公开(公告)号：WO2018151994A1

公开(公告)日：2018-08-23

申请号：PCT/US2018/017327

申请日：2018-02-08

Applicant: FARO TECHNOLOGIES, INC.

Inventor： FRANK, Aleksej ,  ZWEIGLE, Oliver

IPC: G06T19/00

Abstract: A system and method for generating a virtual reality scene from scanned point cloud data having user defined content is provided. The system includes a coordinate measurement device operable to measure three-dimensional coordinates. A computing device having a processor is operably coupled to the coordinate measurement device, the processor being operable to generate a point cloud data and insert user defined content into the point cloud data in response to an input from a user, the processor further being operable to generate a virtual reality data file based at least in part on the point cloud data with the user defined content. A virtual reality device is operably coupled to the computing device, the virtual reality device being operable to display the virtual reality data file to the user.

公开(公告)号：WO2018132398A1

公开(公告)日：2018-07-19

申请号：PCT/US2018/013050

申请日：2018-01-10

Applicant: FARO TECHNOLOGIES, INC.

Inventor： NAGALLA, Kalyan ,  ZHANG, Yicheng

IPC: G01S17/66 ,  G01S17/02 ,  G01C15/00 ,  G01S5/16 ,  G01S7/00

Abstract: A laser tracker system and method of operating the laser tracker system is provided. The laser tracker system includes a laser tracker device and a mobile computing device, each coupled for communication to a computer network. The mobile computing device includes processors that are responsive to computer instructions to perform a method. The method includes identifying the laser tracker device on the computer network. Selecting the first laser tracker device. Connecting to the laser tracker device to transmit signals therebetween via the computer network in response to an input from a user. Then causing the laser tracker device to perform one or more control functions in response to one or more second inputs from the user, wherein at least one of the one or more control functions includes selecting with the mobile computing device a retroreflective target and locking a light beam on the retroreflective target.

公开(公告)号：WO2016172411A1

公开(公告)日：2016-10-27

申请号：PCT/US2016/028744

申请日：2016-04-22

Applicant: FARO TECHNOLOGIES, INC.

Inventor： TOHME, Yazid ,  HEIDEMANN, Rolf ,  BRIDGES, Robert E. ,  GRAU, Markus

IPC: G01B11/245 ,  G01B11/25

CPC classification number: G01B11/2545 ,  G01B11/005 ,  G01B11/245 ,  G01B11/25 ,  G01B11/2518 ,  G06F3/0412 ,  H04N13/239 ,  H04N13/257

Abstract: A three-dimensional (3D) scanner having two cameras and a projector is detachably coupled to a device selected from the group consisting of: an articulated arm coordinate measuring machine, a camera assembly, a six degree-of-freedom (six-DOF) tracker target assembly, and a six-DOF light point target assembly.

Abstract translation: 具有两个照相机和投影仪的三维（3D）扫描器可拆卸地联接到从由以下组成的组中选择的装置：铰接臂坐标测量机，相机组件，六自由度（六自由度） 跟踪目标组件和六自由度光点目标组件。

公开(公告)号：WO2016089431A1

公开(公告)日：2016-06-09

申请号：PCT/US2014/069185

申请日：2014-12-09

Applicant: FARO TECHNOLOGIES, INC.

Inventor： ZWEIGLE, Oliver ,  BECKER, Bernd-Dietmar ,  BECKER, Reinhard

IPC: G01S17/89 ,  G01S17/87 ,  G01S7/48 ,  G01S17/42

CPC classification number: G01S17/42 ,  G01S7/003 ,  G01S7/4808 ,  G01S17/023 ,  G01S17/87 ,  G01S17/89

Abstract: 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 and a second collection of 3D coordinates of points from a second registration position. In between these positions, the 3D measuring device collects depth-camera images. A processor determines first and second translation values and a first rotation value based on the depth-camera images. The processor identifies a correspondence among registration targets in the first and second collection of 3D coordinates based at least in part on the first and second translation values and the first rotation value. The processor uses this correspondence and the first and second collection of 3D coordinates to determine 3D coordinates of a registered 3D collection of points.

Abstract translation: 用于测量和登记3D坐标的方法具有3D扫描器，测量来自第一登记位置的点的3D坐标的第一集合和来自第二登记位置的点的3D坐标的第二集合。 在这些位置之间，3D测量装置收集深度相机图像。 处理器基于深度相机图像来确定第一和第二平移值以及第一旋转值。 处理器至少部分地基于第一和第二平移值和第一旋转值，识别第一和第二3D坐标集合中的注册目标之间的对应关系。 处理器使用这种对应关系以及3D坐标的第一和第二集合来确定注册的3D集合集合的3D坐标。

公开(公告)号：WO2015191654A2

公开(公告)日：2015-12-17

申请号：PCT/US2015/035001

申请日：2015-06-10

Applicant: FARO TECHNOLOGIES, INC.

