DE4027990C1 - Laser ranging device - uses modulated semiconductor laser and phase sensitive rectifier - Google Patents
Laser ranging device - uses modulated semiconductor laser and phase sensitive rectifierInfo
- Publication number
- DE4027990C1 DE4027990C1 DE19904027990 DE4027990A DE4027990C1 DE 4027990 C1 DE4027990 C1 DE 4027990C1 DE 19904027990 DE19904027990 DE 19904027990 DE 4027990 A DE4027990 A DE 4027990A DE 4027990 C1 DE4027990 C1 DE 4027990C1
- Authority
- DE
- Germany
- Prior art keywords
- phase
- transmission signal
- range finder
- laser
- modulation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
Abstract
Description
Die Erfindung bezieht sich auf einen Entfernungsmesser der mit cw-moduliertem Halbleiterlaser und phasenempfindlichem Gleichrichter arbeitet gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a range finder with cw-modulated Semiconductor laser and phase sensitive rectifier works according to the preamble of claim 1.
Durch die DE 35 27 918 C2 der Anmelderin sind solche nach dem Phasenwinkelverfahren arbeitende Entfernungsmesser bekannt geworden, bei denen ein ununterbrochener Wellenzug ausgestrahlt wird. Eine Ausführungsform dieses Standes der Technik ist in der Fig. 1 der Zeichnung dargestellt. Der Meßbereich ist jedoch auf Entfernungen begrenzt, bei denen der Phasenwinkel kleiner als 360° bleibt. Von da ab beginnt das Meßergebnis wieder periodisch beim Wert Null. Das bringt über große Entfernungsbereiche eine Mehrdeutigkeit der Messung. Nun kann allerdings der Meßbereich durch Herabsetzung der Modulationsfrequenz erweitert werden, doch wird dann infolge diverser technischer Schwierigkeiten die Meßgenauigkeit reduziert. Um diesen Nachteil zu minimieren, ist bereits vorgeschlagen worden, eine hohe Modulationsfrequenz mit einer zweiten, wesentlich niedrigeren Frequenz zu modulieren und damit einen Meßbereich weit über den 360°-Bereich der Messung mit der hohen primären Frequenz zu erzielen. Diese Ausführungsformen haben sich bewährt, allerdings ist der elektronische Aufwand noch relativ hoch und damit auch die Montagezeit, der Raumbedarf und die laufenden Funktionsüberprüfungen. Auch die Verwendungsmöglichkeiten sind eingeschränkt.From DE 35 27 918 C2 of the applicant, such rangefinders operating according to the phase angle method are known, in which an uninterrupted wave train is emitted. An embodiment of this prior art is shown in Fig. 1 of the drawing. However, the measuring range is limited to distances at which the phase angle remains less than 360 °. From then on, the measurement result periodically starts again at zero. This brings an ambiguity of the measurement over large distance ranges. However, the measuring range can now be expanded by reducing the modulation frequency, but the measuring accuracy is then reduced due to various technical difficulties. In order to minimize this disadvantage, it has already been proposed to modulate a high modulation frequency with a second, substantially lower frequency and thus to achieve a measuring range far beyond the 360 ° range of the measurement with the high primary frequency. These embodiments have proven themselves, but the electronic effort is still relatively high and thus also the assembly time, the space requirement and the ongoing functional checks. The possible uses are also limited.
Der vorliegenden Erfindung liegt die Aufgabe zugrunde, einen Entfernungsmesser der eingangs genannten Art zu schaffen, dessen Einsatzmöglichkeiten und dessen Meßbereiche vergrößert sind, dessen Meßgenauigkeit optimiert ist, der primäre Wellenzug nur kurzzeitig unterbrochen wird und die Untermodulation in einfacher Weise der geforderten maximalen Meßentfernung anpaßbar ist.The present invention has for its object a rangefinder of the type mentioned at the beginning to create its possible uses and the measuring ranges are enlarged, the measuring accuracy is optimized, the primary wave train is only briefly interrupted and the sub-modulation in a simple manner the required maximum Measuring distance is adjustable.
