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公开(公告)号：US20240069203A1
公开(公告)日：2024-02-29
申请号：US18356871
申请日：2023-07-21
Applicant: FARO Technologies, Inc.
Inventor： Aleksej Frank , Mufassar Waheed , Matthias Wolke , Mark Brenner
IPC: G01S17/89
CPC classification number: G01S17/89
Abstract: A mobile three-dimensional (3D) measuring system includes a 3D measuring device configured to capture 3D data in a multi-level architecture, and an orientation sensor configured to estimate an altitude. One or more processing units coupled with the 3D measuring device and the orientation sensor perform a method that includes receiving a first portion of the 3D data captured by the 3D measuring device. The method further includes determining a level index based on the altitude. The level index indicates a level of the multi-level architecture at which the first portion is captured. The level index is associated with the first portion. Further, a map of the multi-level architecture is generated using the first portion, the generating comprises registering the first portion with a second portion of the 3D data responsive to the level index of the first portion being equal to the level index of the second portion.
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公开(公告)号：US20240004080A1
公开(公告)日：2024-01-04
申请号：US18469258
申请日：2023-09-18
Applicant: FARO Technologies, Inc.
Inventor： Mark Brenner , Aleksej Frank , Ahmad Ramadneh , Oliver Zweigle
IPC: G01S17/894 , G01S17/04 , G01S7/497
CPC classification number: G01S17/894 , G01S17/04 , G01S7/4972
Abstract: A method is provided that includes recording a landmark at a first scan position of a scanner, the landmark based at least in part on a semantic feature of scan data captured by the scanner. The semantic feature is identified using line-segments of the scan data. The method further includes capturing, by the scanner while moving through the environment, additional scan data at a second scan position. The method further includes, responsive to the scanner returning to the first scan position associated with the landmark, computing a measurement error. The method further includes correcting, using the measurement error, at least a portion of the scan data or the additional scan data.
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公开(公告)号：US20210156881A1
公开(公告)日：2021-05-27
申请号：US17070134
申请日：2020-10-14
Applicant: FARO Technologies, Inc.
Inventor： Oliver Zweigle , Michael Müller , Mark Brenner , Rasmus Debitsch , Gerrit Hillebrand , Maxim Muschinski
Abstract: Provided are embodiments for a device and method for measuring three-dimensional (3D) coordinates. Embodiments include a projector having a projector optical axis on a first plane, the projector operable to project a collection of laser beams on a surface of an object, and a first camera having a first-camera optical axis on the first plane, the first camera operable to capture a first image of the collection of laser beams on the surface of the object. Embodiments also include one or more processors, the one or more processors are operable to generate a first distance profile for the object using a first laser beam of the collection of laser beams and generate a second distance profile for the object using a second laser beam of the collection of laser beams, estimate the velocity of the object based on the first and second distance profile, and provide the estimated velocity.
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公开(公告)号：US11501478B2
公开(公告)日：2022-11-15
申请号：US17325947
申请日：2021-05-20
Applicant: FARO Technologies, Inc.
Inventor： Mark Brenner , Aleksej Frank , Oliver Zweigle , Ahmad Ramadneh , Mufassar Waheed
Abstract: A system for generating an automatically segmented and annotated two-dimensional (2D) map of an environment includes processors coupled to a scanner to convert a 2D map from the scanner into a 2D image. Further, a mapping system categorizes a first set of pixels from the image into one of room-inside, room-outside, and noise by applying a trained neural network to the image. The mapping system further categorizes a first subset of pixels from the first set of pixels based on a room type if the first subset of pixels is categorized as room-inside. The mapping system also determines the room type of a second subset of pixels from the first set of pixels based on the first subset of pixels by using a flooding algorithm. The mapping system further annotates a portion of the 2D map to identify the room type based on the pixels corresponding to the portion.
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公开(公告)号：US20220178492A1
公开(公告)日：2022-06-09
申请号：US17543975
申请日：2021-12-07
Applicant: FARO Technologies, Inc.
Inventor： Mufassar Waheed , Tobias Boehret , Mark Brenner , Oliver Zweigle , Aleksej Frank , Ahmad Ramadneh
IPC: F16M3/00 , B62D57/032
Abstract: Scanner stabilizing systems are described. The systems include a moving base configured to receive a scanner, at least one motor operably connected to the base to control at least one of an orientation and a position of the moving base about an axis, at least one mounting structure configured to fixedly attached to a mobile apparatus and wherein the at least one motor is attached to a respective one of the at least one mounting structures, and a stabilization controller operably connected to the at least one motor, wherein the stabilization controller is configured to maintain an orientation of the scanner relative to an environment.