Inventor： TOHME, Yazid ,  BRIDGES, Robert E.

CPC classification number: G06T19/006 ,  G01B11/002 ,  G01B11/14 ,  G01S7/4813 ,  G01S17/023 ,  G01S17/66 ,  G01S17/89 ,  G06F3/011 ,  G06F3/0304 ,  G06F3/0346 ,  G06F3/03545 ,  G06T7/30 ,  G06T7/50 ,  G06T7/55 ,  G06T7/60 ,  G06T7/70 ,  G06T15/20 ,  H04N13/275

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

Abstract translation: 将2D图像组合成3D图像的方法包括提供坐标测量装置和具有与其相关联的整体照相机的六自由度探头，所述六自由度探针与坐标测量装置分离。 在第一种情况下，坐标测量装置确定六自由度探头的位置和方向，并且整体照相机捕获第一2D图像。 在第二种情况下，六自由度探头被移动，坐标测量装置确定六自由度探头的位置和方向，并且整体照相机捕获第二2D图像。 找到第一和第二图像共同的基本点，并与第一和第二图像以及第一和第二实例中的六自由度探针的位置和取向一起使用，以创建3D图像。

公开(公告)号：WO2015153544A2

公开(公告)日：2015-10-08

申请号：PCT/US2015/023479

申请日：2015-03-31

Applicant: FARO TECHNOLOGIES, INC.

Inventor： TOHME, Yazid ,  STEFFEY, Kenneth ,  GAREY, Jeremy Markee ,  DAY, Jonathan Robert

IPC: G02B5/122

CPC classification number: G02B5/122 ,  G01S7/481 ,  G01S7/499 ,  G01S17/66 ,  Y10T156/1064

Abstract: A spherically mounted retroreflector (SMR) includes a substrate, an optic, and an adhesive. The substrate has a partially spherical outer surface and a cavity, the partially spherical outer surface has a sphere center. The optic has a cube-corner retroreflector fixedly disposed within the cavity; the cube-corner retroreflector has an optical vertex. The adhesive is disposed between the optic and the substrate and fixedly adheres the optic to the substrate. The optical vertex is coincident with the sphere center. The substrate is made from a ferromagnetic material and has an electroless nickel outer coating.

Abstract translation: 球形安装后向反射器（SMR）包括衬底，光学器件和粘合剂。 衬底具有部分球形的外表面和空腔，部分球形的外表面具有球体中心。 光学部件具有固定设置在空腔内的立方角逆反射器; 立方角逆反射器具有光学顶点。 粘合剂布置在光学部件和基底之间并且将光学部件固定地粘附到基底。 光学顶点与球体中心重合。 基板由铁磁材料制成，并具有无电镀镍外涂层。

公开(公告)号：WO2015119797A1

公开(公告)日：2015-08-13

申请号：PCT/US2015/012811

申请日：2015-01-26

Applicant: FARO TECHNOLOGIES, INC.

Inventor： BECKER, Reinhard ,  OSSIG, Martin

IPC: G01C15/00 ,  G01S17/89 ,  G06T7/00

CPC classification number: G01S7/4817 ,  G01B11/005 ,  G01C15/002 ,  G01S7/4808 ,  G01S17/023 ,  G01S17/08 ,  G01S17/42 ,  G01S17/89 ,  G06T7/30 ,  G06T2207/10028

Abstract: A laser scanner and method of operation to determine the consistency of a registration is provided. The method includes generating with the laser scanner at least a first scan of the scene with first measuring points. The laser scanner generates at least one second scan of the scene with second measuring points. At least one measured distance is determined from at least one of the second measuring points to the center of the second scan. The second scan is provisionally registered subjected to a consistency check. The consistency check is performed. At least one virtual distance is determined from at least one of the first measuring points to the center of the second scan. The consistency check is based at least in part on comparing the at least one virtual distance with the at least one measured distance.

Abstract translation: 提供了激光扫描器和确定注册一致性的操作方法。 该方法包括用激光扫描器至少利用第一测量点对场景进行第一次扫描。 激光扫描仪用第二测量点产生场景的至少一次扫描。 从第二测量点中的至少一个到第二扫描的中心确定至少一个测量距离。 暂时注册第二次扫描进行一致性检查。 执行一致性检查。 从至少一个第一测量点到第二次扫描的中心确定至少一个虚拟距离。 一致性检查至少部分地基于将至少一个虚拟距离与至少一个测量距离进行比较。

公开(公告)号：WO2015103179A1

公开(公告)日：2015-07-09

申请号：PCT/US2014/072638

申请日：2014-12-30

Applicant: FARO TECHNOLOGIES, INC.

Inventor： BRIDGES, Robert E.

