Source: https://patents.google.com/patent/US9602811B2/en
Timestamp: 2018-05-28 05:57:19
Document Index: 250008247

Matched Legal Cases: ['art 104', 'art 104', 'art 104', 'art 104', 'art 104', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130', 'art 130']

US9602811B2 - Method for optically measuring three-dimensional coordinates and controlling a three-dimensional measuring device - Google Patents
Method for optically measuring three-dimensional coordinates and controlling a three-dimensional measuring device Download PDF
US9602811B2
US9602811B2 US14844700 US201514844700A US9602811B2 US 9602811 B2 US9602811 B2 US 9602811B2 US 14844700 US14844700 US 14844700 US 201514844700 A US201514844700 A US 201514844700A US 9602811 B2 US9602811 B2 US 9602811B2
US14844700
US20160073104A1 (en )
The present Application claims the benefit of German Patent Application 10 2015 106 836.2 filed on May 2, 2015, German Patent Application 10 2015 106 837.0 filed on May 2, 2015, and German Patent Application 10 2015 106 838.9 filed on May 2, 2015. The contents of all of which are incorporated by reference herein in their entirety.
The present Application also a continuation-in-part application of U.S. application Ser. No. 14/826,859 filed on Aug. 14, 2015. U.S. Ser. No. 14/826,859 claims the benefit of German Patent Application 10 2014 113 015.4 filed on Sep. 10, 2014 and is also a continuation-in-part application of U.S. application Ser. No. 14/712,993 filed on May 15, 2015, which is a nonprovisional application of U.S. Provisional Application 62/161,461 filed on May 14, 2015. U.S. application Ser. No. 14/712,993 further claims the benefit of German Patent Application 10 2014 013 677.9 filed on Sep. 10, 2014. The contents of all of which are incorporated by reference herein in their entirety.
Referring to FIGS. 1-6, a 3D measuring device 100 is provided as portable part of a device for optically scanning and measuring an environment of the 3D measuring device 100 with objects O. As used herein, the side of the device 100 which faces the user shall be referred to as the reverse side, and the side of the device 100 which faces the environment as the front side. This definition extends to the components of the 3D measuring device 100. The 3D measuring device 100 is provided (on its front side) visibly with a carrying structure 102 having three arms 102 a, 102 b, 102 c. These arms give the carrying structure 102 a T-shape or a Y-shape, i.e. a triangular arrangement. The area in which the three arms 102 a, 102 b, 102 c intersect and are connected with each other, and from which the three arms 102 a, 102 b, 102 c protrude, defines the center of the 3D measuring device 100. From the user's view, the carrying structure 102 is provided with a left arm 102 a, a right arm 102 b and a lower arm 102 c. In one embodiment, the angle between the left arm 102 a and the right arm 102 b is, for example, approximately 150°+20°, between the left arm 102 a and the lower arm 102 c approximately 105°+10°. The lower arm 102 c is, in some embodiments, somewhat longer than the two other arms 102 a, 102 b.
The carrying structure 102 preferably is configured from fiber-reinforced synthetic material, such as a carbon-fiber-reinforced synthetic material (CFC). In another embodiment, the carrying structure 102 is made from carbon-fiber-reinforced ceramics or from glass-fiber-reinforced synthetic material. The material renders the carrying structure 102 mechanically and thermally stable and provides at the same time for a low weight. The thickness of the carrying structure 102 is considerably smaller (for example 5 to 15 mm) than the length of the arms 102 a, 102 b, 102 c (for example 15 to 25 cm). The carrying structure 102 hence has a flat basic shape. In some embodiments, the arms 102 a, 102 b, 102 c, may include a reinforced back near the center of the arm. It is, however, preferably not configured to be plane, but to be curved. Such curvature of the carrying structure 102 is adapted to the curvature of a sphere having a radius of approximately 1 to 3 m. The front side (facing the object 0) of the carrying structure 102 is thereby configured to be concave, the reverse side to be convex. The curved shape of the carrying structure 102 is advantageous for providing stability. The front side of the carrying structure 102 (and in one embodiment the visible areas of the reverse side) is configured to be a viewing area, i.e. it is not provided with hiders, covers, cladding or other kinds of packaging. The preferred configuration from fiber-reinforced synthetic materials or ceramics is particularly suitable for this purpose.
