of the object may then be determined in the frame of reference of the coordinate measurement device.

摘要翻译： 提供了一种用于确定物体表面上的点的三维坐标的方法。 该方法包括提供结构化光扫描器和坐标测量装置。 坐标测量装置在操作期间跟踪结构化光扫描器的位置和方向。 位置和方向数据与由扫描仪捕获的图像帧组合以允许图像帧相对于彼此的注册。 然后可以在坐标测量装置的参考系中确定物体表面上的点的三维坐标。

公开(公告)号：US20150015898A1

公开(公告)日：2015-01-15

申请号：US14328846

申请日：2014-07-11

申请人： FARO Technologies, Inc.

发明人： Paul C. Atwell ,  Keith G. Macfarlane

IPC分类号： G01B11/00 ,  G01B11/24

CPC分类号： G01B11/005 ,  G01B5/008 ,  G01B11/03 ,  G01B11/25 ,  H04N5/35581

摘要： A method for measuring three-dimensional coordinates of an object surface with a line scanner, the line scanner including a projector and a camera, the projector projecting onto the object surface a first line of light at a first time and a second line of light at a second time, the integrated energy of the second line of light different than the first line of light, the camera capturing the reflections of the first line of light and the second line of light, a processor processing the collected data after discarding portions of the image that are saturated or dominated by electrical noise, and determining three-dimensional coordinates of the object surface based at least in part on the processed data and on a baseline distance.

摘要翻译： 一种利用线扫描仪测量物体表面的三维坐标的方法，该线扫描仪包括一投影仪和一相机，该投影仪在第一时间将物体表面上的第一条光线和第二条光线投影到物体表面上 第二次，第二行光的集成能量不同于第一行光，摄像机捕获第一行光和第二行光的反射，处理器处理收集的数据后，丢弃部分 由电噪声饱和或主导的图像，以及至少部分地基于处理的数据和基线距离来确定物体表面的三维坐标。