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公开(公告)号：US20210396882A1
公开(公告)日：2021-12-23
申请号：US17407754
申请日：2021-08-20
IPC分类号： G01S17/42 , G05D1/02 , B25J13/08 , G01S17/89 , G01S7/00 , G01S7/481 , G09B29/00 , G01S7/48 , G01S17/88 , G01B11/00 , G01B11/27 , G01S17/36 , G01C15/00
摘要： A method for measuring and registering 3D coordinates has a 3D scanner measure a first collection of 3D coordinates of points from a first registration position. A 2D scanner collects horizontal 2D scan sets as 3D measuring device moves from first to second registration positions. A processor determines first and second translation values and a first rotation value based on collected 2D scan sets. 3D scanner measures a second collection of 3D coordinates of points from second registration position. Processor adjusts second collection of points relative to first collection of points based at least in part on first and second translation values and first rotation value. Processor identifies a correspondence among registration targets in first and second collection of 3D coordinates, and uses this correspondence to further adjust the relative position and orientation of first and second collection of 3D coordinates.
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公开(公告)号：US11112501B2
公开(公告)日：2021-09-07
申请号：US16272237
申请日：2019-02-11
IPC分类号： G01S17/42 , G05D1/02 , B25J13/08 , G01S17/89 , G01S7/00 , G01S7/481 , G09B29/00 , G01S7/48 , G01S17/88 , G01B11/00 , G01B11/27 , G01S17/36 , G01C15/00 , G01C7/04 , G01S17/87 , G01S17/86
摘要： A method for measuring and registering 3D coordinates has a 3D scanner measure a first collection of 3D coordinates of points from a first registration position. A 2D scanner collects horizontal 2D scan sets as 3D measuring device moves from first to second registration positions. A processor determines first and second translation values and a first rotation value based on collected 2D scan sets. 3D scanner measures a second collection of 3D coordinates of points from second registration position. Processor adjusts second collection of points relative to first collection of points based at least in part on first and second translation values and first rotation value. Processor identifies a correspondence among registration targets in first and second collection of 3D coordinates, and uses this correspondence to further adjust the relative position and orientation of first and second collection of 3D coordinates.
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公开(公告)号：US11035955B2
公开(公告)日：2021-06-15
申请号：US16032353
申请日：2018-07-11
IPC分类号： G01S17/42 , G01S17/89 , G01S7/48 , G01S7/481 , G01C15/00 , G01S17/36 , G01S7/00 , G05D1/02 , G09B29/00 , G01C7/04 , G01S17/87 , G01S17/10 , G01S17/86
摘要： A method for measuring and registering three-dimensional (3D) coordinates by measuring 3D coordinates with a 3D scanner in a first position, measuring two-dimensional (2D) coordinates with a 2D scanner while moving from the first position to a second position, measuring 3D coordinates with the 3D scanner at the second position, and determining a correspondence among targets in the first and second positions while moving between the second position and a third registration position.
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公开(公告)号：US10203413B2
公开(公告)日：2019-02-12
申请号：US15681862
申请日：2017-08-21
IPC分类号： G01S17/42 , B25J13/08 , G01S17/88 , G01S17/89 , G01S7/00 , G01S7/481 , G05D1/02 , G09B29/00 , G01B11/00 , G01B11/27 , G01S17/36 , G01C15/00 , G01S7/48 , G01C7/04 , G01S17/02 , G01S17/87
摘要： A method for measuring and registering 3D coordinates has a 3D scanner measure a first collection of 3D coordinates of points from a first registration position. A 2D scanner collects horizontal 2D scan sets as 3D measuring device moves from first to second registration positions. A processor determines first and second translation values and a first rotation value based on collected 2D scan sets. 3D scanner measures a second collection of 3D coordinates of points from second registration position. Processor adjusts second collection of points relative to first collection of points based at least in part on first and second translation values and first rotation value. Processor identifies a correspondence among registration targets in first and second collection of 3D coordinates, and uses this correspondence to further adjust the relative position and orientation of first and second collection of 3D coordinates.