On the reverse side of the carrying structure 102, a housing 104 is arranged, which is connected with the carrying structure 102 within the area of the ends of the three arms 102 a, 102 b, 102 c in a floating way, by means of appropriate connecting means, for example by means of rubber rings and screws with a bit of clearance. As used herein, a floating connection is one that reduces or eliminates the transmission of vibration from the housing 104 to the carrying structure 102. In one embodiment, the floating connection is formed by a rubber isolation mount disposed between the housing 104 and the carrying structure. In one embodiment, an elastomeric seal, such as rubber, is disposed between the outer perimeter of the carrying structure 102 and the housing 104. The carrying structure 102 and the housing 104 are then clamped together using elastomeric bushings. The seal and bushings cooperate to form the floating connection between the carrying structure 102 and the housing 104. Within the area of the left arm 102 a and of the right arm 102 b, the edge of the housing 104 extends into the immediate vicinity of the carrying structure 102, while the housing 104 extends from the center of the 3D measuring device 100 within the area of the lower arm 102 c, at a distance to the carrying structure 102, forming a handle part 104 g, bends off at the end of the handle part 104 g and approaches the end of the lower arm 102 c, where it is connected with it in a floating manner. The edge of the handle 104 g extends into the immediate vicinity of the carrying structure 102. In some embodiments, sections of the carrying structure 102 may include a reinforced back 102 r. The back 102 r protrudes into the interior of the housing 104. The housing 104 acts as a hood to cover the reverse side of the carrying structure 102 and define an interior space.
The protective elements 105 may be attached to the housing 104 or to the carrying structure 102. In one embodiment, the protective elements 105 are arranged at the ends of and extend outward from the arms 102 a, 102 b, 102 c to protect the 3D measuring device from impacts and from damage resulting thereof. When not in use, the 3D measuring device 100 can be put down with its front side to the bottom. Due to the concave curvature of the front side, on the 3D measuring device will only contact the surface at the ends of the arms 102 a, 102 b, 102 c. In embodiments where the protective elements 105 are positioned at the ends of the arms 102 a, 102 b, 102 c advantages are gained since the protective elements 105 will provide additional clearance with the surface. Furthermore, when the protective elements 105 are made from a soft material for example from rubber, this provides a desirable tactile feel for the user's hand. This soft material can optionally be attached to the housing 104, particularly to the handle part 104 g.
On the carrying structure 102, spaced apart from each other at a defined distance, a first camera 111 is arranged on the left arm 102 a (in the area of its end), and a second camera 112 is arranged on the right arm 102 b (in the area of its end). The two cameras 111 and 112 are arranged on the reverse side of the carrying structure 102 and fixed thereto, wherein the carrying structure 102 is provided with apertures through which the respective camera 111, 112 can acquire images through the front side of the carrying structure 102. The two cameras 111, 112 are preferably surrounded by the connecting means for the floating connection of the housing 104 with the carrying structure 102.
To resolve this difficulty, a projector 121 may be used, which is arranged at the lower arm 102 c (in the area of its end). The projector 121 is arranged within the interior space on the reverse side of the carrying structure 102 and fixed thereto. The carrying structure 102 is provided with an aperture through which the projector 121 can project a pattern of light through the front side of the carrying structure 102. In one embodiment, the projector 121 is surrounded by the connecting means to provide a floating connection between the housing 104 with the carrying structure 102. The projector 121, the first camera 111, and the second camera 112 are arranged in a triangular arrangement with respect to each other and aligned to the environment of the 3D measuring device 100. The projector 121 is aligned in correspondence with the two cameras 111, 112. The relative alignment between the cameras 111, 112 and the projector 121 is preset or can be set by the user.