Diese Aufgabe wird durch die im Anspruch 1 aufgezeigten Maßnahmen gelöst. In den Unteransprüchen sind Weiterbildungen und Ausgestaltungen angegeben und in der nachfolgenden Beschreibung ist ein Ausführungsbeispiel erläutert sowie in den Fig. der Zeichnung skizziert. Es zeigen:This object is achieved by the measures indicated in claim 1. Further developments and refinements are specified in the subclaims and an exemplary embodiment is explained in the following description and outlined in the figures of the drawing. Show it:
Fig. 1 ein Schaltbild eines Entfernungsmessers mit cw-moduliertem Laser nach dem Stand der Technik mit einfachem Meßbereich, Fig. 1 is a circuit diagram of a range finder with cw-modulated laser according to the prior art with a simple measurement range,
Fig. 2 ein Schemabild für die Untermodulation des Sendesignals und der zeitlichen Verschiebung des Empfangssignals sowie der Schließzeiten der Schalter S₂ und S₃, Fig. 2 is a schematic diagram for the sub-modulation of the transmission signal and the time shift of the received signal and the closing times of the switches S₂ and S₃,
Fig. 3 ein Schaltbild des vorgeschlagenen Ausführungsbeispiels eines Entfernungsmessers mit erweitertem Meßbereich, Fig. 3 is a diagram of the proposed embodiment of a distance measuring device with an extended measuring range,
Fig. 4 ein Blockschaltbild des Digitalteils des vorgeschlagenen Ausführungsbeispiels gemäß Fig. 3. FIG. 4 shows a block diagram of the digital part of the proposed exemplary embodiment according to FIG. 3.
In den Fig. 2 und 3 der Zeichnung ist das Prinzip und die Realisierung eines Ausführungsbeispiels von einem Entfernungsmesser der eingangs genannten Art für den angestrebten erweiterten Meßbereich in vereinfachter Form gezeigt. Das Sendesignal 10 wird jeweils nach einer bestimmten, frei wählbaren Anzahl m₁ von Perioden der primären Modulation unterbrochen, vorzugsweise für die Dauer T von einer Anzahl m₂ dieser Perioden. Dies wird durch den Schalter S₁ bewerkstelligt. Während dieser Zeitintervalle T₁, T₂, T₃ usw. werden nun durch die Analogschaltkreise S₂ und S₃ zwei integrierende Verstärker V₃ und V₄ mit den vorhandenen Synchrongleichrichtern G₁ und G₂ verbunden, wobei diese jedoch nicht belastet werden dürfen. Die Integrationszeit dieser Verstärker V₃, V₄ muß groß sein gegenüber den unterbrechenden Zeitintervallen T₁, T₂, usw. Sind nun deren Ausgangsspannungen x und y, so ist die SpannungIn FIGS. 2 and 3 of the drawings, the principle and implementation is shown an embodiment of a rangefinder of the type mentioned for the desired extended range in a simplified form. The transmission signal 10 is interrupted after a certain, freely selectable number m₁ of periods of primary modulation, preferably for the duration T of a number m₂ of these periods. This is accomplished by the switch S₁. During these time intervals T₁, T₂, T₃ etc. two integrating amplifiers V₃ and V₄ are now connected to the existing synchronous rectifiers G₁ and G₂ through the analog circuits S₂ and S₃, but these must not be loaded. The integration time of these amplifiers V₃, V₄ must be large compared to the interrupting time intervals T₁, T₂, etc. If their output voltages are x and y, the voltage is
ein Maß für die zeitliche Verzögerung des Empfangswellenzuges gegenüber dem Sendewellenzug und damit für die Entfernung D zum Ziel. "A" wird ermittelt ausa measure of the time delay of the reception wave train compared the transmission wave train and thus for the distance D to the destination. "A" is determined out
Wegen der kürzeren Meßzeit ist "v" naturgemäß mit einer höheren Ungenauigkeit behaftet als die Komponenten A · sin ϕ und A · cos ϕ.Because of the shorter measuring time, "v" is naturally more inaccurate afflicted as the components A · sin ϕ and A · cos ϕ.
