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

Patent metadata

Field	Value
Publication number	US-9915521-B2
Application number	US-201715409714-A
Country	US
Kind code	B2
Filing date	Jan 19, 2017
Priority date	Sep 10, 2014
Publication date	Mar 13, 2018
Grant date	Mar 13, 2018

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.

First claim

The invention claimed is:

1. A method for optically scanning and measuring an environment, the method comprising:
emitting a light pattern onto an object from a projector of a three-dimensional (3D) measurement device having a plurality of cameras and the projector;
storing, in a memory of a control and evaluation unit operably coupled to the plurality of cameras and the projector, 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 measurements device;
recording a plurality of images of the light pattern on the object with the plurality of cameras at one or more points in time;
producing a 3D scan of the object based at least in part on the recorded plurality of images; and
performing a control function at the 3D measurement device based on movements of the 3D measurement device, wherein the movements of the 3D measurement device comprise gestures by a user of the 3D measurement device in moving the 3D measurement device to various spatial positions;
wherein controlling the 3D measurement device based on the movements of the 3D measurement device comprises:
recognizing and recording the movements of the 3D measurement device;
evaluating the movements of the 3D measurement device by determining an amount and a direction of each of the movements of the 3D measurement device and by determining a speed and/or an acceleration of each of the movements of the 3D measurement device; and
determining the gesture based at least in part on the movements of the 3D measurement device; and
performing the control function of the 3D measurement device based at least in part on the determined gesture.

2. The method of claim 1 wherein the control and evaluation unit is integrated with the 3D measurement device.

3. The method of claim 1 wherein the control and evaluation unit is separate and apart from the 3D measurement device, further comprising communicating between the control and evaluation unit and the 3D measurement device.

4. The method of claim 1 , wherein the plurality of cameras comprises first and second monochrome cameras.

5. The method of claim 1 , wherein the plurality of cameras comprises first and second monochrome cameras, and a color camera.

6. The method of claim 1 further comprising showing visual information at a display device integrated with the 3D measurement device.

7. The method of claim 1 further comprising showing visual information at a display device separate and apart from the 3D measurement device, and communicating between the display device and the 3D measurement device.

8. The method of claim 1 wherein controlling the 3D measurement device based on movements of the 3D measurement device comprises controlling one or more categories of control of the 3D measurement device.

9. The method of claim 8 wherein the one or more categories of control of the 3D measurement device comprise measuring, visualizing and post-processing.

10. The method of claim 9 wherein measuring comprises acquiring data with respect to the object.

11. The method of claim 9 wherein visualizing comprises evaluating data acquired with respect to the object, wherein the data acquired with respect to the object is displayed visually on the display device.

12. The method of claim 9 wherein post-processing comprises a final evaluation of data acquired with respect to the object.

13. The method of claim 1 wherein the gestures by a user of the 3D measurement device in moving the 3D measurement device to various spatial positions comprise a plurality of different movements of the 3D measurement device.

14. The method of claim 13 wherein the plurality of different movements of the 3D measurement device include a linear movement, a circular movement, and an irregular movement.

15. The method of claim 13 wherein two or more of the plurality of different movements of the 3D measurement device may be performed sequentially.

16. The method of claim 1 further comprising providing visual information in the form of still images at a display device.

17. The method of claim 1 further comprising providing visual information in the form of video images at a display device.

18. The method of claim 1 further comprising providing visual information in the form of both still images and video images at a display device.

19. The method of claim 1 further comprising providing visual information in the form of a 3D point cloud of data with respect to the object at a display device.

20. The method of claim 19 wherein the 3D point cloud of data is provided simultaneously with video.

Assignees

• Faro Tech Inc

Inventors

• Hillebrand Gerrit
• Heidemann Rolf
• Ossig Martin

Classifications

• G01B11/002 Primary

  for measuring two or more coordinates · CPC title

• H04N13/243 Primary

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

• H04N13/257

  Colour aspects · CPC title

• H04N13/296

  Synchronisation thereof; Control thereof · CPC title

• H04N13/239

  using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance (H04N13/243 takes precedence) · CPC title