公开(公告)号：USD833894S1

公开(公告)日：2018-11-20

申请号：US29592180

申请日：2017-01-27

Applicant: FARO Technologies, Inc.

Designer： Nurettin Ali ,  Brent Bailey ,  Matthew G. Ackerman ,  Michael Bartel ,  Orlando Perez ,  John Lucas Creachbaum ,  James P. Phipps ,  Dragos M. Stanescu ,  Paul Atwell ,  Yazid Tohme ,  Kishore Lankalapalli

公开(公告)号：US10089789B2

公开(公告)日：2018-10-02

申请号：US15215031

申请日：2016-07-20

Applicant: FARO Technologies, Inc.

Inventor： Yazid Tohme ,  Robert E. Bridges

IPC: G06T19/00 ,  G06F3/01 ,  G06F3/03 ,  G06F3/0346 ,  G01S17/89 ,  H04N13/275 ,  G01S17/02 ,  G01S17/66 ,  G01B11/00 ,  G01B11/14 ,  G01S7/481 ,  G06F3/0354 ,  H04N13/02 ,  G06T7/60 ,  G06T15/20 ,  G06T7/30 ,  G06T7/70 ,  G06T7/50 ,  G06T7/55

Abstract: A method of combining 2D images into a 3D image includes providing a coordinate measurement device and a six-DOF probe having an integral camera associated therewith, the six-DOF probe being separate from the coordinate measurement device. In a first instance, the coordinate measurement device determines the position and orientation of the six-DOF probe and the integral camera captures a first 2D image. In a second instance, the six-DOF probe is moved, the coordinate measurement device determines the position and orientation of the six-DOF probe, and the integral camera captures a second 2D image. A cardinal point common to the first and second image is found and is used, together with the first and second images and the positions and orientations of the six-DOF probe in the first and second instances, to create the 3D image.

公开(公告)号：US09967545B2

公开(公告)日：2018-05-08

申请号：US15621368

申请日：2017-06-13

Applicant: FARO Technologies, Inc.

Inventor： Yazid Tohme

IPC: H04N13/02 ,  G01S7/491 ,  G01S7/481 ,  G01S7/48 ,  G01C15/00 ,  G01B11/25 ,  G01S17/89 ,  G01B11/245 ,  G01S17/66 ,  G01S17/42

CPC classification number: H04N13/254 ,  G01B11/245 ,  G01B11/2513 ,  G01B11/2518 ,  G01B11/2545 ,  G01C15/002 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4818 ,  G01S7/491 ,  G01S17/42 ,  G01S17/66 ,  G01S17/89 ,  H04N13/204 ,  H04N13/246 ,  H04N13/25

Abstract: A method is provided of determining three-dimensional coordinates of an object surface with a laser tracker and structured light scanner. The method includes providing the scanner having a body, a pair of cameras, a projector, a retroreflector and a processor. The projector and cameras are positioned in a non-collinear arrangement. The projector is configured to project a pattern onto the surface. The method also includes providing the tracker which emits a beam of light onto the retroreflector and receives a reflected beam of light. The first location and orientation is measured with the tracker. The first surface pattern is projected onto the surface. A pair of images of the surface pattern is acquired with cameras. The processor determines the 3D coordinates of a first plurality of points in the tracker frame of reference.

公开(公告)号：US09964402B2

公开(公告)日：2018-05-08

申请号：US15134838

申请日：2016-04-21

Applicant: FARO Technologies, Inc.

Inventor： Yazid Tohme ,  Rolf Heidemann ,  Markus Grau ,  Robert E. Bridges

IPC: G01B11/25 ,  G01B11/245 ,  G01B11/00 ,  G06F3/041 ,  H04N13/02

CPC classification number: G01B11/2545 ,  G01B11/005 ,  G01B11/245 ,  G01B11/25 ,  G01B11/2518 ,  G06F3/0412 ,  H04N13/239 ,  H04N13/257

Abstract: A three-dimensional (3D) scanner having two cameras and a projector is detachably coupled to a device selected from the group consisting of: an articulated arm coordinate measuring machine, a camera assembly, a six degree-of-freedom (six-DOF) tracker target assembly, and a six-DOF light point target assembly.

公开(公告)号：US20170280132A1

公开(公告)日：2017-09-28

申请号：US15621368

申请日：2017-06-13

Applicant: FARO Technologies, Inc.