Bei sehr gutem Signal/Rauschverhältnis des Empfangssignals kann zur Vereinfachung die FormelWith a very good signal / noise ratio of the received signal, this can be simplified the formula
benutzt werden. Durch Einführen dieser Spannung v in den Prozeß zur Entfernungsberechnung kann dieser unter Berücksichtigung der Vorzeichen von sin ϕ und cos ϕ auf Entfernungen oberhalb der "Phasenwinkel-360°- Entfernung" ausgedehnt werden. Hierzu ist noch anzuführen, daß die Modulation des Sendesignals 10 durchaus auch sinusförmig erfolgen kann. Bei der in den Fig. 2 und 3 dargestellten Rechteckmodulation müssen für die Ermittlung von sin ϕ bzw. cos ϕ in der beschriebenen Weise die Oberwellen im Empfänger 13 bzw. dessen Verstärker weitgehend unterdrückt werden. Dies ist durch geeignete Wahl von dessen Frequenzgang der Verstärkung leicht möglich. Die erforderliche zweifache Berechnung von Wurzeln aus Quadratsummen und Division spricht nicht gegen die angesprochene Einfachheit der vorgeschlagenen Ausführung, da nämlich nur eine sehr "bescheidene" Genauigkeit von beispielsweise 6 bit und auch nur eine bescheidene Rechengeschwindigkeit benötigt werden. to be used. By introducing this voltage v into the process for the distance calculation, this can be extended to distances above the "phase angle 360 ° distance" taking into account the signs of sin ϕ and cos ϕ. It should also be mentioned that the modulation of the transmission signal 10 can also be sinusoidal. In the case of the rectangular modulation shown in FIGS. 2 and 3, the harmonics in the receiver 13 or its amplifier must be largely suppressed for the determination of sin ϕ or cos ϕ in the manner described. This is easily possible by a suitable choice of the frequency response of the amplification. The required two-fold calculation of roots from square sums and division does not speak against the mentioned simplicity of the proposed embodiment, since only a very "modest" accuracy of 6 bits, for example, and only a modest computing speed are required.
In der Fig. 4 ist der sogenannte Digitalteil der vorgeschlagenen Einrichtung skizziert. Wie ersichtlich, werden die analog gewonnenen Spannungen A · cos ϕ und A · sin ϕ sowie x und y auf je eine Sample and Hold-Stufe - die nachfolgend als S+H bezeichnet werden - gegeben. Dieser Block aus den S+Hs hält auf einen Befehl des Mikroprozessors den Momentanwert eines jeden Analogsignals zum exakt gleichen Zeitpunkt fest. Danach kann durch Umschalten des Multiplexers jedes einzelne Signal im Analog-Digitalwandler digitalisiert und durch den Mikroprozessor einem Zwischenspeicher zugeführt werden.In FIG. 4, the so-called digital part of the proposed device is sketched. As can be seen, the voltages A · cos ϕ and A · sin ϕ obtained as well as x and y are each given to a sample and hold level - which are referred to below as S + H. On a command from the microprocessor, this block of the S + Hs records the instantaneous value of each analog signal at exactly the same time. Then, by switching the multiplexer, each individual signal can be digitized in the analog-digital converter and fed to a buffer store by the microprocessor.
Dieser Vorgang wiederholt sich für eine feste oder variable Anzahl von Sample & Hold-Zyklen, um durch digitale Filterung - die im einfachsten Falle eine Mitteilung über alle Werte sein kann - der Eingangswerte Rauschanteile zu eliminieren und dadurch im umgekehrten Verhältnis zur Wurzel aus der Meßzeit die Genauigkeit bis zu einem gewissen Grad zu steigern. Im Anschluß an diesen Filterzyklus erfolgt die Auswertung der aufbereiteten Eingangssignale 10′, d. h. die Berechnung der Entfernung D gemäß der in der Fig. 3 angegebenen Formel. Als Ergebnis dieser Berechnung steht dann die Entfernung D zur Weiterverarbeitung und Anzeige zur Verfügung.This process is repeated for a fixed or variable number of sample & hold cycles in order to eliminate noise components by means of digital filtering - which in the simplest case can be a message about all values - and thereby in reverse proportion to the root of the measurement time Increase accuracy to some degree. Following this filter cycle, the processed input signals 10 'are evaluated, ie the distance D is calculated in accordance with the formula given in FIG. 3. As a result of this calculation, the distance D is then available for further processing and display.
