Method for optically measuring three-dimensional coordinates and controlling a three-dimensional measuring device

• US 9,602,811 B2
• Filed: 09/03/2015
• Issued: 03/21/2017
• Est. Priority Date: 09/10/2014
• Status: Active Grant

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Hillebrand, Gerrit, Heidemann, Rolf, Ossig, Martin
• Primary Examiner(s): Worku, Negussie
• Application Number:
  US14/844,700
• Publication Number:
  US 20160073104A1
• Time in Patent Office: 565 Days
• Field of Search: 358/474, 358/482, 348/46, 348/136, 348/47, 348/48, 250/208.1, 250/559.4, 356/72, 382/154
• US Class Current: 1/1
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01B 11/245 using a plurality of fixed, simultaneously operating transducers G01B11/2408 - G01B11/2425, G01B11/255 take precedence
• CPC Class Codes: G01B 11/25 by projecting a pattern, e.g. one or more lines, moiré fringes on the object G01B11/255 takes precedence ; image analysis for depth or shape recovery G06T7/50
• CPC Class Codes: G01B 11/2513 with several lines being projected in more than one direction, e.g. grids, patterns
• CPC Class Codes: G06F 3/017 Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• CPC Class Codes: G06F 3/0325 using a plurality of light emitters or reflectors or a plurality of detectors forming a reference frame from which to derive the orientation of the object, e.g. by triangulation or on the basis of reference deformation in the picked up image
• CPC Class Codes: G06V 40/20 Movements or behaviour, e.g. gesture recognition recognition of facial expressions G06V40/16
• CPC Class Codes: H04N 13/189 Recording image signals; Reproducing recorded image signals
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/243 using three or more 2D image sensors
• CPC Class Codes: H04N 13/257 Colour aspects
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 17/002 for television cameras
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

A method for scanning and obtaining three-dimensional (3D) coordinates is provided. The method includes providing a 3D measuring device having a projector, a first camera and a second camera. The method records images of a light pattern emitted by the projector onto an object. The 3D measuring device is moved from a first position and a second position along a second path. A gesture and a corresponding control function are determined based at least in part on the first position and the second position.

Claims

1. Method for optically scanning and measuring an environment, the method comprising:

providing a three-dimensional (3D) measurement device having a first camera, a second camera and a projector, the 3D measurement device further having a control and evaluation device operably coupled to the at least one camera and the projector, the control and evaluation device having memory;

providing a correspondence between each of a plurality of control functions for the 3D measurement device and each of a plurality of gestures, each gesture being a movement of the 3D measurement device, at least one first gesture from among the plurality of gestures being defined as a movement along a path by the 3D measurement device, the first gesture corresponding to a first control function of the 3D measurement device, the correspondence between each of the plurality of control functions and each of the plurality of gestures being stored in the memory;

emitting a light pattern onto an object with the projector;

recording a first set of images of the light pattern with the first camera and the second camera at a first time;

recording a second set of images of the light pattern with the first camera and the second camera at a second time;

producing a 3D scan of the object based at least in part on the first image and the second image;

moving the 3D measuring device along a second path from a first position to a second position;

determining the first gesture based at least in part on the movement from the first position to the second position; and

executing the first control function on the 3D measurement device based at least in part on the determination of the first gesture.

2. The method of claim 1 wherein the step of determining the first gesture is further based at least in part on the first image and the second image.

3. The method of claim 2 wherein the step of determining the first gesture is further based on the 3D scan.

4. The method of claim 1 wherein:

the 3D measuring device further includes an inclinometer; and

the step of determining the first gesture is further based at least in part on a signal from the inclinometer.

5. The method of claim 4 wherein the inclinometer is an accelerometer.

6. The method of claim 1 further comprising determining the velocity of the 3D measuring device when the 3D measuring device moves along the second path from the first position to the second position.

7. The method of claim 6 wherein the step of determining the first gesture is further based at least in part on the velocity.

8. The method of claim 7 further comprising determining the acceleration of the 3D measuring device when the 3D measuring device moves along the second path from the first position to the second position.

9. The method of claim 8 wherein the step of determining the first gesture is further based at least in part on the acceleration.

10. The method of claim 1 wherein the 3D measuring device further includes a display and the first control function includes changing the scale of a third image displayed on the display.

11. The method of claim 10 wherein the scale of the third image is increased when the second position is further from the user than the first position.

12. The method of claim 11 wherein the scale of the third image is decreased when the second position is closer than the first position.

13. The method of claim 10 further comprising measuring the acceleration of the 3D measuring device along the second path, wherein the magnitude of the changing of the scale of the third image is based at least in part on the acceleration.

14. The method of claim 11 wherein the step of executing the first control function includes selecting an element on a user interface displayed on the display.

15. The method of claim 1 further comprising bringing the 3D measurement device to a standstill and recording a third set of images with the first camera and the second camera, the third set of images being recorded with a low dynamic range.

16. The method of claim 15 further comprising generating an image with a high dynamic range based on the third set of images.

17. The method of claim 1 wherein the second path includes a movement along a radius about the length of a user'"'"'s arm.

18. The method of claim 1 wherein the execution of the first control function selects a measurement method or a measurement property.

19. The method of claim 1 wherein the execution of the first control function changes a user interface of the 3D measuring device.

20. The method of claim 1 wherein the execution of the first control function defines a volume of interest.

21. The method of claim 20 wherein the execution of the first control function further includes marking a point of interest on a display operably coupled to the 3D measuring device.

22. The method of claim 1 wherein the step of determining the first gesture includes determining a probability that the second path corresponds the first control function.

23. The method of claim 1 further comprising:

identifying an object in the first set of images;

identifying the object in the second set of images; and

aligning the 3D measuring device to a center location based at least in part on a position of the object.