IPC: G01B11/25 ,  H04N5/353 ,  H04N5/355

CPC classification number: G01B11/005 ,  G01B11/022 ,  G01B11/25 ,  H04N5/3532 ,  H04N5/35554

Abstract: A line scanner measures 3D coordinates of an object surface and includes a projector with a light source that projects a line of light at the object surface. The line scanner also has a camera with a 2D array of light sensors and electronics that controls the exposure and readout times of each light sensor, the exposure time being controlled in either rows or columns of the array in a non-sequential manner, the readout time being controlled in either rows or columns that are the same as the rows or columns whose exposure time is being controlled, each of the light sensors converts an amount of captured optical energy into a digital signal value, the captured optical energy being from a reflected line of light from the object surface. Further includes a processor that receives the digital signal values and calculates the 3D coordinates of the object surface.

Abstract translation: 线扫描器测量物体表面的3D坐标，并且包括具有在物体表面上投射光线的光源的投影仪。 线扫描仪还具有具有2D阵列的光传感器和电子设备的照相机，其控制每个光传感器的曝光和读出时间，曝光时间以非顺序方式被控制在阵列的行或列中，读出 时间被控制在与被控制曝光时间的行或列相同的行或列中，每个光传感器将所捕获的光能量的量转换为数字信号值，所捕获的光能量来自反射的 来自物体表面的光线。 还包括接收数字信号值并计算物体表面的3D坐标的处理器。

公开(公告)号：WO2015088716A1

公开(公告)日：2015-06-18

申请号：PCT/US2014/066045

申请日：2014-11-18

Applicant: FARO TECHNOLOGIES, INC.

Inventor： BRIDGES, Robert E.

IPC: G01S17/66 ,  G01S7/481 ,  G01S17/87 ,  G01S7/497 ,  G01B11/00 ,  G01B21/04 ,  G01C15/00

CPC classification number: G01B11/002 ,  G01B21/045 ,  G01C15/002 ,  G01S7/497 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87

Abstract: A method of measuring spherically mounted retroreflector (SMR) with a 3D coordinate measurement device such as a laser tracker. The SMR includes an open-air cube comer retroreflector having a vertex point located near a sphere center of the SMR. Measurements of the SMR to the vertex point are corrected to indicate 3D coordinates of the SMR sphere center by accounting for SMR depth error and SMR runout error. The SMR is measured with the device from two stations having different reference frames. Transformation matrices between these frames are generated based on measurements of three retroreflectors, the SMR in a nest and the error vector of the SMR.

Abstract translation: 使用诸如激光跟踪器的3D坐标测量装置测量球形后向反射器（SMR）的方法。 SMR包括具有位于SMR的球体中心附近的顶点的露天立方体角落后向反射器。 通过计算SMR深度误差和SMR跳动误差来校正到顶点的SMR的测量，以指示SMR球体中心的3D坐标。 使用来自具有不同参考帧的两个站的设备来测量SMR。 这些帧之间的转换矩阵是基于三个回射器的测量，嵌套中的SMR和SMR的误差向量来生成的。

公开(公告)号：WO2015026636A1

公开(公告)日：2015-02-26

申请号：PCT/US2014/051185

申请日：2014-08-15

Applicant: FARO TECHNOLOGIES, INC.

Inventor： ZHANG, Chi

IPC: B25J19/02 ,  G01B21/04 ,  G01B11/25 ,  G06T1/00 ,  G06T7/00

CPC classification number: G06T7/0044 ,  G01B11/25 ,  G01B11/2513 ,  G06K9/00664 ,  G06T1/0007 ,  G06T2207/10004 ,  H04N5/2256

Abstract: A processor and projector images a coded projector pattern of light on a portion of an object providing a first coded surface pattern of light, images a first sequential projector pattern of light on another portion of the object providing a first sequential surface pattern of light, and images a second sequential projector pattern of light on the other portion providing a second sequential surface pattern of light. A camera forms a first coded image of the first coded surface pattern of light and generates a first coded array, forms a first sequential image of the first sequential surface pattern of light and generates a first sequential array, forms a second sequential image of the second sequential surface pattern of light and generates a second sequential array. The processor determines a correspondence between the camera and projector, and measures three-dimensional coordinates of the object.

Abstract translation: 处理器和投影仪将经编码的投影仪图案在对象的一部分上成像，所述对象的一部分提供第一编码的表面图案，在对象的另一部分上形成第一顺序投影仪图案以提供第一顺序表面图案，以及 在另一部分上形成第二次顺序的投影仪图案以提供第二顺序表面图案。 相机形成第一编码表面图案的第一编码图像并产生第一编码阵列，形成第一顺序表面图案的第一顺序图像并产生第一顺序阵列，形成第二顺序图像的第二顺序图像 光的顺序表面图案并产生第二顺序阵列。 处理器确定相机和投影仪之间的对应关系，并测量对象的三维坐标。