公开(公告)号：US08705016B2

公开(公告)日：2014-04-22

申请号：US13510020

申请日：2010-11-11

申请人： Philipp Schumann ,  Martin Ossig ,  Reinhard Becker

发明人： Philipp Schumann ,  Martin Ossig ,  Reinhard Becker

IPC分类号： G01C3/08

CPC分类号： G02B26/10 ,  G01S7/4812 ,  G01S7/4814 ,  G01S17/89

摘要： In a device for optically scanning and measuring an environment, where the device is a laser scanner having a light emitter which, by a rotary mirror, emits an emission light beam, with a light receiver which receives a reception light beam, which, after passing the rotary mirror and a receiver lens which has an optical axis, is reflected from an object in the environment of the laser scanner. The laser scanner also includes a color camera which takes colored pictures of the environment of the laser scanner, and a control and evaluation unit which, for a multitude of measuring points, determines the distance to the object and links it with the colored pictures, the color camera being arranged on the optical axis of the receiver lens.

摘要翻译： 在用于光学扫描和测量环境的装置中，其中该装置是具有光发射器的激光扫描器，该发光器通过旋转镜发射发射光束，其具有接收接收光束的光接收器，其在经过后 旋转镜和具有光轴的接收透镜在激光扫描仪的环境中从物体反射。 该激光扫描仪还包括一彩色摄像机，该彩色摄像机拍摄激光扫描仪的环境的彩色图像，以及控制和评估单元，对于多个测量点，该控制和评估单元确定到物体的距离并将其与彩色图像连接， 彩色相机布置在接收器镜头的光轴上。

公开(公告)号：US20120069352A1

公开(公告)日：2012-03-22

申请号：US13259336

申请日：2010-03-22

申请人： Martin Ossig ,  Reinhard Becker ,  Alexander Kramer

发明人： Martin Ossig ,  Reinhard Becker ,  Alexander Kramer

IPC分类号： G01B11/24

CPC分类号： G01C3/06 ,  G01C15/002 ,  G01S17/36 ,  G01S17/89 ,  G06T7/344 ,  G06T2207/10028

摘要： A method for optically scanning and measuring a scene by means of a laser scanner which, for making a scan having a certain center, optically scans and measures its environment provided with targets, whereby two adjacent scans having different centers and scanning the same scene overlap within a range of measuring points so that some targets are scanned by any of the two scans, whereby, for registering the two adjacent scans, the targets are localized in the measuring points during a first step and, during a second step, candidates of correspondence among the localized targets of the two adjacent scans are looked for and, during a third step, a test registration of the two adjacent scans is made which, if there is a sufficient compliance of the measuring points within the overlapping range, is taken over for registration, thus identifying the targets.

摘要翻译： 一种用于通过激光扫描仪光学扫描和测量场景的方法，用于使具有某个中心的扫描光学扫描并测量其具有目标的环境，由此具有不同中心和扫描相同场景的两个相邻扫描在其内部重叠 测量点的范围，使得通过两次扫描中的任一个来扫描一些目标，由此，为了登记两个相邻的扫描，在第一步骤期间，目标被定位在测量点中，并且在第二步骤期间，目标在第二步骤期间的对应候选 寻找两个相邻扫描的局部目标，并且在第三步骤期间，进行两个相邻扫描的测试登记，如果在重叠范围内存在足够的测量点的符合性，则接管注册 ，从而确定目标。

公开(公告)号：US20120069325A1

公开(公告)日：2012-03-22

申请号：US13259446

申请日：2010-03-22

申请人： Philipp Schumann ,  Reinhard Becker ,  Martin Ossig ,  Jürgen Gittinger

发明人： Philipp Schumann ,  Reinhard Becker ,  Martin Ossig ,  Jürgen Gittinger

IPC分类号： G01B11/25

CPC分类号： G01C3/02 ,  G01C15/002 ,  G01S17/36 ,  G01S17/42 ,  G01S17/89

摘要： With a device for optically scanning and measuring an environment which is designed as a laser scanner, with a light emitter, which emits an emission light beam, with a light receiver which receives a reception light beam which is reflected by an object in the surroundings of the laser scanner or scattered otherwise, with a control and evaluation unit which determines the distance to the object for a multitude of measuring points, wherein the emission light beam is a superposition of three laser beams having different wave lengths, which define the three-dimensional color space.

摘要翻译： 利用用于光学扫描和测量被设计为激光扫描器的环境的装置，其具有发射发射光束的光发射器，其具有接收由物体在周围的物体反射的接收光束的光接收器 该激光扫描器或另外分散的，具有一个控制和评估单元，该控制和评估单元决定了对于多个测量点的距离，其中发射光束是具有不同波长的三个激光束的叠加，其限定三维 颜色空间。

公开(公告)号：US08719474B2

公开(公告)日：2014-05-06

申请号：US13000215

申请日：2009-12-19

申请人： Martin Ossig ,  Reinhard Becker ,  Andreas Ditte

发明人： Martin Ossig ,  Reinhard Becker ,  Andreas Ditte

IPC分类号： G06F13/00 ,  G06F9/44

CPC分类号： G06F9/4411 ,  G06F13/4282

摘要： An interface, for communication between an internal device and an external device, includes two bus lines of a bus for bidirectional data transfer and at least a first control line, by means of which a control signal can be transferred from the external device to the internal device.

