公开(公告)号：US20150042759A1

公开(公告)日：2015-02-12

申请号：US14525953

申请日：2014-10-28

Applicant: FARO Technologies, Inc.

Inventor： Rolf Heidemann ,  Martin Ossig ,  Reinhard Becker

IPC: G01B11/25

CPC classification number: G01B11/25 ,  G01B11/2513 ,  G01B11/2518

Abstract: A device for optically scanning and measuring an environment is provided. The device includes a movable scanner having at least one first projector for producing at least one uncoded first pattern on an object in the environment. The scanner includes at least one camera for recording images of the object provided with the pattern and a controller coupled to the first projector and the camera. The device further includes at least one second projector which projects a stationary uncoded second pattern on the object while the scanner is moved. Wherein the controller has a processor configured to determine a set of three-dimensional coordinates of points on a surface of the object from a set of images acquired by the camera based at least in part on the first pattern. The controller is further configured to register the set of images relative based in part on the stationary second pattern.

Abstract translation: 提供了用于光学扫描和测量环境的装置。 该装置包括具有至少一个第一投影仪的可移动扫描器，用于在环境中的物体上产生至少一个未编码的第一图案。 扫描器包括至少一个用于记录具有图案的物体的图像的照相机和耦合到第一投影仪和照相机的控制器。 该装置还包括至少一个第二投影仪，其在扫描器移动时将固定的未编码的第二图案投影在物体上。 其中，所述控制器具有处理器，所述处理器被配置为至少部分地基于所述第一图案从所述相机获取的一组图像确定所述对象表面上的点的三维坐标。 控制器还被配置为部分地基于固定的第二图案来对相关的图像集进行注册。

公开(公告)号：US20140168380A1

公开(公告)日：2014-06-19

申请号：US13767167

申请日：2013-02-14

Applicant: FARO TECHNOLOGIES, INC.

Inventor： Rolf Heidemann ,  Martin Ossig ,  Reinhard Becker

IPC: G01B11/25

CPC classification number: G01B11/25 ,  G01B11/2513 ,  G01B11/2518

Abstract: A device for optically scanning and measuring an environment is provided. The device includes a movable scanner having at least one first projector for producing at least one uncoded first pattern on an object in the environment. The scanner includes at least one camera for recording images of the object provided with the pattern and a controller coupled to the first projector and the camera. The device further includes at least one second projector which projects a stationary uncoded second pattern on the object while the scanner is moved. Wherein the controller has a processor configured to determine a set of three-dimensional coordinates of points on a surface of the object from a set of images acquired by the camera based at least in part on the first pattern. The controller is further configured to register the set of images relative based in part on the stationary second pattern.

Abstract translation: 提供了用于光学扫描和测量环境的装置。 该装置包括具有至少一个第一投影仪的可移动扫描器，用于在环境中的物体上产生至少一个未编码的第一图案。 扫描器包括至少一个用于记录具有图案的物体的图像的照相机和耦合到第一投影仪和照相机的控制器。 该装置还包括至少一个第二投影仪，其在扫描器移动时将固定的未编码的第二图案投影在物体上。 其中，所述控制器具有处理器，所述处理器被配置为至少部分地基于所述第一图案从所述相机获取的一组图像确定所述对象表面上的点的三维坐标。 控制器还被配置为部分地基于固定的第二图案来对相关的图像集进行注册。

公开(公告)号：US20140168379A1

公开(公告)日：2014-06-19

申请号：US13767154

申请日：2013-02-14

Applicant: FARO TECHNOLOGIES, INC.

Inventor： Rolf Heidemann ,  Martin Ossig ,  Reinhard Becker

IPC: G01B11/00

CPC classification number: G06T7/593 ,  G01B11/002 ,  G01B11/2513 ,  G01B11/2531 ,  G01B11/2545 ,  G06T7/521 ,  H04N13/243 ,  H04N13/25 ,  H04N13/254

Abstract: 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.

Abstract translation: 提供了用于光学扫描和测量环境的装置。 该设备包括至少一个用于在环境中的物体上产生至少一个未编码图案的投影仪。 提供第一照相机，用于记录提供有图案的物体的至少一个第一图像，第一相机具有第一图像平面。 提供第二相机用于记录设置有未编码图案的对象的至少一个第二图像，第二相机与第一相机间隔开，以便获得第二图像平面上的未编码图案。 提供了一种控制器，其具有被配置为至少部分地基于未编码图案，至少一个第一图像和至少一个第二图像来确定对象表面上的点的三维坐标的处理器。

公开(公告)号：US11725928B2

公开(公告)日：2023-08-15

申请号：US17717683

申请日：2022-04-11

Applicant: FARO Technologies, Inc.

Inventor： Daniel Döring ,  Rolf Heidemann ,  Martin Ossig ,  Gerrit Hillebrand

IPC: G01B11/00 ,  G01K3/00 ,  G01K13/00 ,  H10N10/13 ,  H10N10/80

CPC classification number: G01B11/002 ,  G01K3/005 ,  G01K13/00 ,  H10N10/13 ,  H10N10/80

Abstract: A handheld device has a projector that projects a pattern of light onto an object, a first camera that captures the projected pattern of light in first images, a second camera that captures the projected pattern of light in second images, a registration camera that captures a succession of third images, one or more processors that determines three-dimensional (3D) coordinates of points on the object based at least in part on the projected pattern, the first images, and the second images, the one or more processors being further operable to register the determined 3D coordinates based at least in part on common features extracted from the succession of third images, and a mobile computing device operably connected to the handheld device and cooperating with the one or more processors, the mobile computing device operable to display the registered 3D coordinates of points.