Inventor： Yazid Tohme

IPC: H04N13/02 ,  G01S7/481 ,  G01S7/48 ,  G01C15/00 ,  G01S17/42 ,  G01S17/89 ,  G01B11/245 ,  G01S17/66 ,  G01S7/491 ,  G01B11/25

CPC classification number: H04N13/254 ,  G01B11/245 ,  G01B11/2513 ,  G01B11/2518 ,  G01B11/2545 ,  G01C15/002 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4818 ,  G01S7/491 ,  G01S17/42 ,  G01S17/66 ,  G01S17/89 ,  H04N13/204 ,  H04N13/246 ,  H04N13/25

Abstract: A method is provided of determining three-dimensional coordinates of an object surface with a laser tracker and structured light scanner. The method includes providing the scanner having a body, a pair of cameras, a projector, a retroreflector and a processor. The projector and cameras are positioned in a non-collinear arrangement. The projector is configured to project a pattern onto the surface. The method also includes providing the tracker which emits a beam of light onto the retroreflector and receives a reflected beam of light. The first location and orientation is measured with the tracker. The first surface pattern is projected onto the surface. A pair of images of the surface pattern is acquired with cameras. The processor determines the 3D coordinates of a first plurality of points in the tracker frame of reference.

公开(公告)号：US20160327383A1

公开(公告)日：2016-11-10

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: G01B11/00

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.

Abstract translation: 电动移动平台包括机器人铰接臂和用于执行三维测量的三角测量扫描器，机器人臂和三角测量扫描器可拆卸地与连接器耦合。

公开(公告)号：US09448059B2

公开(公告)日：2016-09-20

申请号：US14207858

申请日：2014-03-13

Applicant: FARO Technologies, Inc.

Inventor： Robert E. Bridges ,  Yazid Tohme ,  Bernd-Dietmar Becker ,  Charles Pfeffer

IPC: G01S17/48 ,  G01B11/00 ,  H04N13/02 ,  G01C3/10 ,  G01B21/04 ,  G01B11/25 ,  G01S17/66 ,  G01B5/004 ,  G01S17/00

CPC classification number: G01B11/002 ,  G01B5/004 ,  G01B11/2513 ,  G01B11/2531 ,  G01B21/045 ,  G01C3/10 ,  G01S17/003 ,  G01S17/48 ,  G01S17/66 ,  G06T7/593 ,  G06T7/70 ,  G06T2200/04 ,  G06T2207/10028 ,  H04N13/204 ,  H04N13/239 ,  H04N13/254 ,  H04N13/275

Abstract: An assembly that includes a projector and camera is used with a processor to determine three-dimensional (3D) coordinates of an object surface. The processor fits collected 3D coordinates to a mathematical representation provided for a shape of a surface feature. The processor fits the measured 3D coordinates to the shape and, if the goodness of fit is not acceptable, selects and performs at least one of: changing a pose of the assembly, changing an illumination level of the light source, changing a pattern of the transmitted With the changes in place, another scan is made to obtain 3D coordinates.

Abstract translation: 包括投影仪和照相机的组件与处理器一起使用以确定物体表面的三维（3D）坐标。 处理器将采集到的3D坐标与为表面特征的形状提供的数学表示相匹配。 处理器将测量的3D坐标拟合到形状上，并且如果拟合的好处不可接受，则选择并执行以下中的至少一个：改变组件的姿态，改变光源的照明水平，改变光源的模式 发送随着位置的变化，进行另一次扫描以获得3D坐标。

公开(公告)号：US09402070B2

公开(公告)日：2016-07-26

申请号：US14733130

申请日：2015-06-08

Applicant: FARO Technologies, Inc.

Inventor： Yazid Tohme ,  Robert E. Bridges

IPC: H04N13/02 ,  G01B11/14 ,  G06T19/00 ,  G01S17/02 ,  G01S17/66 ,  G01B11/00 ,  G06T7/00 ,  G01S7/481 ,  G01S17/89 ,  G06F3/0354

CPC classification number: G06T19/006 ,  G01B11/002 ,  G01B11/14 ,  G01S7/4813 ,  G01S17/023 ,  G01S17/66 ,  G01S17/89 ,  G06F3/011 ,  G06F3/0304 ,  G06F3/0346 ,  G06F3/03545 ,  G06T7/30 ,  G06T7/50 ,  G06T7/55 ,  G06T7/60 ,  G06T7/70 ,  G06T15/20 ,  H04N13/275

Abstract: A method of combining 2D images into a 3D image includes providing a coordinate measurement device and a six-DOF probe having an integral camera associated therewith, the six-DOF probe being separate from the coordinate measurement device. In a first instance, the coordinate measurement device determines the position and orientation of the six-DOF probe and the integral camera captures a first 2D image. In a second instance, the six-DOF probe is moved, the coordinate measurement device determines the position and orientation of the six-DOF probe, and the integral camera captures a second 2D image. A cardinal point common to the first and second image is found and is used, together with the first and second images and the positions and orientations of the six-DOF probe in the first and second instances, to create the 3D image.

