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公开(公告)号：US09599455B2
公开(公告)日：2017-03-21
申请号：US13767154
申请日：2013-02-14
发明人： Rolf Heidemann , Martin Ossig , Reinhard Becker
CPC分类号： G06T7/593 , G01B11/002 , G01B11/2513 , G01B11/2531 , G01B11/2545 , G06T7/521 , H04N13/243 , H04N13/25 , H04N13/254
摘要： A device for optically scanning and measuring an environment is provided. The device includes at least one projector for producing at least one uncoded pattern on an object in the environment. A first camera is provided for recording at least one first image of the object provided with the pattern, the first camera having a first image plane. A second camera is provided for recording at least one second image of the object provided with the uncoded pattern, the second camera being spaced apart from the first camera in order to acquire the uncoded pattern on a second image plane. A controller is provided having a processor configured to determine the three-dimensional coordinates of points on the surface of the object based at least in part on the uncoded pattern, the at least one first image and the at least one second image.
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42.发明申请公开(公告)号：US20170067734A1
公开(公告)日：2017-03-09
申请号：US15250324
申请日：2016-08-29
IPC分类号： G01B11/25
CPC分类号： G01B11/2513 , B64C39/00 , B64C39/024 , B64C2201/027 , B64C2201/123 , G01B11/24 , G01B11/254 , G01C15/00 , G01C15/002
摘要： A three-dimensional (3D) coordinate measuring system includes an external projector that projects a pattern of light onto an object and an aerial drone attached to a 3D imaging device, the 3D imaging device and the external projector cooperating to obtain 3D coordinates of the object.
摘要翻译： 三维（3D）坐标测量系统包括将光图案投射到物体上的外部投影仪和附接到3D成像装置的无人机，3D成像装置和外部投影仪协作以获得对象的3D坐标 。
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43.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
CPC分类号： G01S7/497 , G01S7/481 , G01S7/4818 , G01S7/4863 , G01S17/42 , G01S17/66 , G01S17/87
摘要： 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.
摘要翻译： 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。
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44.发明申请公开(公告)号：US20160073085A1
公开(公告)日：2016-03-10
申请号：US14712993
申请日：2015-05-15
CPC分类号： 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
摘要： 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.
摘要翻译： 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。
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公开(公告)号：US20210192778A1
公开(公告)日：2021-06-24
申请号：US17083892
申请日：2020-10-29
摘要： A retroreflective marker assembly. The assembly includes a retroreflective marker and a protective window through which light passes to reflect from the marker. A support structure supports the marker on its face and includes one or more legs, each having a facet that polarizes light upon reflection from the facet. The assembly can include a spherical base with a reflective coating secured to the base. An angular position of the marker with respect to an imaging device is determined by measuring a first angle of a light between the marker and the imaging device along a deviated optical path, determining an angular deviation of the light from a straight-line path, and determining a second angle indicative of the straight-line path based on the first angle and the angular deviation. A polarization angle of light reflected from a facet determines an orientation of the marker with respect to the imaging device.
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46.发明申请公开(公告)号：US20210180940A1
公开(公告)日：2021-06-17
申请号：US17025553
申请日：2020-09-18
发明人： Rolf Heidemann
摘要： A method including determining with a three-dimensional (3D) measuring instrument 3D coordinates of an object for each of a plurality of poses of the 3D measuring instrument; capturing with a camera first- and higher-order diffraction components of markers near or on the object, the camera having a diffractive optical element (DOE), a lens, and a photosensitive array; and registering with a processor the determined 3D coordinates based at least in part on the determined 3D coordinates and on the imaged zero- and higher-order diffraction components.
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公开(公告)号：US20210131788A1
公开(公告)日：2021-05-06
申请号：US17147925
申请日：2021-01-13
发明人： Daniel Döring , Rolf Heidemann , Martin Ossig , Gerrit Hillebrand
摘要： A system and method of determining three-dimensional coordinates is provided. The method includes, with a projector, projecting onto an object a projection pattern that includes collection of object spots. With a first camera, a first image is captured that includes first-image spots. With a second camera, a second image is captured that includes second-image spots. Each first-image spot is divided into first-image spot rows. Each second-image spot is divided into second-image spot rows. Central values are determined for each first-image and second-image spot row. A correspondence is determined among first-image and second-image spot rows, the corresponding first-image and second-image spot rows being a spot-row image pair. Tach spot-row image pair having a corresponding object spot row on the object. Three-dimensional (3D) coordinates of each object spot row are determined on the central values of the corresponding spot-row image pairs. The 3D coordinates of the object spot rows are stored.
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公开(公告)号：US20200314409A1
公开(公告)日：2020-10-01
申请号：US16747200
申请日：2020-01-20
IPC分类号： H04N13/239 , H04N13/254 , H04N5/235
摘要： An imaging device and method of imaging a region. The imaging device includes a first camera and a first light source set at a periphery of the first camera, a second camera separated from the first camera by a selected distance and a second light source set at a periphery of the second camera, and a processor configured to operate the first light source set and the second light source set independently of each other. The region is illuminated using the first light source and a first image is obtained. The region is illuminated using the second light source and a second image is obtained. At least one of the first image and the second image includes an illumination effect.
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公开(公告)号：US20200096328A1
公开(公告)日：2020-03-26
申请号：US16527828
申请日：2019-07-31
发明人： Simon Raab , Bernd-Dietmar Becker , Rolf Heidemann , Steffen Kappes , João Santos , Oliver Zweigle , Aleksej Frank
摘要： An inspection system for measuring an object is provided. The inspection system includes an entryway sized to receive the object. At least two non-contact coordinate measurement devices are positioned with a field of view being at least partially within or adjacent to the entryway, each of the at least two non-contact coordinate measurement devices being operable to measure 3D coordinates for a plurality of points on the object as one of the object or the entryway move from a first position to a final position. A pose measurement device is operable to determine the six-degree of freedom (6DOF) pose of the object. One or more processors are provided that register the 3D coordinates for the plurality of points from each of the at least two non-contact coordinate measurement devices based at least in part on the 6DOF pose of the object.
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公开(公告)号：US10408606B1
公开(公告)日：2019-09-10
申请号：US16139896
申请日：2018-09-24
发明人： Simon Raab , Bernd-Dietmar Becker , Rolf Heidemann , Steffen Kappes , João Santos , Oliver Zweigle , Aleksej Frank
摘要： An inspection system for measuring an object is provided. The inspection system includes an entryway sized to receive the object. At least two non-contact coordinate measurement devices are positioned with a field of view being at least partially within or adjacent to the entryway, each of the at least two non-contact coordinate measurement devices being operable to measure 3D coordinates for a plurality of points on the object as one of the object or the entryway move from a first position to a final position. A pose measurement device is operable to determine the six-degree of freedom (6DOF) pose of the object. One or more processors are provided that register the 3D coordinates for the plurality of points from each of the at least two non-contact coordinate measurement devices based at least in part on the 6DOF pose of the object.
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