Patents Assigned to Trimble AB
  • Patent number: 10823557
    Abstract: The present disclosure provides a geodetic instrument (100) adapted to determine a direction and/or a distance to a target. The geodetic instrument includes an attachment device (120) for attaching the geodetic instrument to a holding arrangement (122); a motorized position arrangement for aiming a line of sight (L) of the geodetic instrument via rotation and/or translation of at least a part of the motorized position arrangement relative to the holding arrangement, and a controller (130). The controller is configured to, upon determining that a setting up of the geodetic instrument is required, provide a control sequence to the motorized positioning arrangement for causing a series of oscillatory rotational and/or translational movements of the at least a part of the motorized positioning arrangement. A method of setting up a geodetic instrument is also provided.
    Type: Grant
    Filed: May 14, 2020
    Date of Patent: November 3, 2020
    Assignee: Trimble AB
    Inventors: Magnus Westermark, Thomas Klang
  • Patent number: 10816646
    Abstract: A distance measurement instrument and a method of operating a distance measurement instrument are disclosed. According to some embodiments, a transmit light signal is transmitted by a transmitter unit along a transmit path at an emission time and a return light signal is received by a receiver unit at a receive time along a receive path. The return light signal is converted to a return electrical signal. At least one of the transmit path and the receive path is deflected by a deflection module at a deflection angle relative to an optical axis of the instrument. A time-dependent attenuation function is selected based on information relative to the deflection angle and attenuation is applied by an attenuator to at least one of the return light signal and the return electrical signal according to the selected time-dependent function. A measured distance may be determined by a processor unit based on at least the emission time and the receive time.
    Type: Grant
    Filed: June 15, 2017
    Date of Patent: October 27, 2020
    Assignee: Trimble AB
    Inventors: Johan Lekås, Set Svanholm, Alex Slawomir Kosakowski
  • Patent number: 10732282
    Abstract: Methods and apparatus are provided for measuring distance from an instrument origin to each of a plurality of points in an environment. Laser pulses are emitted along a measurement axis at successive displacements about the origin. The emission time of each pulse is time-shifted relative to a fixed rate. The time shift corresponds to an index of a repetitive sequential pattern. Received pulses are detected at respective arrival times. For each received pulse: a current apparent distance is determined, a measured delta distance is calculated, a range interval is assigned by comparing measured delta distance with an expected delta distance synchronized with the index of the latest emitted pulse, the current apparent distance is defined to be a true measured distance for any received pulse assigned to a first time interval, otherwise the current apparent distance is defined to be a false measured distance.
    Type: Grant
    Filed: October 12, 2017
    Date of Patent: August 4, 2020
    Assignee: Trimble AB
    Inventors: Gregory Lepere, Guillaume David
  • Patent number: 10410406
    Abstract: A method of rendering a three-dimensional point cloud in a two-dimensional display includes inputting the three-dimensional point cloud that includes three-dimensional coordinates of a set of points, creating a depth buffer for the three-dimensional point cloud that includes depth data for the set of points from a viewpoint location. The method further includes determining a foreground depth buffer by, for each respective pixel area of the two-dimensional display, determining a foreground depth by detecting a closest point to the viewpoint location among a subset of the set of points corresponding to the respective pixel area, and assigning a depth of the closest point as the foreground depth for the respective pixel area. The method further includes filtering the depth buffer to obtain a filtered depth buffer by removing points that are not in the foreground, and outputting the filtered depth buffer to the two-dimensional display.
    Type: Grant
    Filed: February 27, 2017
    Date of Patent: September 10, 2019
    Assignee: Trimble AB
    Inventors: Andrés Serna, Thomas Chaperon
  • Patent number: 10365352
    Abstract: A measurement instrument is disclosed. The measurement instrument comprises a front lens assembly, a distance measurement module and a deflection module. The front lens assembly comprises an optical path along an instrument optical axis and the distance measurement module is configured to transmit and receive optical radiation along a measurement path. The deflection module is arranged between the distance measurement module and the front lens assembly to deflect the measurement path across the instrument optical axis.
    Type: Grant
    Filed: June 2, 2016
    Date of Patent: July 30, 2019
    Assignee: Trimble AB
    Inventors: Mikael Nordenfelt, Mikael Hertzman
  • Patent number: 10281578
    Abstract: A transmit light signal is emitted toward a target at an emission time. An optical subsystem of a receiving system receives a return light signal which is converted to a return electrical signal. At least one attenuator applies an attenuation to at least one of the return light signal and the return electrical signal. The attenuation varies, as time passes, after emission of the transmit light signal, according to a time-dependent attenuation function such that the attenuation is maximum at a critical time elapsed since an emission time of the transmit light signal. The critical time is dependent on at least one geometrical parameter of the optical subsystem. A receive time is determined from the return electrical signal. The emission time and the receive time are used to calculate a measured distance.
