公开(公告)号：US10830579B2

公开(公告)日：2020-11-10

申请号：US16544012

申请日：2019-08-19

Applicant: FARO Technologies, Inc.

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

IPC: G01B11/24 ,  G01B11/25 ,  G01S17/89 ,  H04N5/247

Abstract: A triangulation scanner system and method of operation is provided. The system includes a projector that projects a first pattern of light at a first light level during first time intervals and project the first pattern of light at a second light level during second time intervals, the second light level being different than the first light level. A first camera has a first photosensitive array, the first photosensitive array having a first pixel with an optical detector, a first memory, and a second memory. The first memory storing a first stored signal from the optical detector during the first time intervals, the second memory storing a second signal from the optical detector during the second time intervals. A processor determines three-dimensional coordinates of the first point based at least in part on the projected first pattern of light, the first stored signal, and the second stored signal.

公开(公告)号：US10659753B2

公开(公告)日：2020-05-19

申请号：US16596047

申请日：2019-10-08

Applicant: FARO Technologies, Inc.

Inventor： Matthias Wolke ,  Rolf Heidemann

IPC: H04N13/122 ,  G01S3/786 ,  H04N13/275 ,  G01S17/48 ,  G01B11/00 ,  G06T1/00

Abstract: A photogrammetry system and method is provided. The photogrammetry system a two-dimensional (2D) camera operable to acquire a 2D image at a first resolution and a second resolution, and a 2D video image at the second resolution. A controller performs a method that includes acquiring a first 2D image of an object with the 2D camera at the first resolution. At least one feature on the object in the first 2D image. An image sequence is determined having a second position. A plurality of second 2D images are acquired with the 2D camera at the second resolution. The 2D camera is tracked. A direction of movement is indicated on the display. A third 2D image of the object is acquired when the 2D camera reaches the second position. Three-dimensional coordinates of the object are determined based on the first 2D image and the third 2D image.

公开(公告)号：US20190323822A1

公开(公告)日：2019-10-24

申请号：US16381238

申请日：2019-04-11

Applicant: FARO Technologies, Inc.

Inventor： Rolf Heidemann ,  Axel Ruhland ,  Christoph Neundorf ,  Steffen Kappes ,  Markus Grau

IPC: G01B11/00 ,  G01B11/25

Abstract: A 3D sensor system with a mounting arrangement is provided. The system includes a 3D sensor that measures 3D coordinates of a surface, the 3D sensor having a body with a slot disposed in a side, the slot further having a recess centrally disposed thereon. One or more slot nuts are disposed in the slot. A mounting bracket is provided having a pair of keystone members and a dowel pin disposed therebetween, the keystone members being disposed in the slot and the dowel pin being disposed in the recess, the mounting bracket having a plurality of holes aligned with the slot. One or more fasteners are provided that extend through the plurality holes and engage the one or more slot nuts to couple the mounting bracket to the 3D sensor.

公开(公告)号：US10126415B2

公开(公告)日：2018-11-13

申请号：US14982259

申请日：2015-12-29

Applicant: FARO Technologies, Inc.

Inventor： Bernd-Dietmar Becker ,  Rolf Heidemann ,  Oliver Zweigle ,  Matthias Wolke

IPC: G01S7/497 ,  G01S17/66 ,  G01S17/87 ,  G01S17/42 ,  G01S7/481 ,  G01S7/486

Abstract: 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.

公开(公告)号：US10126116B2

公开(公告)日：2018-11-13

申请号：US15880878

申请日：2018-01-26

Applicant: FARO Technologies, Inc.

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

IPC: G06K9/00 ,  G01B11/00 ,  G06T7/73 ,  G06T7/33 ,  G01B11/25 ,  G01S3/786 ,  G01B21/04 ,  G01S17/42 ,  G01S17/66 ,  G01B5/004 ,  G01S17/89 ,  G06T7/579 ,  G01S17/02 ,  G01S17/48 ,  G01S7/48

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：US10070116B2

公开(公告)日：2018-09-04

申请号：US14712993

申请日：2015-05-15

Applicant: FARO Technologies, Inc.

Inventor： Gerrit Hillebrand ,  Rasmus Debitsch ,  Rolf Heidemann

IPC: H04N7/18 ,  H04N13/00 ,  G01B11/00 ,  H04N5/232 ,  G01B11/25 ,  G06T19/00 ,  G06T7/30 ,  H04N13/02

CPC classification number: 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

Abstract: 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.

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：US20180071914A1

公开(公告)日：2018-03-15

申请号：US15692610

申请日：2017-08-31

Applicant: FARO Technologies, Inc.

Inventor： Rolf Heidemann ,  Bernd-Dietmar Becker

IPC: B25J9/16 ,  G01B11/25 ,  G01B11/00 ,  B25J19/06 ,  F16P3/14

CPC classification number: B25J9/1676 ,  B25J9/1697 ,  B25J19/06 ,  F16P3/142 ,  F16P3/144 ,  G01B11/002 ,  G01B11/2513 ,  G05B2219/40196 ,  G05B2219/40202

Abstract: A safety sensor system and method is provided. The method includes projecting from a projector a pattern of light to a first position. The pattern of light being generated by a shape control element with each of the first pattern of light having a pattern pose. A first image is captured with a camera of the first pattern of light. The pose or shape of the pattern of light is changed using the shape control element. A pattern pose or shape information is determined from both images. It is determined that the second image is valid based on the pattern pose or shape information differing by more than predetermined measurement errors or the pattern pose or shape information differing less than predetermined measurement errors from values that are based on the control values transmitted to the pattern pose and shape control element.

公开(公告)号：US09858682B2

公开(公告)日：2018-01-02

申请号：US15463144

申请日：2017-03-20

Applicant: FARO Technologies, Inc.

Inventor： Rolf Heidemann ,  Martin Ossig ,  Reinhard Becker

IPC: H04N7/18 ,  G06T7/593 ,  G01B11/00 ,  G01B11/25 ,  G06T7/521 ,  H04N13/02

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.

公开(公告)号：US20170193673A1

公开(公告)日：2017-07-06

申请号：US15463144

申请日：2017-03-20

Applicant: FARO Technologies, Inc.

Inventor： Rolf Heidemann ,  Martin Ossig ,  Reinhard Becker

IPC: G06T7/593 ,  H04N13/02 ,  G06T7/521 ,  G01B11/00 ,  G01B11/25

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.