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    Measurement system having a cooperative robot and three-dimensional imager
    2.
    发明授权
    Measurement system having a cooperative robot and three-dimensional imager 有权

    公开(公告)号：US10378889B2

    公开(公告)日：2019-08-13

    申请号：US16001374

    申请日：2018-06-06

    Applicant: FARO Technologies, Inc.

    Inventor： Markus Grau

    IPC: G01B11/25 ,  G01V8/20 ,  G06T7/55 ,  G06T7/521 ,  B25J9/16 ,  H04N5/247

    Abstract: A measurement system and a method of measuring an object is provided. The system includes a measurement platform having a planar surface. At least two optical sensors are coupled to the measurement platform that emit light in a plane and determines a distance to an object based on a reflection of the light. A linear rail is coupled to the measurement platform. A cooperative robot is coupled to move along the linear rail. A 3D measuring system is coupled to the end of the robot. A controller coupled to the at least two optical sensors, the robot, and the 3D measuring system, the controller changing the speed of the robot and the 3D measuring system to less than a threshold in response to a distance measured by at least one of the at least two optical sensors to a human operator being less than a first distance threshold.

    MEASUREMENT DEVICE FOR MACHINING CENTER
    3.
    发明申请
    MEASUREMENT DEVICE FOR MACHINING CENTER 审中-公开

    公开(公告)号：US20170199508A9

    公开(公告)日：2017-07-13

    申请号：US14946008

    申请日：2015-11-19

    Applicant: FARO Technologies, Inc.

    Inventor： Charles Pfeffer ,  Markus Grau

    IPC: G05B19/402 ,  G01C11/02

    CPC classification number: G05B19/402 ,  B23Q3/155 ,  B23Q17/2471 ,  B23Q17/249 ,  B23Q2230/002 ,  G01B11/2513 ,  G01B11/2545 ,  G01B2210/58 ,  G01C11/02 ,  G05B2219/37115 ,  Y10T483/17

    Abstract: A computer numerical control (CNC) machining center is provided. The CNC machining center includes a spindle that receives a cutting tool. A work surface is operably arranged adjacent the spindle. A non-contact three-dimensional (3D) measurement device is operably coupled to the tool mount, the 3D measurement device including a projector and at least one device camera, the at least one camera being arranged to receive light from the light source that is reflected off of a surface. A plurality of targets is provided with at least one of the targets coupled to the 3D measurement device. At least two photogrammetry cameras are provided having a orientation and a field of view to acquire images of the targets. A controller is coupled for communication to the 3D measurement device and the at least two cameras, the controller determining the position of the 3D measurement device within the machining center during operation.

    THREE-DIMENSIONAL COORDINATE SCANNER AND METHOD OF OPERATION
    4.
    发明申请
    THREE-DIMENSIONAL COORDINATE SCANNER AND METHOD OF OPERATION 审中-公开
    三维坐标扫描仪及其操作方法

    公开(公告)号：US20150178412A1

    公开(公告)日：2015-06-25

    申请号：US14538840

    申请日：2014-11-12

    Applicant: FARO Technologies, Inc.

    Inventor： Markus Grau

    IPC: G06F17/50

    CPC classification number: G06F17/50 ,  G01B5/004 ,  G01B11/002 ,  G01B21/047

    Abstract: A system and method of determining 3D coordinates of an object is provided. The method includes determining a first set of 3D coordinates for a plurality of points on the object with a structured light scanner. An inspection plan is determined for the object, which includes features to be inspected with a remote probe. The points are mapped onto a CAD model. The features are identified on the plurality of points mapped onto a CAD model. A visible light is projected with the scanner proximate a first feature of the features. A sensor is contacted on the remote probe to at least one first point on the first feature on the object. A first position and orientation of the remote probe are determined with the scanner. A second set of 3D coordinates of the at least one first point are determined on the first feature on the object.

    Abstract translation: 提供了一种确定对象的3D坐标的系统和方法。 该方法包括使用结构化光扫描器确定物体上的多个点的第一组3D坐标。 为对象确定检查计划，其中包括使用远程探测器检查的功能。 点被映射到CAD模型。 在映射到CAD模型的多个点上识别特征。 用扫描仪投射可见光，靠近特征的第一特征。 将远程探头上的传感器接触物体上第一个特征上的至少一个第一点。 使用扫描仪确定远程探头的第一位置和方向。 在物体上的第一特征上确定至少一个第一点的第二组3D坐标。

    Three-dimensional coordinate scanner and method of operation
    6.
    发明授权
    Three-dimensional coordinate scanner and method of operation 有权

    公开(公告)号：US10089415B2

    公开(公告)日：2018-10-02

    申请号：US14538840

    申请日：2014-11-12

    Applicant: FARO Technologies, Inc.

