公开(公告)号：US11262194B2

公开(公告)日：2022-03-01

申请号：US17115018

申请日：2020-12-08

申请人： FARO Technologies, Inc.

发明人： Yazid Tohme ,  Rolf Heidemann ,  Markus Grau ,  Robert E. Bridges

IPC分类号： H04N1/04 ,  G01B11/25 ,  H04N13/257 ,  G01B11/245 ,  H04N13/239 ,  G01B11/00 ,  G06F3/041

摘要： A triangulation scanner having an enclosure, a projector coupled to the enclosure and configured to emit a first light, and three cameras also coupled to the enclosure. The scanner further includes at least one processor to determine the three-dimensional coordinates in a local frame of reference based at least in part on receiving the first light.

公开(公告)号：US10883819B2

公开(公告)日：2021-01-05

申请号：US16131537

申请日：2018-09-14

申请人： FARO Technologies, Inc.

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

IPC分类号： G06T7/33 ,  G06T7/579 ,  G01B11/00 ,  G01B21/04 ,  G01S17/42 ,  G01S17/66 ,  G01B5/004 ,  G01S17/89 ,  G01S17/48 ,  G01S7/48 ,  G01S17/86 ,  G06T7/73 ,  G01B11/25 ,  G01S3/786

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.

公开(公告)号：US20200081412A1

公开(公告)日：2020-03-12

申请号：US16520628

申请日：2019-07-24

申请人： FARO Technologies, Inc.

发明人： Simon Raab ,  Christopher S. Garcia ,  Duncan Andrew McArdle ,  Matthew Armstrong ,  Yevgeniy Vinshtok ,  Yazid Tohme ,  Daniel Zangrilli ,  Eric Haberland ,  Robert E. Bridges

IPC分类号： G05B19/408

摘要： A system and method for performing noncontact three-dimensional (3D) coordinates. The system including a system includes a noncontact three-dimensional (3D) measuring device operable to measure 3D coordinates of an object. A stage is operable to rotate the object. A mechanical arm is coupled to the 3D measuring device, the mechanical arm being operable to rotate the 3D measuring device in a first arc about a first axis and in a second arc about a second axis, the first arc larger than the second arc.

公开(公告)号：US10574963B2

公开(公告)日：2020-02-25

申请号：US16204164

申请日：2018-11-29

申请人： FARO Technologies, Inc.

发明人： Robert E. Bridges

IPC分类号： H04N13/122 ,  H04N13/204 ,  G01B11/00 ,  H04N13/257 ,  H04N13/275 ,  G06T1/00 ,  G02B27/01 ,  G01C3/08 ,  G01S3/786

摘要： A method and system of combining 2D images into a 3D image. The method includes providing a coordinate measurement device and a triangulation scanner having an integral camera associated therewith, the scanner being separate from the coordinate measurement device. In a first instance, the coordinate measurement device determines the position and orientation of the scanner and the integral camera captures a first 2D image. In a second instance, the scanner is moved, the coordinate measurement device determines the position and orientation of the scanner, and the integral camera captures a second 2D image. A common feature point in the first and second images is found and is used, together with the first and second images and the positions and orientations of the scanner in the first and second instances, to create the 3D image.

公开(公告)号：US10480929B2

公开(公告)日：2019-11-19

申请号：US16239967

申请日：2019-01-04

申请人： FARO Technologies, Inc.

发明人： Kalyan Nagalla ,  Robert C. Mehler ,  Robert E. Bridges

IPC分类号： G01B11/00 ,  G06F3/042 ,  G01S17/06 ,  G06F3/0346 ,  G06F3/03 ,  G01B5/004 ,  G01S17/66 ,  G01S17/02 ,  G01C15/00 ,  G01B21/04 ,  G06F3/01 ,  G01S3/786

摘要： A method for optically communicating, from a user to a laser tracker, a command to direct a beam of light from the laser tracker to a retroreflector with steps including: projecting a first light from a light source disposed on the laser tracker to the retroreflector; reflecting a second light from the retroreflector, the second light being a portion of the first light; obtaining first sensed data by sensing a third light, the third light being a portion of the second light, wherein the first sensed data is obtained by imaging the third light onto a photosensitive array disposed on the laser tracker and converting the third light on the photosensitive array into digital form; generating by the user, between a first time and a second time, a predefined temporal pattern, the predefined temporal pattern including at least a decrease in optical power of the third light followed by an increase in the optical power of the third light, the predefined temporal pattern corresponding to the command; determining by the laser tracker that the first sensed data corresponds to the predefined temporal pattern; and, pointing the beam of light from the laser tracker to the retroreflector.

公开(公告)号：US20190250271A1

公开(公告)日：2019-08-15

申请号：US16394674

申请日：2019-04-25

申请人： FARO Technologies, Inc.