The cameras 111, 112, 113, the projector 121, the control knob 106, the status lamps 107, the light-emitting diodes 114 and the inclinometer 119 are connected with the common control unit 118, which is arranged inside the housing 104. This control unit 118 can be part of a control and evaluation device which is integrated in the housing. In an embodiment, the control unit 118 is connected with a standardized communication interface at the housing 104, the interface being configured for a wireless connection (for example Bluetooth, WLAN, DECT) as an emitting and receiving unit, or for a cable connection (for example USB, LAN), if appropriate also as a defined interface, such as that described in DE 10 2009 010 465 B3, the contents of which are incorporated by reference herein. The communication interface is connected with an external control and evaluation device 122 (as a further component of the device for optically scanning and measuring an environment of the 3D measuring device 100), by means of said wireless connection or connection by cable. In the present case, the communication interface is configured for a connection by cable, wherein a cable 125 is plugged into the housing 104, for example at the lower end of the handle part 104 g, so that the cable 125 extends in prolongation of the handle part 104 g.
The control and evaluation device 122 may include one or more processors 122 a having memory. The processor 122 a being configured to carry out the methods for operating and controlling the 3D measuring device 100 and evaluating and storing the measured data. The control and evaluation device 122 may be a portable computer (notebook) or a tablet (or smartphone) such as that shown in FIGS. 7 and 8, or any external or distal computer (e.g. in the web). The control and evaluation device 122 may also be configured in software for controlling the 3D measuring device 100 and for evaluating the measured data. However, the control and evaluation device 122 may be embodied in separate hardware, or it can be integrated into the 3D measuring device 100. The control and evaluation device 122 may also be a system of distributed components, at least one component integrated into the 3D measuring device 100 and one component externally. Accordingly, the processor(s) 122 a for performing said methods may be embedded in the 3D measuring device 100 and/or in an external computer.
In one embodiment, the pattern X is a monochromatic pattern. The pattern X may be produced by means of a diffractive optical element 124 in the projector 121. The diffractive optical element 124 converts a single beam of light from a light source 121 a in FIG. 20 to a collection of collection of beams, each having lower optical power than the single beam. Each of the collection of beams traveling in a different direction to produce a spot when striking the object O. The light source 121 a may be a laser, a superluminescent diode, or an LED, for example. In an embodiment, the wavelength of the light source 121 a is in the infrared range. The lateral resolution is then limited only by the diameter and spacing of the spots of light in the projected pattern X. If the pattern X is in the infrared range, it is possible to capture the images of the object O and surrounding environment with the 2D camera 113 without interference from the pattern X. Similarly, if the pattern X is produced in the ultraviolet light wavelength range, the images acquired by the 2D camera 113 would not have interference from the pattern X.
The calibration parameters which may be corrected may be extrinsic parameters, intrinsic parameters, and operating parameters. Extrinsic parameters for each unit (cameras 111, 112, 113 and projector 121) include the six degrees of freedom of rigid bodies, i.e. three positions and three angles. Particularly relevant is the relative geometry between the cameras 111, 112, 113 and the projector 131, such as the relative distances and relative angles of their alignments for example. Intrinsic parameters may be related to camera or projector device features such as but not limited to the focal length, position of principal point, distortion parameters, centering of the photosensitive array or MEMS projector array, scale of the array in each direction, rotation of the array relative to the local coordinate system of the 3D measuring device 100, and aberration correction coefficients for the camera or projector lens system. Operating parameters may be the wavelength of the light source 121 a, the temperature and the humidity of the air.
Errors related to deviations in the operating parameters of the projector 121 may be determined much faster than deviations in the extrinsic parameters or intrinsic parameters. In an embodiment, an operating parameter to be checked is the wavelength of the light source 121 a. The wavelength can change due to the warming up of the light source 121 a or changes in the pump current for example. An embodiment is shown in FIG. 20 (schematically). The pattern X generated by the diffractive element 124 changes in scale with the change in wavelength. As shown in the error field of FIG. 21, in the center of the pattern X, such as the position with the zeroth order of diffraction of the laser beam, there is no deviation in the position of the central pattern element if the wavelength changes. The deviations Δ appear at locations with higher orders of diffraction, such as in the more peripheral pattern elements for example, as a shift in position. Such a shift in position of individual diffraction of the pattern elements can be recognized with a single camera 111 or 112.
If a change of the wavelength is observed, actions to counter the change can be taken or calibration can be corrected, if appropriate. Correction of calibration can be made by replacing the wavelength of the calibration by the new wavelength detected. In other words, the calibration parameter of the wavelength is changed. Actions to counter the change may include, for example, cooling the laser (if the light source 121 a is a laser) or reducing the pump current, to return the wavelength to its unchanged (i.e. original) value. By applying feedback in a control loop to the pump current or to the laser cooling, the wavelength of the laser can be stabilized.
