DEVICE AND METHOD FOR OPTICALLY SCANNING AND MEASURING AN ENVIRONMENT AND A METHOD OF CONTROL

• US 20160073096A1
• Filed: 05/27/2015
• Published: 03/10/2016
• Est. Priority Date: 09/10/2014
• Status: Active Grant

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Hillebrand, Gerrit, Debitsch, Rasmus, Heidemann, Rolf, Ossig, Martin, Buback, Johannes
• Granted Patent: US 9,769,463 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01B 11/2545 with one projection direction and several detection directions, e.g. stereo
• CPC Class Codes: G01S 17/46 Indirect determination of position data
• CPC Class Codes: G06T 2200/24 involving graphical user interfaces [GUIs]
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 7/55 from multiple images
• CPC Class Codes: G09G 2340/12 Overlay of images, i.e. displayed pixel being the result of switching between the corresponding input pixels
• CPC Class Codes: G09G 2340/14 Solving problems related to the presentation of information to be displayed
• CPC Class Codes: G09G 5/00 Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators image data processing or generation, in general G06T
• CPC Class Codes: G09G 5/02 characterised by the way in which colour is displayed details of colour display specific for CRTs G09G1/28; specific for flat matrix panels other than liquid crystal displays G09G3/2003; specific for liquid crystal displays G09G3/3607
• CPC Class Codes: H04N 13/243 using three or more 2D image sensors
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 23/635 Region indicators; Field of view indicators
• CPC Class Codes: H04N 5/772 the recording apparatus and the television camera being placed in the same enclosure

Abstract

A device and method for scanning and measuring an environment is provided. The method includes providing a three-dimensional (3D) measurement device having a controller. Images of the environment are recorded and a 3D scan of the environment is produced with a three-dimensional point cloud. A first movement of the 3D measurement device is determined and then an operating parameter of the 3D measurement device is changed based at least in part on the first movement.

Claims

1-49. -49. (canceled)

50. A method for optically scanning and measuring an environment of a handheld scanner comprising:

recording images of the environment with cameras included in the handheld scanner, the images including a video image of the environment recorded with a first of the cameras;

processing data provided by the handheld scanner to a control and evaluation device to obtain a three-dimensional (3D) point cloud;

representing the video image and the 3D point cloud on a display of the control and evaluation device, the representation of at least one of the video image and 3D point cloud being determined by one of a speed or an acceleration of the handheld scanner,

wherein a plurality of the recorded images of the first of the cameras, each having a first dynamic range, are processed by the control and evaluation device to obtain a resulting image having second dynamic range based on the speed being less than or equal to a threshold value, the second dynamic range being higher than the first dynamic range; and

displaying the resulting image.

51. The method of claim 50 wherein, in the step of representing the video image on a display of the control and evaluation device, a scale of the representation of the video image is determined by at least one of the speed or the acceleration of the handheld scanner, the scale being a ratio of a size of the representation of the video image to a size of the display.

52. The method of claim 51, wherein the scale of the representation of the video image is smaller for first speed movement of the handheld scanner than for second speed movement of the handheld scanner, the first speed being larger than the second speed.

53. The method of claim 51, wherein the scale of the representation of the video image is smaller for first acceleration of the handheld scanner than for a second acceleration of the handheld scanner, the first acceleration being in a first direction, the second acceleration being in a second direction opposite the first direction.

54. The method of claim 51, wherein the scale of the representation of the video image is further determined by at least one of a direction of the speed or the acceleration of the handheld scanner.

55. The method of claim 50, wherein in the step of representing the video image on a display of the control and evaluation device, the representation of the video image is further based on a distance of the handheld scanner to an object in the environment.

56. The method of claim 50, wherein in at least one mode, a first part of the 3D point cloud is placed next to a corresponding part of the video image on the display such that the first part of the 3D point cloud continuously adjoins the corresponding part of the video image.

57. The method of claim 50, wherein the handheld scanner includes a projector that projects a light pattern by a laser in an infrared range on an object in the environment of the handheld scanner, the cameras and the projector are spaced apart from each other by a carrying structure of the handheld scanner, the first of the cameras being configured to acquire images within a visible wavelength range and a second of the cameras being configured to acquire images within the infrared range of the laser,

58. The method of claim 57 wherein the carrying structure is made from carbon-fiber reinforced synthetic material.

59. The method of claim 57 wherein the carrying structure is made from fiber-reinforced ceramics.