JP2012533749A - 周囲を光学的に走査および測定する装置 - Google Patents
周囲を光学的に走査および測定する装置 Download PDFInfo
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- JP2012533749A JP2012533749A JP2012521118A JP2012521118A JP2012533749A JP 2012533749 A JP2012533749 A JP 2012533749A JP 2012521118 A JP2012521118 A JP 2012521118A JP 2012521118 A JP2012521118 A JP 2012521118A JP 2012533749 A JP2012533749 A JP 2012533749A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Position Input By Displaying (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
Claims (15)
- レーザスキャナ(10)として設計される、周囲を光学的に走査および測定する装置であって、走査に対して前記レーザスキャナ(10)の静止基準系を規定する中心(C10)およびこの走査の中心(Ci)と、発光ビーム(18)を放射する発光器(17)と、前記レーザスキャナ(10)の周囲で物体(O)によって反射され、または他の形で散乱された受光ビーム(20)を受け取る受光器(21)と、前記走査の多数の測定点(X)に対して、少なくとも前記中心(Ci)と前記物体(O)の間の距離(d)を判定する制御および評価ユニット(22)とを有し、いくつかの異なる中心(C1、C2、...)にて走査を行い、周辺空間を測定する前記レーザスキャナ(10)全体が、前記異なる中心(C1、C2、...)間を動くことができ、前記異なる中心(C1、C2)間で前記レーザスキャナ(10)全体がたどる経路を記録するための光学デバイスとして、スキャナマウス(30)が提供され、前記スキャナマウス(30)が、前記レーザスキャナ(10)に配置され、基準表面(G)に対する前記レーザスキャナ(10)全体の動きを光学的に取得し、記録することを特徴とする装置。
- 請求項1に記載の装置であって、前記レーザスキャナ(10)が、基部(14)と、前記基部(14)に対して回転可能である測定ヘッド(12)とを備え、特に前記スキャナマウス(30)が、前記基部(14)上または前記測定ヘッド(12)上に取り付けられることを特徴とする装置。
- 請求項1または2に記載の装置であって、前記レーザスキャナ(10)がキャリッジ(32)上に取り付けられ、前記レーザスキャナ(10)が、前記キャリッジ(32)を用いて、前記基準表面(G)に対して前記異なる中心(C1、C2、..)間で動くことができることを特徴とする装置。
- 請求項3に記載の装置であって、前記スキャナマウス(30)が、前記キャリッジ(32)上または前記レーザスキャナ(10)上に取り付けられることを特徴とする装置。
- 請求項1〜4のいずれか1項に記載の装置であって、前記スキャナマウス(30)が、前記基準表面(G)へ向けられた少なくとも1つの光学素子(36)を備えることを特徴とする装置。
- 請求項1〜5のいずれか1項に記載の装置であって、異なる方向に向けられたいくつかのスキャナマウス(30)または全方向性スキャナマウス(30)が提供されることを特徴とする装置。
- 請求項1〜6のいずれか1項に記載の装置であって、前記スキャナマウス(30)が、前記レーザスキャナ(10)の相対的な経路を、絶対値を用いないで記録するためのものであることを特徴とする装置。
- 請求項1〜7のいずれか1項に記載の装置であって、前記スキャナマウス(30)が、前記走査中または前記走査後に、ケーブル(33)およびインターフェース(34)を用いて、または無線を介して、前記制御および評価ユニット(22)にまたは外部の評価ユニットに接続されることを特徴とする装置。
- 請求項1〜8のいずれか1項に記載の装置であって、周辺空間全体が測定された後、前記スキャナマウス(30)または前記スキャナマウス(30)のデータメモリが、前記制御および評価ユニット(22)にまたは外部の評価ユニットに接続されることを特徴とする装置。
- 請求項1〜9のいずれか1項に記載の装置であって、前記レーザスキャナ(10)全体の動きを記録するための前記スキャナマウス(30)が、オプティカルフローを判定することを特徴とする装置。
- 請求項1〜10のいずれか1項に記載の装置であって、前記スキャナマウス(30)が、規則的な間隔で、前記基準表面(G)からのデータを検出するセンサ(30b)と、前記検出されたデータを互いに比較し、差分によって、具体的には前記オプティカルフローを判定することによって、前記基準表面(G)に対する前記スキャナマウス(30)の動きを演算する演算ユニット(30c)とを備えることを特徴とする装置。
- 請求項11に記載の装置であって、前記スキャナマウス(30)が、前記基準表面(G)上へ光を放射する光源(30a)、例えばLEDまたはレーザを備え、前記センサ(30b)が、前記照射された基準表面(G)の像を取り込むことを特徴とする装置。
- 請求項12に記載の装置であって、前記光源(30a)、前記センサ(30b)、および前記演算ユニット(30c)が、共通のプリント基板上に取り付けられ、または共通のモジュール内に組み込まれることを特徴とする装置。