摘要翻译： 用于内部设备和外部设备之间的通信的接口包括用于双向数据传送的总线的两条总线和至少第一控制线，通过该接口可以将控制信号从外部设备传送到内部 设备。

公开(公告)号：US08384914B2

公开(公告)日：2013-02-26

申请号：US13384806

申请日：2010-07-20

申请人： Reinhard Becker ,  Martin Ossig

发明人： Reinhard Becker ,  Martin Ossig

IPC分类号： G01B11/24

CPC分类号： G01S7/4811 ,  G01C15/002 ,  G01S7/003 ,  G01S17/42 ,  G01S17/50 ,  G01S17/89

摘要： In a laser scanner for optically scanning and measuring an environment, the scanner having a center which defines for a scan the stationary reference system of the scanner and the center of the scan, a light emitter which emits an emission light beam, a light receiver which receives a reception light beam reflected by an object in the environment of the scanner, a control and evaluation unit which determines, for a multitude of measuring points of the scan, at least the distance between the center of the scan and the object, the scanner, for registering a scene with several scans having different centers, being movable between the centers of the scans, and a scanner mouse for registering the path followed by the scanner between the different centers of the scans, the scanner mouse optically registering the movement of the laser scanner relative to a reference surface.

摘要翻译： 在用于光学扫描和测量环境的激光扫描器中，扫描器具有定义用于扫描扫描仪的静止参考系统和扫描中心的中心，发射发射光束的光发射器，发射光束的光发射器， 在扫描仪的环境中接收由物体反射的接收光束;控制和评估单元，其针对扫描的多个测量点至少确定扫描中心与物体之间的距离，扫描仪 ，用于登记具有不同中心的几个扫描的场景，可在扫描中心之间移动;以及扫描器鼠标，用于在扫描的不同中心之间登记跟踪扫描仪的路径，扫描仪鼠标光学地注册扫描仪的运动 激光扫描器相对于参考表面。

公开(公告)号：US20120287265A1

公开(公告)日：2012-11-15

申请号：US13510020

申请日：2010-11-11

申请人： Philipp Schumann ,  Martin Ossig ,  Reinhard Becker

发明人： Philipp Schumann ,  Martin Ossig ,  Reinhard Becker

IPC分类号： H04N7/18

CPC分类号： G02B26/10 ,  G01S7/4812 ,  G01S7/4814 ,  G01S17/89

摘要： In a device for optically scanning and measuring an environment, where the device is a laser scanner having a light emitter which, by a rotary mirror, emits an emission light beam, with a light receiver which receives a reception light beam, which, after passing the rotary mirror and a receiver lens which has an optical axis, is reflected from an object in the environment of the laser scanner. The laser scanner also includes a color camera which takes colored pictures of the environment of the laser scanner, and a control and evaluation unit which, for a multitude of measuring points, determines the distance to the object and links it with the colored pictures, the color camera being arranged on the optical axis of the receiver lens.

摘要翻译： 在用于光学扫描和测量环境的装置中，其中该装置是具有光发射器的激光扫描器，该发光器通过旋转镜发射发射光束，其具有接收接收光束的光接收器，其在经过后 旋转镜和具有光轴的接收透镜在激光扫描仪的环境中从物体反射。 该激光扫描仪还包括一彩色摄像机，该彩色摄像机拍摄激光扫描仪的环境的彩色图像，以及控制和评估单元，对于多个测量点，该控制和评估单元确定到物体的距离并将其与彩色图像连接， 彩色相机布置在接收器镜头的光轴上。

公开(公告)号：US07193690B2

公开(公告)日：2007-03-20

申请号：US11477310

申请日：2006-06-29

申请人： Martin Ossig ,  Reinhard Becker ,  Bernd-Dietmar Becker

发明人： Martin Ossig ,  Reinhard Becker ,  Bernd-Dietmar Becker

IPC分类号： G01C3/00

CPC分类号： G01S7/497 ,  G01C15/002 ,  G01S7/4918 ,  G01S17/36 ,  G01S17/89

摘要： A laser scanner for optically scanning and measuring an environment comprises a light transmitter having a predetermined transmission power for emitting a light beam. The emitted light beam is reflected at a measurement point in the environment. The reflected light beam is received with a certain intensity by a receiver. The transmission power is adjustable as a function of the intensity of the reflected light beam. Furthermore, a gray-scale value of the measurement point is determined as a function of the transmission power adjusted.