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Patent Agency Ranking
公开(公告)号：US11022692B2
公开(公告)日：2021-06-01
申请号：US15784437
申请日：2017-10-16
Applicant: FARO Technologies, Inc.
Inventor： Rolf Heidemann , Mark Brenner , Simon Raab
IPC: G01S17/66 , G01B11/00 , H04N13/296 , G01S17/87 , G01B11/25 , G06T7/593 , G01S17/89 , H04N13/254 , G06T7/521 , H04N13/271
Abstract: A projector projects an uncoded pattern of uncoded spots onto an object, which is imaged by a first camera and a second camera, 3D coordinates of the spots on the object being determined by a processor based on triangulation, the processor further determining correspondence among the projected and imaged spots based at least in part on a nearness of intersection of lines drawn from the projector and image spots through their respective perspective centers.
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公开(公告)号：US20210048291A1
公开(公告)日：2021-02-18
申请号：US16541774
申请日：2019-08-15
Applicant: FARO Technologies, Inc.
Inventor： Muhammad Umair Tahir , Oliver Zweigle , Mark Brenner , Michael Müller , Simon Raab , Steffen Kappes
IPC: G01B11/25
Abstract: Aspects of the present disclosure provide a system for measuring an object, the system including a plurality of frame segments. The frame segments are configured to mechanically couple together to form a frame. The plurality of frame segments includes a plurality of measurement device link segments and each of the plurality of measurement device link segments includes a measurement device which together form a plurality of measurement devices having a field of view within or adjacent to the frame. Each of the plurality of measurement devices is operable to measure three-dimensional (3D) coordinates for a plurality of points on the object. The system further includes a computing device to receive data from the plurality of measurement devices via a network established by the plurality of measurement device link segments.
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公开(公告)号：US12053895B2
公开(公告)日：2024-08-06
申请号：US17702904
申请日：2022-03-24
Applicant: FARO Technologies, Inc.
Inventor： Mark Brenner , Aleksej Frank , Ahmad Ramadneh , Mufassar Waheed , Oliver Zweigle
CPC classification number: B25J9/1697 , B25J9/1653 , B25J9/1664 , B25J13/089
Abstract: A system includes a transporter robot with a motion controller that changes the transporter robot's poses during transportation. A scanning device is fixed to the transporter robot. One or more processors are coupled to the transporter robot and the scanning device to generate a map of the surrounding environment. At a timepoint T1, when the transporter robot is stationary at a first location, a first pose of the transporter robot is captured. During transporting the scanning device, at a timepoint T2, the scanning device captures additional scan-data of a portion of the surrounding environment. In response, the motion controller provides a second pose of the transporter robot at T2. A compensation vector and a rotation for the scan-data are determined based on a difference between the first pose and the second pose. A revised scan-data is computed, and the revised scan-data is registered to generate the map.
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公开(公告)号：US20230324556A1
公开(公告)日：2023-10-12
申请号：US18131526
申请日：2023-04-06
Applicant: FARO Technologies, Inc.
Inventor： Mufassar Waheed , Matthias Wolke , Aleksej Frank , Mark Brenner
CPC classification number: G01S17/89 , G01S17/86 , G01S7/4817
Abstract: A mobile three-dimensional (3D) measuring system includes a 3D measuring device, and a support apparatus. The 3D measuring device is coupled to the support apparatus. The support apparatus includes a pole mount that includes a gimbal at the top of the pole mount, wherein the 3D measuring device is attached to the gimbal. The support apparatus further includes a counterweight at the bottom of the pole mount, the counterweight matches a weight of the 3D measuring device.
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公开(公告)号：US20230003546A1
公开(公告)日：2023-01-05
申请号：US17850084
申请日：2022-06-27
Applicant: FARO Technologies, Inc.
Inventor： Mark Brenner , Aleksej Frank , Oliver Zweigle
IPC: G01C21/00
Abstract: A system and method of generating a two-dimensional (2D) image of an environment is provided. The system includes a scanner having a first light source, an image sensor, a second light source and a controller, the second light source emitting a visible light, the controller determining a distance to points based on a beam of light emitted by the first light source and receiving of the reflected beam of light from the points. Processors are operably coupled to the scanner execute a method comprising: generating a map of the environment; emitting light from the second light source towards an edge defined by at least a pair of surfaces; detecting the edge based on emitting a second beam of light and receiving the reflected second beam of light; and defining a room on the map based on the detecting of the corner or the edge.
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