- 請求項1〜13のいずれか1項に記載の装置であって、前記レーザスキャナ(10)にさらなる測定デバイスが配置され、前記測定デバイスのデータが、前記レーザスキャナ(10)のデータとともにつなぎ合わされ、また必要な場合、事前に前記スキャナマウス(30)のデータとともにつなぎ合わされ、評価されることを特徴とする装置。
- 請求項1〜14のいずれか1項に記載の装置を使用して、周辺空間を光学的に走査および測定する方法であって、前記周辺空間が、測定点(X)の範囲内で部分的に重複している異なる走査を用いて測定され、また前記レーザスキャナ(10)が、特定の中心(Ci)を有する各走査に対して特定の位置へ動かされ、前記スキャナマウス(30)が、前記異なる中心(C1、C2、..)間で前記レーザスキャナ(10)がたどる経路を記録するために用いられることを特徴とする方法。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009035336.4 | 2009-07-22 | ||
DE102009035336A DE102009035336B3 (de) | 2009-07-22 | 2009-07-22 | Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
US29954510P | 2010-01-29 | 2010-01-29 | |
US61/299,545 | 2010-01-29 | ||
PCT/IB2010/002226 WO2011010226A1 (en) | 2009-07-22 | 2010-07-20 | Device for optically scanning and measuring an environment |
Publications (2)
Publication Number | Publication Date |
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JP2012533749A true JP2012533749A (ja) | 2012-12-27 |
JP2012533749A5 JP2012533749A5 (ja) | 2014-04-17 |
Family
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Application Number | Title | Priority Date | Filing Date |
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JP2012521118A Pending JP2012533749A (ja) | 2009-07-22 | 2010-07-20 | 周囲を光学的に走査および測定する装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8384914B2 (ja) |
JP (1) | JP2012533749A (ja) |
CN (1) | CN102232197B (ja) |
DE (1) | DE102009035336B3 (ja) |
GB (1) | GB2484646B (ja) |
WO (1) | WO2011010226A1 (ja) |
Cited By (2)
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US10203413B2 (en) | 2012-10-05 | 2019-02-12 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
US10739458B2 (en) | 2012-10-05 | 2020-08-11 | Faro Technologies, Inc. | Using two-dimensional camera images to speed registration of three-dimensional scans |
US11035955B2 (en) | 2012-10-05 | 2021-06-15 | Faro Technologies, Inc. | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner |
US11112501B2 (en) | 2012-10-05 | 2021-09-07 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
US11815600B2 (en) | 2012-10-05 | 2023-11-14 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
Also Published As
Publication number | Publication date |
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WO2011010226A1 (en) | 2011-01-27 |
GB2484646B (en) | 2014-01-08 |
US8384914B2 (en) | 2013-02-26 |
US20120188559A1 (en) | 2012-07-26 |
CN102232197B (zh) | 2013-10-02 |
DE102009035336B3 (de) | 2010-11-18 |
CN102232197A (zh) | 2011-11-02 |
GB2484646A (en) | 2012-04-18 |
GB201202965D0 (en) | 2012-04-04 |
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