Some light sources 121 a may drift in wavelength when no control system is used. In these embodiments, broad optical bandpass filters might be used to cover the range of possible wavelengths. However, broad optical filters may pass more undesired ambient light, which may be an issue when working outdoors. Therefore in some applications a wavelength control system is desirable. It should be appreciated that the embodiments described herein of directly observing a change in wavelength provides advantages in simplifying a wavelength control systems, which ordinarily require stabilization of both temperature and current.
One embodiment of the display 130 shown in FIG. 7 illustrates a subdivided image or subdivided screen. In this embodiment, the display 130 is divided into a first display part 130 a and a second display part 130 b. In the present embodiment, the first display part 130 a is a (rectangular) central part of the display 130, and the second display part 130 b is a peripheral area around the first display part 130 a. In another embodiment, the two display parts may be columns. In the illustrated embodiment, the first display part 130 a is shown as having a rectangular shape, however this is for exemplary purposes and the claimed invention should not be so limited. In other embodiments, the first display part 130 a may have other shapes, including but not limited to circular, square, trapezoid, trapezium, parallelogram, oval, triangular, or a polygon having any number of sides. In one embodiment, the shape of the first display part 130 a is user defined or selectable.
In the first display part 130 a the video live image VL is displayed, such as that captured by 2D camera 113 for example. In the second display part 130 b, an image of the latest 3D scan (or a plurality of 3D scans that have been registered) is displayed as at least part of a view of the three-dimensional point cloud 3DP. The size of the first display part 130 a may be variable, and the second display part 130 b is arranged in the area between the first display part 130 a and the border 131 of the display 130. As video live image VL changes, such as when the user moves the device 100, the image of the three-dimensional point cloud 3DP changes correspondingly to reflect the change in position and orientation of the device 100.
It should be appreciated that it is desired to have the images within the first display part 130 a appear to be similar to that in the second display part 130 b to provide a continuous and seamless image experience for the user. If the image of three-dimensional point cloud 3DP is significantly distorted, it may make it difficult for the user to determine which areas could use additional scanning. Since the planar image of the point cloud data 3DP could be distorted relative to the 2D camera image, one or more processing steps may be performed on the image generated from the point cloud data 3DP. In one embodiment, the field of view (FOV) of the second display part 130 b is limited so that only the central portion of the planar image is shown. In other words, the image is truncated or cropped to remove the highly distorted portions of the image. Where the FOV is small (e.g. less 120 degrees), the distortion is limited and the planar view of the point cloud data 3DP will appear as desired to the user. In one embodiment, the planar view is processed to scale and shift the planar image to provide to match the camera 113 image in the first display part 130 a.
In another embodiment, the point cloud data 3DP may be processed to generate a 3D display. A 3D display refers to a display in which provision is made to enable not only rotation about a fixed point, but also translational movement from point to point in space. This provides advantages in allowing the user to move about the environment and provide a continuous and seamless display between the first display part 130 a and the second display part 130 b.
In one embodiment, the video live image VL in the first display part 130 a and the image of the three-dimensional point cloud 3DP in the second display part 130 b match together seamlessly and continuously (with respect to the displayed contents). A part of the three-dimensional point cloud 3DP is first selected (by the control and evaluation device 122) in such a way, as it is regarded from the perspective of the 2D camera 113 or at least from a position aligned with the 2D camera 113. Then, the selected part of the three-dimensional point cloud 3DP is selected in such a way that it adjoins continuously the video live image VL. In other words, the displayed image of the three-dimensional point cloud 3DP becomes a continuation of the video live image VL for the areas beyond the field of view of the 2D camera 113 on the left, on the right, top and bottom relative to the field of view of the 2D camera). As discussed above, the selected portion of the three-dimensional point cloud 3DP may be processed to reduce or eliminate distortions. In other embodiments, the representation may correspond to the representation of a fish-eye lens, but preferably it is undistorted. The part of the three-dimensional point cloud 3DP which is located in the area occupied by the first display part 130 a, in other words the portion beneath or hidden by the video live image VL, is not displayed.