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5.发明申请公开(公告)号：US20180149469A1
公开(公告)日：2018-05-31
申请号：US15880878
申请日：2018-01-26
IPC分类号： G01B11/00 , G06T7/579 , G01S17/66 , G06T7/73 , G01S3/786 , G06T7/33 , G01B21/04 , G01B5/004 , G01S17/48 , G01S17/89 , G01S17/02 , G01B11/25 , G01S17/42
CPC分类号： G01B11/002 , G01B5/004 , G01B11/25 , G01B21/042 , G01S3/786 , G01S7/4808 , G01S17/023 , G01S17/42 , G01S17/48 , G01S17/66 , G01S17/89 , G06T7/33 , G06T7/579 , G06T7/73 , G06T2207/10004
摘要： 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.
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6.发明申请公开(公告)号：US20170276472A1
公开(公告)日：2017-09-28
申请号：US15609519
申请日：2017-05-31
CPC分类号： G01B11/005 , G01B11/25 , Y10S901/01 , Y10S901/47
摘要： 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.
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7.发明申请REGISTRATION CALCULATION OF THREE-DIMENSIONAL SCANNER DATA PERFORMED BETWEEN SCANS BASED ON MEASUREMENTS BY TWO-DIMENSIONAL SCANNER 审中-公开基于两维扫描仪测量的扫描仪之间执行的三维扫描仪数据的注册计算公开(公告)号：US20160047914A1
公开(公告)日：2016-02-18
申请号：US14882601
申请日：2015-10-14
CPC分类号： G01S17/42 , G01C7/04 , G01C15/002 , G01S7/003 , G01S7/4808 , G01S7/4813 , G01S7/4817 , G01S17/023 , G01S17/10 , G01S17/36 , G01S17/87 , G01S17/89 , G05D1/024 , G05D1/0274 , G05D2201/0207 , G09B29/004
摘要： A method for measuring and registering three-dimensional (3D) coordinates by measuring 3D coordinates with a 3D scanner in a first registration position, measuring two-dimensional (2D) coordinates with a 2D scanner while moving from the first registration position to a second registration position, measuring 3D coordinates with the 3D scanner at the second registration position, and determining a correspondence among targets in the first and second registration positions while moving between the second registration position and a third registration position.
摘要翻译： 一种用于通过在第一对准位置测量3D扫描仪的3D坐标来测量和记录三维（3D）坐标的方法，在从第一注册位置移动到第二配准位置时，与2D扫描仪测量二维（2D）坐标 位置，在第二登记位置处与3D扫描仪测量3D坐标，以及在第二登记位置和第三登记位置之间移动的同时确定第一和第二登记位置中的目标之间的对应关系。
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8.发明申请DIRECTED REGISTRATION OF THREE-DIMENSIONAL SCAN MEASUREMENTS USING A SENSOR UNIT 有权使用传感器单元的三维扫描测量的方向注册公开(公告)号：US20150085301A1
公开(公告)日：2015-03-26
申请号：US14494887
申请日：2014-09-24
CPC分类号： G01S17/58 , G01B11/002 , G01B11/005 , G01B11/26 , G01C3/06 , G01C15/002 , G01P15/00 , G01S7/4808 , G01S7/4817 , G01S17/023 , G01S17/08 , G01S17/42 , G01S17/89
摘要： A laser scanner measures 3D coordinates from a first position and a second position and uses a sensor unit that includes at least an accelerometer and gyroscope to register the 3D coordinates, the registration based at least in part on comparison to a measured sensor displacement to a preferred displacement value.
摘要翻译： 激光扫描器测量来自第一位置和第二位置的3D坐标，并且使用至少包括加速度计和陀螺仪的传感器单元来注册3D坐标，所述对准至少部分地基于与测量的传感器位移的比较而优选地 位移值。
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9.发明申请Three-Dimensional Scanner With External Tactical Probe and Illuminated Guidance 有权具有外部战术探测器和照明指导的三维扫描仪公开(公告)号：US20140267623A1
公开(公告)日：2014-09-18
申请号：US14207858
申请日：2014-03-13
IPC分类号： H04N13/02
CPC分类号： 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
摘要： 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.
摘要翻译： 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。
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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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