公开(公告)号：US11644303B2

公开(公告)日：2023-05-09

申请号：US17025553

申请日：2020-09-18

Applicant: FARO Technologies, Inc.

Inventor： Rolf Heidemann

IPC: G01B11/00 ,  H04N5/225 ,  G06T7/70

CPC classification number: G01B11/005 ,  G06T7/70 ,  H04N5/2253 ,  H04N5/2254 ,  G06T2207/30204 ,  G06T2207/30244

Abstract: 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.

公开(公告)号：US11408728B2

公开(公告)日：2022-08-09

申请号：US17082708

申请日：2020-10-28

Applicant: FARO Technologies, Inc.

Inventor： Bernd-Dietmar Becker ,  Robert E. Bridges ,  Ariane Stiebeiner ,  Rolf Heidemann ,  Matthias Wolke

IPC: G06T7/33 ,  G06T7/579 ,  G01B11/00 ,  G01B21/04 ,  G01S17/42 ,  G01S17/66 ,  G01B5/004 ,  G01S17/89 ,  G01S17/48 ,  G01S7/48 ,  G01S17/86 ,  G06T7/73 ,  G01B11/25 ,  G01S3/786

Abstract: A dimensional measuring device includes an overview camera and a triangulation scanner. A six-DOF tracking device tracks the dimensional measuring device as the triangulation scanner measures three-dimensional (3D) coordinates on an exterior of the object. Cardinal points identified by the overview camera are used to register in a common frame of reference 3D coordinates measured by the triangulation scanner on the interior and exterior of the object.

公开(公告)号：US20220155060A1

公开(公告)日：2022-05-19

申请号：US17666189

申请日：2022-02-07

Applicant: FARO Technologies, Inc.

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

IPC: G01B11/25 ,  H04N13/257 ,  G01B11/245 ,  H04N13/239 ,  G01B11/00 ,  G06F3/041

Abstract: A triangulation scanner having an enclosure, a projector coupled to the enclosure and configured to emit a first light, and three cameras also coupled to the enclosure. The scanner further includes at least one processor to determine the three-dimensional coordinates in a local frame of reference based at least in part on receiving the first light.

公开(公告)号：US20210116239A1

公开(公告)日：2021-04-22

申请号：US17115018

申请日：2020-12-08

Applicant: FARO Technologies, Inc.

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

IPC: G01B11/25 ,  H04N13/257 ,  G01B11/245 ,  H04N13/239 ,  G01B11/00 ,  G06F3/041

Abstract: A triangulation scanner having an enclosure, a projector coupled to the enclosure and configured to emit a first light, and three cameras also coupled to the enclosure. The scanner further includes at least one processor to determine the three-dimensional coordinates in a local frame of reference based at least in part on receiving the first light.

公开(公告)号：US10935371B2

公开(公告)日：2021-03-02

申请号：US16855289

申请日：2020-04-22

Applicant: FARO Technologies, Inc.

Inventor： Matthias Wolke ,  Rolf Heidemann ,  Gerrit Hillebrand ,  Daniel Döring

IPC: G01B11/30 ,  G01B11/25 ,  G01S17/89 ,  H04N5/247

Abstract: A triangulation scanner system and method of operation is provided. The system includes a projector that alternately projects a pattern of light and no light during first and second time intervals. A camera includes a lens and a circuit with a photosensitive array. The camera captures an image of an object. The photosensitive array has a plurality of pixels including a first pixel. The first pixel including an optical detector and a first and second accumulator. The optical detector produces signals in response to a light levels reflected from a point on the object. The first accumulator sums the signals during the first time intervals to obtain a first summed signal. The second accumulator sums the signals during the second time intervals obtain a second summed signal. A processor determines 3D coordinates of the point based on the projected pattern of light and on the first and second summed signals.

公开(公告)号：US20210041222A1

公开(公告)日：2021-02-11

申请号：US17082708

申请日：2020-10-28

Applicant: FARO Technologies, Inc.

Inventor： Bernd-Dietmar Becker ,  Robert E. Bridges ,  Ariane Stiebeiner ,  Rolf Heidemann ,  Matthias Wolke

IPC: G01B11/00 ,  G01B21/04 ,  G01S17/42 ,  G01S17/66 ,  G01B5/004 ,  G01S17/89 ,  G01S17/48 ,  G01S7/48 ,  G01S17/86 ,  G06T7/73 ,  G06T7/33 ,  G01B11/25 ,  G01S3/786 ,  G06T7/579

Abstract: A dimensional measuring device includes an overview camera and a triangulation scanner. A six-DOF tracking device tracks the dimensional measuring device as the triangulation scanner measures three-dimensional (3D) coordinates on an exterior of the object. Cardinal points identified by the overview camera are used to register in a common frame of reference 3D coordinates measured by the triangulation scanner on the interior and exterior of the object.