Um nicht durch langdauernde Subroutinen zur Division und Multiplikation im Zeitverhalten behindert zu werden, wird empfohlen, einen Mikroprozessor mit internen Multiplikations- und Divisionsbefehlen einzusetzen und sich auf die sog. Integer-Arithmetik zu beschränken. Aus demselben Grund sollten die Quadrier- und Wurzelfunktion mittels einer im Speicher abgelegten Werte-Tabelle (Look up table) ausgeführt werden, ebenso die "arctang-Funktion". Weiterhin kann man in einer Art "Einmeßlauf" oder "Selbsteichung" die im Speicher abgelegte Werte-Tabelle (Look up table) an systemgegebene Besonderheiten - wie beispielsweise Nichtlinearität - anpassen und gegebenenfalls korrigieren.Not through long-lasting subroutines for division and multiplication To be hampered in timing, it is recommended to have a microprocessor with internal multiplication and division commands and restrict yourself to so-called integer arithmetic. For the same reason the squaring and root function should be stored in a memory Value table (look up table) are executed, as is the "arctang function". Furthermore you can in a kind of "calibration run" or "Self calibration" the value table stored in memory (look up table) system-specific features - such as non-linearity - adjust and correct if necessary.
Claims (7)
Priority Applications (1)
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DE19904027990 DE4027990C1 (en) | 1990-09-04 | 1990-09-04 | Laser ranging device - uses modulated semiconductor laser and phase sensitive rectifier |
Applications Claiming Priority (1)
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DE19904027990 DE4027990C1 (en) | 1990-09-04 | 1990-09-04 | Laser ranging device - uses modulated semiconductor laser and phase sensitive rectifier |
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DE4027990C1 true DE4027990C1 (en) | 1992-02-20 |
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DE19904027990 Expired - Fee Related DE4027990C1 (en) | 1990-09-04 | 1990-09-04 | Laser ranging device - uses modulated semiconductor laser and phase sensitive rectifier |
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Cited By (35)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1997001107A1 (en) * | 1995-06-20 | 1997-01-09 | Jan Michael Mrosik | Fmcw distance measurement process |
DE19830359A1 (en) * | 1998-07-07 | 2000-01-20 | Helge Zwosta | Spatial position and movement determination of body and body parts for remote control of machine and instruments |
EP1074855A2 (en) * | 1999-08-05 | 2001-02-07 | Leuze electronic GmbH + Co. | Method of distance measurement |
EP1152259A2 (en) * | 2000-05-06 | 2001-11-07 | Leuze electronic GmbH + Co. | Optical rangefinder |
WO2008067952A1 (en) * | 2006-12-06 | 2008-06-12 | Valeo Schalter Und Sensoren Gmbh | Method for measuring a physical variable and device for said purpose |
DE102008014274A1 (en) | 2008-02-01 | 2009-08-06 | Faro Technologies, Inc., Lake Mary | Method and apparatus for determining a distance to an object |
WO2009144582A2 (en) * | 2008-05-28 | 2009-12-03 | Anthony Richards | Ranging for wireless radio frequency communication devices |
US7702477B2 (en) | 2006-07-05 | 2010-04-20 | Aesculap Ag | Calibration method and calibration device for a surgical referencing unit |
US8384914B2 (en) | 2009-07-22 | 2013-02-26 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8625106B2 (en) | 2009-07-22 | 2014-01-07 | Faro Technologies, Inc. | Method for optically scanning and measuring an object |
US8699007B2 (en) | 2010-07-26 | 2014-04-15 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8699036B2 (en) | 2010-07-29 | 2014-04-15 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8705012B2 (en) | 2010-07-26 | 2014-04-22 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8705016B2 (en) | 2009-11-20 | 2014-04-22 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8719474B2 (en) | 2009-02-13 | 2014-05-06 | Faro Technologies, Inc. | Interface for communication between internal and external devices |
US8730477B2 (en) | 2010-07-26 | 2014-05-20 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8830485B2 (en) | 2012-08-17 | 2014-09-09 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8896819B2 (en) | 2009-11-20 | 2014-11-25 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9009000B2 (en) | 2010-01-20 | 2015-04-14 | Faro Technologies, Inc. | Method for evaluating mounting stability of articulated arm coordinate measurement machine using inclinometers |
