Laser scanner with target detection

Patent metadata

Field	Value
Publication number	US-11947036-B2
Application number	US-202318153071-A
Country	US
Kind code	B2
Filing date	Jan 11, 2023
Priority date	May 14, 2019
Publication date	Apr 2, 2024
Grant date	Apr 2, 2024

Abstract

A scanner that can detect types of targets in a scan are includes a processor, housing and a 3D scanner disposed within the housing The processor is configured to identify locations of one more checkerboard targets disposed in the scan area by: identifying transition locations where adjacent segments on a single scan line transition from a first color to a second color; recording locations of the transition locations as first to second color transition locations; identifying and recording transition locations where adjacent segments on a single scan line transition from the second color to the first color as second to first color transition locations; forming a transition line through adjacent first to second color transition locations and adjacent second to first color transition locations; and identifying a location of a checkerboard target based on the transition line.

First claim

What is claimed is:

1. A three-dimensional (3D) measuring device comprising:
a processor system including a processor;
a housing;
a 3D scanner disposed within the housing and operably coupled to the processor system, the 3D scanner having a light source, a beam steering unit, a first angle measuring device, a second angle measuring device, and a light receiver, the beam steering unit cooperating with the light source and light receiver to define a scan area, the light source and the light receiver configured to cooperate with the processor system to determine locations a plurality of points in the scan area;
wherein the processor is configured to identify locations of one more checkerboard targets disposed in the scan area by:
identifying transition locations where adjacent segments on a single scan line transition from a first color to a second color;
recording locations of the transition locations as first to second color transition locations;
identifying and recording transition locations where adjacent segments on a single scan line transition from the second color to the first color as second to first color transition locations;
forming a transition line through adjacent first to second color transition locations and adjacent second to first color transition locations; and
identifying a location of a checkerboard target based on the transition line.

2. The device of claim 1 , wherein the processor is configured to form segments by determining that adjacent points on a scan line have a same color and are at about a same distance from the 3D scanner.

3. The device of claim 2 , wherein the processor is configured to determine that a particular point is a transition location by determining if the particular point is at or near an end of segments on a single scan line.

4. The device of claim 2 , wherein the checkerboard target includes a plurality of white and black sections, each having a section length l s and each segment has a segment length that is at least 10% of the section length l s .

5. The device of claim 2 , wherein the checkerboard target includes a plurality of white and black sections, each having a section length l s , and each segment has a segment length that is less than the section length l s .

6. The device of claim 2 , wherein the transition line has a length that is the same or shorter than a length of the checkboard target.

7. The device of claim 1 , further comprising:
a display device.

8. The device of claim 7 , wherein the processor is configured to indicate if some or all of a detected number checkerboard targets matches a number of checkerboard targets in the scan area.

9. The device of claim 7 , wherein the processor is configured to display an image of the scan indicating locations of detected checkerboard targets.

10. A method of scanning a scan area with a three-dimensional (3D) measuring device comprising:
rotating the 3D scanner about a first axis, the 3D scanner having a light source, a light receiver and a photogrammetry camera;
emitting a plurality of light beams from the light source and receiving with the light receiver a plurality of reflected light beams from an object surface within the scan area;
determining, with a processor system, 3D coordinates of a first collection of points on the object surface within a scan area based at least in part on the plurality of light beams and the plurality of reflected light beams;
identifying transition locations where adjacent segments on a single scan line transition from a first color to a second color;
recording locations of the transition locations as first to second color transition locations;
identifying and recording transition locations where adjacent segments on a single scan line transition from the second color to the first color as second to first color transition locations;
forming a transition line through adjacent first to second color transition locations and adjacent second to first color transition locations; and
identifying a location of a checkerboard target based on the transition line.

11. The method of claim 10 , further comprising forming segments by determining that adjacent points on a scan line have a same color and are at about a same distance from the 3D scanner.

12. The method of claim 11 , wherein a particular point is a transition location if the particular point is at or near an end of a segment on a single scan line.

13. The method of claim 11 , wherein the checkerboard target includes a plurality of white and black sections, each having a section length l s , and each segment has a segment length that is at least 10% of the section length l s .

14. The method of claim 11 , wherein the checkerboard target includes a plurality of white and black sections, each having a section length l s , and each segment has a segment length that is less than the section length L s .

15. The method of claim 11 , wherein the transition line has a length that is the same or shorter than a length of the checkboard target.

16. The method of claim 11 , further comprising:
indicating if some or all of a detected number checkerboard targets matches a number of checkerboard targets in the scan area.

17. The method of claim 11 , wherein further comprising displaying an image of the scan indicating locations of detected checkerboard targets.

Assignees

• Faro Tech Inc

Inventors

• Pompe Daniel

Classifications

• G01S7/4802 Primary

  using analysis of echo signal for target characterisation; Target signature; Target cross-section · CPC title

• G01S7/4817

  relating to scanning · CPC title

• G01S17/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title

• G01S7/4813 Primary

  Housing arrangements · CPC title

• G01S17/89

  for mapping or imaging · CPC title