Abstract translation: 将2D图像组合成3D图像的方法包括提供坐标测量装置和具有与其相关联的整体照相机的六自由度探头，所述六自由度探针与坐标测量装置分离。 在第一种情况下，坐标测量装置确定六自由度探头的位置和方向，并且整体照相机捕获第一2D图像。 在第二种情况下，六自由度探头被移动，坐标测量装置确定六自由度探头的位置和方向，并且整体照相机捕获第二2D图像。 找到第一和第二图像共同的基本点，并与第一和第二图像以及第一和第二实例中的六自由度探针的位置和取向一起使用，以创建3D图像。

公开(公告)号：US20150192407A9

公开(公告)日：2015-07-09

申请号：US14139143

申请日：2013-12-23

Applicant: FARO Technologies, Inc.

Inventor： Yazid Tohme ,  Robert E. Bridges

IPC: G01B11/00 ,  H04N13/02

CPC classification number: G01B11/002 ,  G01B5/004 ,  G01B11/2513 ,  G01B11/2531 ,  G01B21/045 ,  G01C3/10 ,  G01S17/003 ,  G01S17/48 ,  G01S17/66 ,  G06T7/593 ,  G06T7/70 ,  G06T2200/04 ,  G06T2207/10028 ,  H04N13/204 ,  H04N13/239 ,  H04N13/254 ,  H04N13/275

Abstract: A method for determining 3D coordinates of points on a surface of the object by providing a 3D coordinate measurement device attached to a moveable apparatus that is coupled to a position sensing mechanism, all coupled to a processor, projecting a pattern of light onto the surface to determine a first set of 3D coordinates of points on the surface, determining susceptibility of the object to multipath interference by projecting and reflecting rays from the measured 3D coordinates of the points, moving the moveable apparatus under processor control to change the relative position of the device and the object, and projecting the a pattern of light onto the surface to determine a second set of 3D coordinates.

Abstract translation: 一种用于通过提供连接到可移动装置的3D坐标测量装置来确定物体表面上的点的3D坐标的方法，所述3D坐标测量装置耦合到位置感测机构，全部耦合到处理器，将光图案投影到所述表面上 确定表面上的点的第一组3D坐标，通过从测量的点的3D坐标投射和反射光线来确定对象对多径干扰的敏感性，在处理器控制下移动可移动设备以改变设备的相对位置 和物体，并且将光图案投影到表面上以确定第二组3D坐标。

公开(公告)号：US20140268093A1

公开(公告)日：2014-09-18

申请号：US13920673

申请日：2013-06-18

Applicant: FARO Technologies, Inc.

Inventor： Yazid Tohme ,  Charles Pfeffer ,  Robert E. Bridges

IPC: G01C3/10

CPC classification number: G01B11/002 ,  G01B5/004 ,  G01B11/2513 ,  G01B11/2531 ,  G01B21/045 ,  G01C3/10 ,  G01S17/003 ,  G01S17/48 ,  G01S17/66 ,  G06T7/593 ,  G06T7/70 ,  G06T2200/04 ,  G06T2207/10028 ,  H04N13/204 ,  H04N13/239 ,  H04N13/254 ,  H04N13/275

Abstract: A noncontact optical three-dimensional measuring device that includes a projector, a first camera, and a second camera; a processor electrically coupled to the projector, the first camera and the second camera; and computer readable media which, when executed by the processor, causes the first digital signal to be collected at a first time and the second digital signal to be collected at a second time different than the first time and determines three-dimensional coordinates of a first point on the surface based at least in part on the first digital signal and the first distance and determines three-dimensional coordinates of a second point on the surface based at least in part on the second digital signal and the second distance.

Abstract translation: 一种非接触光学三维测量装置，包括投影仪，第一相机和第二相机; 处理器电耦合到所述投影仪，所述第一相机和所述第二相机; 以及计算机可读介质，所述计算机可读介质在由所述处理器执行时使得所述第一数字信号在第一时间被收集，并且所述第二数字信号将在与所述第一时间不同的第二时间收集，并且确定所述第一数字信号的第一数字信号 至少部分地基于所述第一数字信号和所述第一距离在所述表面上指向所述表面，并且至少部分地基于所述第二数字信号和所述第二距离来确定所述表面上的第二点的三维坐标。