US9074883B2 (en) | 2009-03-25 | 2015-07-07 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9074878B2 (en) | 2012-09-06 | 2015-07-07 | Faro Technologies, Inc. | Laser scanner |
US9113023B2 (en) | 2009-11-20 | 2015-08-18 | Faro Technologies, Inc. | Three-dimensional scanner with spectroscopic energy detector |
US9210288B2 (en) | 2009-11-20 | 2015-12-08 | Faro Technologies, Inc. | Three-dimensional scanner with dichroic beam splitters to capture a variety of signals |
USRE45854E1 (en) | 2006-07-03 | 2016-01-19 | Faro Technologies, Inc. | Method and an apparatus for capturing three-dimensional data of an area of space |
US9329271B2 (en) | 2010-05-10 | 2016-05-03 | Faro Technologies, Inc. | Method for optically scanning and measuring an environment |
US9372265B2 (en) | 2012-10-05 | 2016-06-21 | Faro Technologies, Inc. | Intermediate two-dimensional scanning with a three-dimensional scanner to speed registration |
US9417316B2 (en) | 2009-11-20 | 2016-08-16 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9417056B2 (en) | 2012-01-25 | 2016-08-16 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9513107B2 (en) | 2012-10-05 | 2016-12-06 | Faro Technologies, Inc. | Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner |
US9529083B2 (en) | 2009-11-20 | 2016-12-27 | Faro Technologies, Inc. | Three-dimensional scanner with enhanced spectroscopic energy detector |
US9551575B2 (en) | 2009-03-25 | 2017-01-24 | Faro Technologies, Inc. | Laser scanner having a multi-color light source and real-time color receiver |
US9607239B2 (en) | 2010-01-20 | 2017-03-28 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
US9628775B2 (en) | 2010-01-20 | 2017-04-18 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
US10067231B2 (en) | 2012-10-05 | 2018-09-04 | Faro Technologies, Inc. | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner |
US10175037B2 (en) | 2015-12-27 | 2019-01-08 | Faro Technologies, Inc. | 3-D measuring device with battery pack |
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Cited By (55)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6040898A (en) * | 1995-06-20 | 2000-03-21 | Mrosik; Jan Michael | FMCW distance measurement process |
WO1997001107A1 (en) * | 1995-06-20 | 1997-01-09 | Jan Michael Mrosik | Fmcw distance measurement process |
DE19830359A1 (en) * | 1998-07-07 | 2000-01-20 | Helge Zwosta | Spatial position and movement determination of body and body parts for remote control of machine and instruments |
EP1074855A3 (en) * | 1999-08-05 | 2004-01-02 | Leuze electronic GmbH + Co. | Method of distance measurement |
EP1074855A2 (en) * | 1999-08-05 | 2001-02-07 | Leuze electronic GmbH + Co. | Method of distance measurement |
DE19936954A1 (en) * | 1999-08-05 | 2001-03-15 | Leuze Electronic Gmbh & Co | Distance measurement method |
DE19936954C2 (en) * | 1999-08-05 | 2001-08-09 | Leuze Electronic Gmbh & Co | Method and device for distance measurement |
EP1152259A2 (en) * | 2000-05-06 | 2001-11-07 | Leuze electronic GmbH + Co. | Optical rangefinder |
EP1152259A3 (en) * | 2000-05-06 | 2004-05-26 | Leuze electronic GmbH + Co. | Optical rangefinder |
DE10022054B4 (en) * | 2000-05-06 | 2006-05-24 | Leuze Electronic Gmbh & Co Kg | Optical distance sensor |
USRE45854E1 (en) | 2006-07-03 | 2016-01-19 | Faro Technologies, Inc. | Method and an apparatus for capturing three-dimensional data of an area of space |
US7702477B2 (en) | 2006-07-05 | 2010-04-20 | Aesculap Ag | Calibration method and calibration device for a surgical referencing unit |
WO2008067952A1 (en) * | 2006-12-06 | 2008-06-12 | Valeo Schalter Und Sensoren Gmbh | Method for measuring a physical variable and device for said purpose |
WO2009095383A1 (en) | 2008-02-01 | 2009-08-06 | Faro Technologies Inc. | Method and device for determining a distance to an object |
JP2011522216A (en) * | 2008-02-01 | 2011-07-28 | ファロ テクノロジーズ インコーポレーテッド | Objective distance measuring method and apparatus |
US8064046B2 (en) * | 2008-02-01 | 2011-11-22 | Faro Technologies, Inc. | Method and device for determining a distance from an object |
DE102008014274B4 (en) | 2008-02-01 | 2020-07-09 | Faro Technologies, Inc. | Method and device for determining a distance to an object |
DE102008014274A1 (en) | 2008-02-01 | 2009-08-06 | Faro Technologies, Inc., Lake Mary | Method and apparatus for determining a distance to an object |
WO2009144582A3 (en) * | 2008-05-28 | 2010-03-25 | Anthony Richards | Ranging for wireless radio frequency communication devices |
WO2009144582A2 (en) * | 2008-05-28 | 2009-12-03 | Anthony Richards | Ranging for wireless radio frequency communication devices |
US8719474B2 (en) | 2009-02-13 | 2014-05-06 | Faro Technologies, Inc. | Interface for communication between internal and external devices |
US9551575B2 (en) | 2009-03-25 | 2017-01-24 | Faro Technologies, Inc. | Laser scanner having a multi-color light source and real-time color receiver |
US9074883B2 (en) | 2009-03-25 | 2015-07-07 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8384914B2 (en) | 2009-07-22 | 2013-02-26 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8625106B2 (en) | 2009-07-22 | 2014-01-07 | Faro Technologies, Inc. | Method for optically scanning and measuring an object |
US9529083B2 (en) | 2009-11-20 | 2016-12-27 | Faro Technologies, Inc. | Three-dimensional scanner with enhanced spectroscopic energy detector |
US9113023B2 (en) | 2009-11-20 | 2015-08-18 | Faro Technologies, Inc. | Three-dimensional scanner with spectroscopic energy detector |
US8896819B2 (en) | 2009-11-20 | 2014-11-25 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9417316B2 (en) | 2009-11-20 | 2016-08-16 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8705016B2 (en) | 2009-11-20 | 2014-04-22 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9210288B2 (en) | 2009-11-20 | 2015-12-08 | Faro Technologies, Inc. | Three-dimensional scanner with dichroic beam splitters to capture a variety of signals |
US10060722B2 (en) | 2010-01-20 | 2018-08-28 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
US9628775B2 (en) | 2010-01-20 | 2017-04-18 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
US9009000B2 (en) | 2010-01-20 | 2015-04-14 | Faro Technologies, Inc. | Method for evaluating mounting stability of articulated arm coordinate measurement machine using inclinometers |
US9607239B2 (en) | 2010-01-20 | 2017-03-28 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
US9329271B2 (en) | 2010-05-10 | 2016-05-03 | Faro Technologies, Inc. | Method for optically scanning and measuring an environment |
US9684078B2 (en) | 2010-05-10 | 2017-06-20 | Faro Technologies, Inc. | Method for optically scanning and measuring an environment |
US8730477B2 (en) | 2010-07-26 | 2014-05-20 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8699007B2 (en) | 2010-07-26 | 2014-04-15 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8705012B2 (en) | 2010-07-26 | 2014-04-22 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8699036B2 (en) | 2010-07-29 | 2014-04-15 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9417056B2 (en) | 2012-01-25 | 2016-08-16 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8830485B2 (en) | 2012-08-17 | 2014-09-09 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9074878B2 (en) | 2012-09-06 | 2015-07-07 | Faro Technologies, Inc. | Laser scanner |
US9618620B2 (en) | 2012-10-05 | 2017-04-11 | Faro Technologies, Inc. | Using depth-camera images to speed registration of three-dimensional scans |
US9513107B2 (en) | 2012-10-05 | 2016-12-06 | Faro Technologies, Inc. | Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner |
US9739886B2 (en) | 2012-10-05 | 2017-08-22 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
US9746559B2 (en) | 2012-10-05 | 2017-08-29 | Faro Technologies, Inc. | Using two-dimensional camera images to speed registration of three-dimensional scans |
US10067231B2 (en) | 2012-10-05 | 2018-09-04 | Faro Technologies, Inc. | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner |
US10203413B2 (en) | 2012-10-05 | 2019-02-12 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
US9372265B2 (en) | 2012-10-05 | 2016-06-21 | Faro Technologies, Inc. | Intermediate two-dimensional scanning with a three-dimensional scanner to speed registration |
US10739458B2 (en) | 2012-10-05 | 2020-08-11 | Faro Technologies, Inc. | Using two-dimensional camera images to speed registration of three-dimensional scans |
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 |
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