    Inventor： Markus Grau

    IPC: G06F17/50 ,  G01B21/04 ,  G01B5/004 ,  G01B11/00

    Abstract: A system and method of determining 3D coordinates of an object is provided. The method includes determining a first set of 3D coordinates for a plurality of points on the object with a structured light scanner. An inspection plan is determined for the object, which includes features to be inspected with a remote probe. The points are mapped onto a CAD model. The features are identified on the plurality of points mapped onto a CAD model. A visible light is projected with the scanner proximate a first feature of the features. A sensor is contacted on the remote probe to at least one first point on the first feature on the object. A first position and orientation of the remote probe are determined with the scanner. A second set of 3D coordinates of the at least one first point are determined on the first feature on the object.

    UNMANNED AERIAL VEHICLE HAVING A PROJECTOR AND BEING TRACKED BY A LASER TRACKER
    8.
    发明申请
    UNMANNED AERIAL VEHICLE HAVING A PROJECTOR AND BEING TRACKED BY A LASER TRACKER 审中-公开
    具有投影机并由激光跟踪器追踪的无人驾驶飞机

    公开(公告)号：US20160349746A1

    公开(公告)日：2016-12-01

    申请号：US15141941

    申请日：2016-04-29

    Applicant: FARO Technologies, Inc.

    Inventor： Markus Grau

    IPC: G05D1/00 ,  B64D47/08 ,  G05D1/10 ,  B64C39/02

    CPC classification number: G05D1/0094 ,  B64C2201/027 ,  B64C2201/127 ,  G05D1/102

    Abstract: An unmanned aerial vehicle (UAV) such as a drone, quadcopter or octocopter having a projector on board for projecting information into physical space such as onto objects or locations while the UAV is in flight, and further with the position and orientation (i.e., the six degrees of freedom) of the UAV in flight being accurately tracked and controlled from the ground, e.g., by a laser tracker or a camera bar, thereby leading to a relatively more stable flight of the UAV.

    Abstract translation: 无人驾驶飞行器（UAV），如无人驾驶飞机，四轮直升机或八面体飞机，其上有一台投影机，用于在UAV飞行期间将信息投射到物理空间（如物体或位置）上，并且还具有位置和方向（即， 六个自由度）的UAV在飞行中被准确地从地面跟踪和控制，例如通过激光跟踪器或照相机杆，从而导致UAV的相对更稳定的飞行。

    METHOD OF DETERMINING A COMMON COORDINATE SYSTEM FOR AN ARTICULATED ARM COORDINATE MEASUREMENT MACHINE AND A SCANNER
    9.
    发明申请
    METHOD OF DETERMINING A COMMON COORDINATE SYSTEM FOR AN ARTICULATED ARM COORDINATE MEASUREMENT MACHINE AND A SCANNER 有权
    用于确定ARM坐标测量机和扫描仪的通用坐标系的方法

    公开(公告)号：US20140268108A1

    公开(公告)日：2014-09-18

    申请号：US14209301

    申请日：2014-03-13

    Applicant: FARO Technologies, Inc.

    Inventor： Markus Grau

    IPC: G01B5/008 ,  G01B11/14

    CPC classification number: G01B5/008 ,  G01B11/14 ,  G01B11/25 ,  G01B11/2504 ,  G01B21/042

    Abstract: A method of determining a mathematical transformation to place three-dimensional (3D) coordinates of points measured by an articulated arm coordinate measurement machine (AACMM) and 3D points measured by a scanner in a common coordinate system is provided. The method including providing the 3D scanner and the AACMM having a probe. The scanner and AACMM each have a local frame of reference. Three non-collinear targets are measured with the probe and then with the scanner. 3D probe reference coordinates and 3D scanner reference coordinates are determined based on the measurement of the targets by the AACMM and scanner. The mathematical transformation is determined based at least in part on the 3D probe reference coordinates and the 3D scanner reference coordinates, the mathematical transformation characterized at least in part by a collection of parameters.

    Abstract translation: 提供了一种确定数学变换以将由关节臂坐标测量机（AACMM）测量的点的三维（3D）坐标和由扫描仪测量的3D点放置在公共坐标系中的方法。 该方法包括提供具有探针的3D扫描仪和AACMM。 扫描仪和AACMM每个都有一个本地参考框架。 用探头和扫描仪测量三个非共线目标。 基于AACMM和扫描仪对目标的测量，确定3D探头参考坐标和3D扫描仪参考坐标。 至少部分地基于3D探针参考坐标和3D扫描仪参考坐标来确定数学变换，数学变换至少部分地由参数的集合表征。

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