摘要翻译： 用于光学扫描和测量环境的激光扫描器包括具有用于发射光束的预定发射功率的光发射器。 发射的光束在环境中的测量点被反射。 反射光束被接收器以一定的强度接收。 发射功率可以根据反射光束的强度调节。 此外，测量点的灰度值被确定为调整的发射功率的函数。

公开(公告)号：US09074883B2

公开(公告)日：2015-07-07

申请号：US13259446

申请日：2010-03-22

申请人： Philipp Schumann ,  Reinhard Becker ,  Martin Ossig ,  Jürgen Gittinger

发明人： Philipp Schumann ,  Reinhard Becker ,  Martin Ossig ,  Jürgen Gittinger

IPC分类号： G01B11/25 ,  G01C3/02 ,  G01C15/00 ,  G01S17/36 ,  G01S17/89

CPC分类号： G01C3/02 ,  G01C15/002 ,  G01S17/36 ,  G01S17/42 ,  G01S17/89

摘要： With a device for optically scanning and measuring an environment which is designed as a laser scanner, with a light emitter, which emits an emission light beam, with a light receiver which receives a reception light beam which is reflected by an object in the surroundings of the laser scanner or scattered otherwise, with a control and evaluation unit which determines the distance to the object for a multitude of measuring points, wherein the emission light beam is a superposition of three laser beams having different wave lengths, which define the three-dimensional color space.

摘要翻译： 利用用于光学扫描和测量被设计为激光扫描器的环境的装置，其具有发射发射光束的光发射器，其具有接收由物体在周围的物体反射的接收光束的光接收器 该激光扫描器或另外分散的，具有一个控制和评估单元，该控制和评估单元决定了对于多个测量点的距离，其中发射光束是具有不同波长的三个激光束的叠加，其限定三维 颜色空间。

公开(公告)号：US08625106B2

公开(公告)日：2014-01-07

申请号：US13384795

申请日：2010-07-20

申请人： Martin Ossig ,  Philipp Schumann

发明人： Martin Ossig ,  Philipp Schumann

IPC分类号： G01B11/24

CPC分类号： G01S17/36 ,  G01S7/497 ,  G01S17/42 ,  G01S17/89

摘要： In a method for optically scanning and measuring an object by a laser scanner by a procedure in which a emission light beam modulated with a target frequency is emitted by means of a light emitter, a reception light beam reflected or otherwise scattered in some way from an object in the surroundings of the laser scanner is received, with a measuring clock, as a multiplicity of samples by means of a light receiver and in each case at least the distance from the object is determined from the phase angles of the multiplicity of samples for a plurality of measuring points by means of a control and evaluation device, for determining the distances, a phase shift caused by a distance difference of temporal adjacent samples is corrected in order to correct the distances.

摘要翻译： 在通过激光扫描器通过借助于光发射器发射以目标频率调制的发射光束的过程来光学扫描和测量物体的方法中，以某种方式反射或以其它方式散射的接收光束 激光扫描仪周围的物体以测量时钟的形式通过光接收器被接收为多个样本，并且在每种情况下，至少距离物体的距离根据多个样本的相位角确定， 通过用于确定距离的控制和评估装置的多个测量点，校正由时间相邻样本的距离差引起的相移，以校正距离。

公开(公告)号：US20120070077A1

公开(公告)日：2012-03-22

申请号：US13259383

申请日：2010-03-22

申请人： Martin Ossig ,  Ivan Bogicevic ,  Norbert Bücking

发明人： Martin Ossig ,  Ivan Bogicevic ,  Norbert Bücking

IPC分类号： G06K9/34 ,  H04N7/18

CPC分类号： G01C15/002 ,  G01S17/023 ,  G01S17/42 ,  G01S17/89

摘要： With a method for optically scanning and measuring an environment by means of a laser scanner, which has a center, and which, for making a scan, optically scans and measures its environment by means of light beams and evaluates it by means of a control and evaluation unit, wherein a color camera having a center takes colored images of the environment which must be linked with the scan, the control and evaluation unit of the laser scanner, to which the color camera is connected, links the scan and the colored images and corrects deviations of the center and/or the orientation of the color camera relative to the center and/or the orientation of the laser scanner by virtually moving the color camera iteratively for each colored image and by transforming at least part of the colored image for this new virtual position and/or orientation of the color camera, until the projection of the colored image and the projection of the scan onto a common reference surface comply with each other in the best possible way.

摘要翻译： 通过利用具有中心的激光扫描仪对环境进行光学扫描和测量的方法，并且用于进行扫描，通过光束光学扫描和测量其环境并通过控制来评估环境， 评估单元，其中具有中心的彩色照相机拍摄必须与扫描相关联的环境的彩色图像，连接彩色照相机的激光扫描仪的控制和评估单元连接扫描和彩色图像， 通过相对于每个彩色图像迭代地对彩色摄像机进行虚拟移动并且通过将至少部分彩色图像变换为这样来校正彩色摄像机相对于激光扫描仪的中心和/或取向的偏差和/或取向 彩色摄像机的新的虚拟位置和/或取向，直到彩色图像的投影和扫描的投影到共同的参考表面上是相互符合的 最好的方式。