It should be appreciated that the density of the points in the three-dimensional point cloud 3DP in the area where the first display part 130 a is located will not be visible to the user. Normally, the video live image VL is displayed using the natural coloring. However, in order to indicate the density of the points in the area covered/behind by the video live image VL, the coloring of the video live image VL may be changed artificially such as by overlaying for example. In this embodiment, the artificial color (and, if appropriate, the intensity) used for representing the artificially colored video live image VL corresponds to the density of the points. For example, a green coloring to the video live image VL may indicate a (sufficiently) high density while a yellow coloring may be used to indicate a medium or low point density (e.g. areas which still the scan data can be improved). In another embodiment, the distant-depending precision of the data points could be displayed using this color-coding.
To support the registration of the 3D scans, flags or marks 133 (FIG. 7) may be inserted in the first display part 130 a to indicate structures (i.e. possible targets) recognized by the control and evaluation device 122. The marks 133 may be a symbol, such as a small “x” or “+” for example. The recognizable structures can be points, corners, edges or textures of objects. The recognizable structures may be found by the latest 3D scan or the video live image VL being subjected to the beginning of the registering process (i.e. to the localization of targets). The use of the latest video live image VL provides advantages in that the registration process does not have to be performed as frequently. If the marks 133 have a high density, it is considered to be a successful registration of the 3D scans. If, however, a lower density of the marks 133 is recognized, additional 3D scans may be performed using a relatively slow movement of the 3D measuring device 100. By slowing the movement of the device 100 during the scan, additional or higher density points may be acquired. Correspondingly, the density of the marks 133 may be used as a qualitative measure for the success of the registration. Similarly, the density of the points of the three-dimensional point cloud 3DP may be used to indicate a successful scan. As discussed above, the density of points in the scan may be represented by the artificial coloring of the video live image VL.
Referring now to FIG. 16 the first group of gestures or movements is illustrated. In this mode of operation, the 3D measurement device 100 is moved in the direction V1. The motion V1 is measured both in terms of velocity and acceleration. Depending on the direction, velocity or acceleration of the motion, different control functions that change the measurements being acquired or visualization of the data on display 130 for example. If a measurement function is controlled, a standstill of movement of the 3D measuring device 100 may be used to capture a sequence of images of one or multiple cameras 111, 112, 113 with a low dynamic range, but with different exposure times of the cameras 111, 112, 113. In another embodiment, the standstill gesture may cause different illumination intensity to be emitted from light source 121 a or LEDs 114. In still another embodiment, the standstill movement may cause a different illumination time (pulse length) from light source 121 a within the sequence and to acquire an image using high dynamic range (HDR) techniques. As used herein, the term “standstill” means to stop moving the 3D measuring device 100, in other words to have zero velocity in any direction. In an embodiment, the term “standstill” includes when the user reduces the velocity of the 3D measurement device 100 to less than a threshold.
In one embodiment, the scale of representation of the video image VL and/or of the three-dimensional point cloud 3DP on the display 130 may depend on the speed and/or acceleration of the movement of the 3D measuring device 100. The term “scale” is defined as the ratio between the size (either linear dimension or area) of the first display part 130 a and the size of the complete display 130, being denoted as a percentage.
A small field of view of the 2D camera 113 is assigned to a small scale. In the present embodiment with a subdivided display 130 with a central first display part 130 a showing the video live image VL, this first display part 130 a then may be of smaller size than in the standard case, and the second display part 130 b (about the periphery of the first display part 130 a) shows a bigger part of the three-dimensional point cloud 3DP. A larger field of view is assigned to a large scale. In one embodiment, the video live image VL may fill the whole display 130.
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.
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.
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.
US14844700 2014-09-10 2015-09-03 Method for optically measuring three-dimensional coordinates and controlling a three-dimensional measuring device Active US9602811B2 (en)
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US14712993 Continuation US20160073085A1 (en) 2014-09-10 2015-05-15 Device and method for optically scanning and measuring an environment
US15409714 Continuation US9915521B2 (en) 2014-09-10 2017-01-19 Method for optically measuring three-dimensional coordinates and controlling a three-dimensional measuring device
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