Device and method for optically scanning and measuring an environment and a method of control

Patent metadata

Field	Value
Publication number	US-10499040-B2
Application number	US-201715664339-A
Country	US
Kind code	B2
Filing date	Jul 31, 2017
Priority date	Sep 10, 2014
Publication date	Dec 3, 2019
Grant date	Dec 3, 2019

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.

First claim

The invention claimed is:

1. 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, 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;
wherein the scale of the representation of the video image is smaller for a first speed movement of the handheld scanner than for a second speed movement of the handheld scanner, the first speed being larger than the second speed; and
displaying the resulting image.

2. The method of claim 1 , wherein the scale of representation of the video image is based at least in part on a vector direction of the first speed or second speed.

3. The method of claim 2 , wherein the scale of representation of the video image is based on the vector direction is perpendicular to an alignment of the handheld scanner.

4. The method of claim 2 , wherein the scale of representation of the video image is based on the vector direction is parallel to the alignment of the handheld scanner.

5. The method of claim 4 , wherein the scale of representation is further based in part on the change of an average distance to an object being scanned.

6. The method of claim 1 , further comprising acquiring a sequence of still images with at least one of the cameras in response to the first speed or the second speed being less than a threshold.

7. The method of claim 6 , wherein the first speed is a standstill or stop of movement.

8. 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, wherein the video image is displayed on a first part of the display and the 3D point cloud is displayed on a second part of the display, wherein at least a portion of the first part is adjacent to a portion of the second part; and
defining a direction of gravity by moving the handheld scanner.

9. The method of claim 8 , wherein the handheld scanner does not have a inclinometer.

10. The method of claim 8 , wherein the defining of the direction of gravity is based on vertical upward and downward movement relative to the ground.

11. The method of claim 8 , wherein the defining of the direction of gravity is based at least in part by statistically analyzing a set of movements performed during a registration process.

12. The method of claim 11 , wherein a plane is defined by averaging the coordinates of positions handheld scanner while recording a path of movement through space.

13. The method of claim 12 , wherein the plane is defined as being horizontally in space and the direction of gravity is defined as being perpendicular to the plane.

14. 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, wherein the video image is displayed on a first part of the display and the 3D point cloud is displayed on a second part of the display, wherein at least a portion of the first part is adjacent to a portion of the second part;
moving the handheld scanner along a path; and
determining a scene from the path.

15. The method of claim 14 , wherein the path is around a center location.

16. The method of claim 15 , further comprising determining the scene is a single object to be scanned.

17. The method of claim 14 , further comprising determining the path orients the handheld scanner away from a central location.

18. The method of claim 17 , further comprising determining the scene is a room.

19. The method of claim 18 , further comprising displaying an image of a floor plan on a display with the video image and the 3D point cloud.

Assignees

• Faro Tech Inc

Inventors

• Hillebrand Gerrit
• Debitsch Rasmus
• Heidemann Rolf
• Ossig Martin
• Buback Johannes

Classifications

• H04N23/635

  Region indicators; Field of view indicators · CPC title

• G01S17/46 Primary

  Indirect determination of position data · CPC title

• H04N13/296 Primary

  Synchronisation thereof; Control thereof · CPC title

• G09G2340/14

  Solving problems related to the presentation of information to be displayed · CPC title

• H04N13/243

  using three or more two-dimensional [2D] image sensors · CPC title