发明人： Kenneth Steffey ,  Robert E. Bridges ,  David H. Parker

IPC分类号： G01S17/42 ,  G01S17/87 ,  G01S17/02 ,  G01B11/00 ,  G01S7/48 ,  G01C15/00 ,  G01S17/66 ,  G01S7/481 ,  G01S17/89

CPC分类号： G01S17/42 ,  G01B11/002 ,  G01C15/002 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4817 ,  G01S7/4818 ,  G01S17/023 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89

摘要： A three-dimensional (3D) coordinate measurement device combines tracker and scanner functionality. The tracker function is configured to send light to a retroreflector and determine distance to the retroreflector based on the reflected light. The tracker is also configured to track the retroreflector as it moves, and to determine 3D coordinates of the retroreflector. The scanner is configured to send a beam of light to a point on an object surface and to determine 3D coordinate of the point. In addition, the scanner is configured to adjustably focus the beam of light.

公开(公告)号：US20190178627A1

公开(公告)日：2019-06-13

申请号：US16123038

申请日：2018-09-06

申请人： FARO Technologies, Inc.

发明人： Robert E. Bridges

IPC分类号： G01B11/00 ,  G02B5/122 ,  G06T7/00 ,  G06T7/73 ,  G06T11/00 ,  G06T7/13

摘要： At each of three different locations, a tracker captures a 2D image an object and measures three points in space at each of three tracker locations relative to the object. Based on this information, the tracker determines, in an object frame of reference, three-dimensional coordinates of an arbitrary point on an edge line common to the three 2D images.

公开(公告)号：US20190137257A1

公开(公告)日：2019-05-09

申请号：US16239967

申请日：2019-01-04

申请人： FARO Technologies, Inc.

发明人： Kalyan Nagalla ,  Robert C. Mehler ,  Robert E. Bridges

IPC分类号： G01B11/00 ,  G06F3/042 ,  G01S17/06 ,  G06F3/0346 ,  G06F3/03 ,  G01S3/786 ,  G01S17/66 ,  G01S17/02 ,  G01C15/00 ,  G01B21/04 ,  G06F3/01 ,  G01B5/004

CPC分类号： G01B11/002 ,  G01B5/004 ,  G01B21/047 ,  G01C15/002 ,  G01S3/786 ,  G01S17/023 ,  G01S17/06 ,  G01S17/66 ,  G06F3/017 ,  G06F3/0304 ,  G06F3/0346 ,  G06F3/0421 ,  G06F3/0425

摘要： A method for optically communicating, from a user to a laser tracker, a command to direct a beam of light from the laser tracker to a retroreflector with steps including: projecting a first light from a light source disposed on the laser tracker to the retroreflector; reflecting a second light from the retroreflector, the second light being a portion of the first light; obtaining first sensed data by sensing a third light, the third light being a portion of the second light, wherein the first sensed data is obtained by imaging the third light onto a photosensitive array disposed on the laser tracker and converting the third light on the photosensitive array into digital form; generating by the user, between a first time and a second time, a predefined temporal pattern, the predefined temporal pattern including at least a decrease in optical power of the third light followed by an increase in the optical power of the third light, the predefined temporal pattern corresponding to the command; determining by the laser tracker that the first sensed data corresponds to the predefined temporal pattern; and, pointing the beam of light from the laser tracker to the retroreflector.

公开(公告)号：US20190130638A1

公开(公告)日：2019-05-02

申请号：US16232216

申请日：2018-12-26

申请人： FARO Technologies, Inc.

发明人： Robert E. Bridges

IPC分类号： G06T17/00 ,  G06T7/33 ,  G06K9/00 ,  H04N13/207 ,  H04N13/275 ,  H04N13/221 ,  H04N13/254 ,  H04N13/257 ,  G06T19/00 ,  G06T15/20 ,  G01S17/02 ,  G01S17/08 ,  G01S17/42 ,  G01B11/00 ,  G01S17/88 ,  G01S17/66 ,  G01S17/48

摘要： A method uses a two-dimensional (2D) camera in two different positions to provide first and second 2D images having three common cardinal points. It further uses a three-dimensional (3D) measuring device to measure two 3D coordinates. The first and second 2D images and the two 3D coordinates are combined to obtain a scaled 3D image.

公开(公告)号：US10234278B2

公开(公告)日：2019-03-19

申请号：US15991433

申请日：2018-05-29

申请人： FARO Technologies, Inc.

发明人： Rolf Heidemann ,  Denis Wohlfeld ,  Robert E. Bridges ,  Helmut Kramer

IPC分类号： G01B11/25 ,  B64C39/00 ,  G01C15/00 ,  G01B11/24 ,  B64C39/02

摘要： A three-dimensional (3D) coordinate measuring system is provided. The system includes an aerial measuring device that has an aerial drone and a 3D measurement device. The 3D measurement device being rotatably attached to the aerial drone, the aerial drone is movable from a first position to a stationary second position. The 3D measurement device being configured to optically measure points on the surface of an object. The system further includes one or more processors configured to execute nontransitory computer readable instructions. The computer readable instructions comprise: moving the aerial measuring device from the first position; landing the aerial measuring device at the second position; rotating the 3D measurement device to optically measure a first object point; and determining a first 3D coordinates of the first object point with the 3D measuring device.