Laser scanner
First Claim
1. A method of acquiring three-dimensional (3D) coordinates of a surface, the method comprising:
- providing a scanner having a light source, a mirror, a first motor for rotating the scanner, a second motor for rotating the mirror, a receiver, a distance meter, a camera and a processor, the scanner being configured to emit a light from the light source and reflect the light onto the surface, the scanner further being configured to determine with the processor a three-dimensional coordinate of a point on the surface based at least in part on a rotational position of the scanner about a vertical axis, a rotational position of the mirror about a horizontal axis and a reflection of the light from the surface;
acquiring at least one image of the surface with the camera;
identifying at least one feature on the surface in the at least one image;
identifying at least one first area having a high information content, the first area being associated with the at least one feature;
determining a quality factor for the first area;
determining a first speed for the first motor from a comparison of the quality factor to a quality criterion;
scanning the surface by rotating the scanner with the first motor at a first speed during a first arc segment of rotation of the scanner that includes the at least one first area and at a second speed during a second arc segment of rotation that does not include the at least one first area; and
determining three-dimensional coordinates of a plurality of points on the surface from the scanning.
1 Assignment
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Accused Products
Abstract
A method and system for acquiring three-dimensional (3D) coordinates of a surface is provided. The method includes providing the scanner configured to emit a light from the light source and reflect the light onto the surface, the scanner further being configured to determine with a processor a three-dimensional coordinate of a point on the surface based at least in part on a first and second angle measuring device and a reflection of the light from the surface. An image is acquired of the surface with a camera and a feature is identified. A first area is identified having a high information content and a first arc segment is determined. The surface is scanned by rotating a motor at a first speed during the first arc segment and at a second speed during a second arc segment, the second speed being greater than the first speed.
102 Citations
20 Claims
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1. A method of acquiring three-dimensional (3D) coordinates of a surface, the method comprising:
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providing a scanner having a light source, a mirror, a first motor for rotating the scanner, a second motor for rotating the mirror, a receiver, a distance meter, a camera and a processor, the scanner being configured to emit a light from the light source and reflect the light onto the surface, the scanner further being configured to determine with the processor a three-dimensional coordinate of a point on the surface based at least in part on a rotational position of the scanner about a vertical axis, a rotational position of the mirror about a horizontal axis and a reflection of the light from the surface; acquiring at least one image of the surface with the camera; identifying at least one feature on the surface in the at least one image; identifying at least one first area having a high information content, the first area being associated with the at least one feature; determining a quality factor for the first area; determining a first speed for the first motor from a comparison of the quality factor to a quality criterion; scanning the surface by rotating the scanner with the first motor at a first speed during a first arc segment of rotation of the scanner that includes the at least one first area and at a second speed during a second arc segment of rotation that does not include the at least one first area; and determining three-dimensional coordinates of a plurality of points on the surface from the scanning. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for acquiring three-dimensional (3D) coordinates of a surface, the system comprising:
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a scanner having a light source, a mirror, a first motor configured to rotate the scanner, a second motor configured to rotate the mirror, a receiver, a distance meter, and a camera, the scanner being configured to emit a light from the light source and reflect the light onto the surface, the scanner further being configured to determine a three-dimensional coordinate of a point on the surface based at least in part on a rotational position of the scanner about a vertical axis, a rotational position of the mirror about a horizontal axis and a reflection of the light from the surface; a memory having computer readable instructions; and one or more processors for executing the computer readable instructions, the one or more processors being operably coupled to the scanner, the computer readable instructions comprising; acquiring at least one image of the surface with the camera; identifying at least one feature on the surface in the at least one image; identifying at least one first area having a high information content, the first area being associated with the at least one feature; determining a quality factor for the first area; determining a first speed for the first motor from a comparison of the quality factor to a quality criterion; scanning the surface by rotating the scanner with the first motor at a first speed during a first arc segment of rotation of the scanner that includes the at least one first area and at a second speed during a second arc segment of rotation that does not include the at least one first area; and determining three-dimensional coordinates of a plurality of points on the surface from the scanning. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method comprising:
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providing a scanner having a light source, a mirror rotatable about a horizontal axis, a first motor for rotating the scanner about a vertical axis, a receiver, a distance meter, a camera and a processor, the scanner being configured to emit a light from the light source and reflect the light onto a surface, the scanner further being configured to determine with the processor a three-dimensional coordinate of a point on the surface based at least in part on a rotational position of the scanner about the vertical axis, a rotational position of the mirror about the horizontal axis and a reflection of the light from the surface; rotating the scanner with the first motor; acquiring a plurality of images of the surface with the camera while rotating the scanner; identifying at least one first feature on the surface in the plurality of images; identifying at least one first area having a high information content, the first area being associated with the at least one first feature; determining a quality factor for the first area; determining a first speed for the first motor from a comparison of the quality factor to a quality criterion; scanning the surface by rotating the scanner with the first motor at a first speed during a first arc segment of rotation of the scanner that includes the at least one first area and at a second speed during a second arc segment of rotation that does not include the at least one first area; determining three-dimensional coordinates of a plurality of points on the surface from the scanning; and storing the three-dimensional coordinates to a memory storage device. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification