Granted Patent B2

US 12,483,625 · App. 17/808,734 · Granted Nov 25, 2025

Inventors: William E. Schoenfeldt (Oviedo, FL); Fabiano Kovalski (Sanford, FL)

Assignee: Faro Technologies, Inc.

H04L67/12G01B11/005H04L12/10

Abstract

Claims (75)

1 . A system comprising:

a handheld unit having: a first processor, an Ethernet cable, and a frame, the first processor being directly coupled to the frame;

a target-mode projector for projecting a line of light onto an object;

an illuminator that illuminates a marker near the object;

a geometry-mode projector that projects a multiplicity of lines onto the object;

a first camera that captures a first target-mode image of the line of light on the object and the marker;

the first camera further receives a first geometry-mode image of the multiplicity of lines;

a second camera operable to receive a second geometry-mode image of the multiplicity of lines, the geometry-mode projector being a different distance from the second camera than from the first camera; and

the first processor determining first three-dimensional (3D) coordinates of points on the object based at least in part on the first target-mode image, the first processor further determining second 3D coordinates of points on the object based at least in part on the first geometry-mode image and the second geometry-mode image,

wherein the target-mode projector and the first camera operate in a user-selectable target tracking mode and the geometry-mode projector, the first camera, and the second camera operate in a user-selectable geometry tracking mode; and

an accessory device having a second processor for receiving image data from the handheld unit over the Ethernet cable and in response determining additional 3D coordinates of points on the object, the accessory device sending electrical power over the Ethernet cable to the handheld unit;

wherein a mobile display device displays an image based at least in part on the image data transmitted wirelessly from the accessory device.

2 . The system of claim 1 wherein the Ethernet cable connects to a Power over Ethernet (POE) midspan unit, the PoE midspan unit transferring data over the Ethernet cable, while further providing the electrical power from a power source onto the Ethernet cable for delivery to the handheld unit.

3 . The system of claim 1 wherein the accessory device provides electrical power to the handheld unit from at least one of a power line and a battery.

4 . The system of claim 1 , wherein the marker is on the object.

5 . A method comprising:

providing a handheld unit having a first processor, an Ethernet cable, and a frame to which the first processor is directly coupled, a target mode projector, an illuminator, a geometry-mode projector, a first camera, and a second camera, where the geometry-mode projector is at a different distance from the first camera than the second camera;

providing a user-selectable target tracking mode in which the target-mode projector and the first camera are active;

providing a user-selectable geometry tracking mode in which the geometry-mode projector,

the first camera and the second camera are active;

projecting a line of light from the target-mode projector on an object;

projecting a plurality of lines on the object with the geometry-mode projector;

illuminating a marker on the object with the illuminator;

capturing, with the first camera, a target-mode image of the line of light reflected from the object and the illuminating of the marker;

capturing, with the first camera, a first geometry-mode image of the plurality of lines as reflected by the object;

capturing, with the second camera, a second geometry-mode of the plurality of lines as reflected by the object;

determining, with the first processor, first three-dimensional (3D) coordinates of points on the object based at least in part on the target-mode image;

determining, with the first processor, second 3D coordinates of points on the object based at least in part on the first geometry-mode image, the second geometry-mode image, and the different distance;

extracting, with the first processor, image data corresponding to the object;

providing an accessory device coupled to the handheld unit by the Ethernet cable, the accessory device having a second processor;

sending the image data over the Ethernet cable to the accessory device;

determining with the second processor additional 3D coordinates of points on the object based at least in part on the image data;

sending electrical power over the Ethernet cable from the accessory device to the handheld unit; and

storing the additional 3D coordinates in an electronic memory.

6 . The method of claim 5 further comprising:

providing an external computer as the accessory device;

connecting the Ethernet cable to a Power over Ethernet (POE) midspan unit, the PoE midspan unit being operable to transfer the image data over the Ethernet cable to the external computer while further providing electrical power from a power source onto the Ethernet cable for delivery to the handheld unit.

7 . The method of claim 5 further comprising:

providing a wearable unit as the accessory device;

sending, over the Ethernet cable, image data from the handheld unit to the accessory device;

determining with the second processor within the wearable unit the additional 3D coordinates of points on the object; and

sending, over the Ethernet cable, electrical power from the wearable unit to the handheld unit, the electrical power being taken from a battery or a power line connected to the wearable unit.

8 . A method comprising:

providing a handheld unit having a first processor, an Ethernet cable, and a frame to which the first processor is directly coupled, a target mode projector, an illuminator, a geometry-mode projector, a first camera, and a second camera, where the geometry-mode projector is at a different distance from the first camera than the second camera;

providing a user-selectable target tracking mode in which the target-mode projector and the first camera are active;

providing a user-selectable geometry tracking mode in which the geometry-mode projector,

the first camera and the second camera are active;

projecting a line of light from the target-mode projector on an object;

projecting a plurality of lines on the object with the geometry-mode projector;

illuminating a marker near the object with the illuminator;

capturing, with the first camera, a target-mode image of the line of light reflected from the object and the illuminating of the marker;

capturing, with the first camera, a first geometry-mode image of the plurality of lines as reflected by the object;

capturing, with the second camera, a second geometry-mode of the plurality of lines as reflected by the object;

determining, with the first processor, first three-dimensional (3D) coordinates of points on the object based at least in part on the target-mode image;

determining, with the first processor, second 3D coordinates of points on the object based at least in part on the first geometry-mode image, the second geometry-mode image, and the different distance;

extracting, with the first processor, image data corresponding to the object;

providing an accessory device coupled to the handheld unit by the Ethernet cable, the accessory device having a second processor;

providing a wearable unit as the accessory device;

sending, over the Ethernet cable, image data from the handheld unit to the accessory device;

determining with the second processor within the wearable unit additional 3D coordinates of points on the object based at least in part on the image data;

sending, over the Ethernet cable, electrical power from the wearable unit to the handheld unit, the electrical power being taken from a battery or a power line connected to the wearable unit; and

storing the additional 3D coordinates in an electronic memory.

9 . The method of claim 8 , wherein the marker is on the object.

10 . The method of claim 8 , wherein the wearable unit provided as the accessory device determines with the second processor within the wearable unit the additional 3D coordinates of points on the object based at least in part on the image data in response to the wearable unit provided as the accessory device receiving, over the Ethernet cable, the image data from the handheld unit.

11 . The method of claim 8 , further comprising:

transmitting the image data from the accessory device to a mobile display device.

12 . The method of claim 11 , further comprising:

displaying an image on the mobile display device based at least in part on the image data transmitted from the accessory device.

13 . The method of claim 11 , wherein the image data is transmitted wirelessly from the accessory device to the mobile display device.

14 . The method of claim 8 , further comprising:

connecting the Ethernet cable to a Power over Ethernet (POE) midspan unit.

15 . The apparatus of claim 14 , wherein the PoE midspan unit transfers the image data over the Ethernet cable to the accessory device.

16 . The apparatus of claim 14 , wherein the PoE midspan unit provides at least a portion of the electrical power from a power source onto the Ethernet cable for delivery to the handheld unit.

17 . The apparatus of claim 16 , wherein the power source comprises the battery or the power line connected to the wearable unit.

18 . The apparatus of claim 16 , wherein the PoE midspan unit transfers the image data over the Ethernet cable to the accessory device while providing at least a portion of the electrical power from the power source onto the Ethernet cable for delivery to the handheld unit.

Assignments (1)

Continuity (3)

References Cited (74)