    Type: Grant
    Filed: September 21, 2016
    Date of Patent: May 7, 2019
    Assignee: Trimble AB
    Inventors: Johan Lekås, Set Svanholm, Alex Slawomir Kosakowski
  • Patent number: 10237532
    Abstract: A method of colorizing a 3D point cloud includes receiving the 3D point cloud, receiving a 2D color image acquired by a camera, creating a 2D intensity image of the 3D point cloud based on intrinsic and extrinsic parameters of the camera, generating a set of refined camera parameters by matching the 2D intensity image and the 2D color image, creating a depth buffer for the 3D point cloud using the set of refined camera parameters, determining a foreground depth for each respective pixel of the depth buffer, and coloring the point cloud by, for each respective point of the 3D point cloud: upon determining that the respective point is in the foreground, assigning a color of a corresponding pixel in the 2D color image to the respective point; and upon determining that the respective point is not in the foreground, not assigning any color to the respective point.
    Type: Grant
    Filed: March 7, 2017
    Date of Patent: March 19, 2019
    Assignee: Trimble AB
    Inventors: Fabrice Monnier, Thomas Chaperon, Guillaume Tremblay
  • Patent number: 10089312
    Abstract: Methods and apparatus are provided for processing of data representing points in space wherein each is represented by components defining its position in a coordinate system and at least one parameter. For each point, the data are separated into a layer per component, and each component is assigned to a cell of a two-dimensional grid of cells such that corresponding cells of multiple layers contain the components of a point. A component of a point is retrieved by reference to a grid position corresponding to the point and to a layer corresponding to the component. Each layer is segmented into patches of cells such that a component of a point can be retrieved by reference to a grid position of a patch within a layer and to a grid position of a cell within a patch. A layer is compressed using an associated codec.
    Type: Grant
    Filed: February 26, 2013
    Date of Patent: October 2, 2018
    Assignee: Trimble AB
    Inventors: Guillaume Tremblay, Guillaume David, Samnang Kheng
  • Publication number: 20180262737
    Abstract: A method of colorizing a 3D point cloud includes receiving the 3D point cloud, receiving a 2D color image acquired by a camera, creating a 2D intensity image of the 3D point cloud based on intrinsic and extrinsic parameters of the camera, generating a set of refined camera parameters by matching the 2D intensity image and the 2D color image, creating a depth buffer for the 3D point cloud using the set of refined camera parameters, determining a foreground depth for each respective pixel of the depth buffer, and coloring the point cloud by, for each respective point of the 3D point cloud: upon determining that the respective point is in the foreground, assigning a color of a corresponding pixel in the 2D color image to the respective point; and upon determining that the respective point is not in the foreground, not assigning any color to the respective point.
    Type: Application
    Filed: March 7, 2017
    Publication date: September 13, 2018
    Applicant: Trimble AB
    Inventors: Fabrice Monnier, Thomas Chaperon, Guillaume Tremblay
  • Patent number: 10073165
    Abstract: A measurement instrument is disclosed. The measurement instrument comprises a distance measurement module, a splitter and a deflection module. The distance measurement module is configured to transmit optical radiation along a transmit path and receive optical radiation along a receive path. The transmit path and the receive path are merged in a measurement beam at the splitter. The deflection module is located optically between the distance measurement module and the splitter. The deflection module is configured to aim the transmit path and the receive path at the splitter and to deflect at least one of the transmit path and the receive path across an instrument optical axis.
    Type: Grant
    Filed: October 1, 2015
    Date of Patent: September 11, 2018
    Assignee: Trimble AB
    Inventors: Mikael Nordenfelt, Mikael Hertzman
  • Publication number: 20180247447
    Abstract: A method of rendering a three-dimensional point cloud in a two-dimensional display includes inputting the three-dimensional point cloud that includes three-dimensional coordinates of a set of points, creating a depth buffer for the three-dimensional point cloud that includes depth data for the set of points from a viewpoint location. The method further includes determining a foreground depth buffer by, for each respective pixel area of the two-dimensional display, determining a foreground depth by detecting a closest point to the viewpoint location among a subset of the set of points corresponding to the respective pixel area, and assigning a depth of the closest point as the foreground depth for the respective pixel area. The method further includes filtering the depth buffer to obtain a filtered depth buffer by removing points that are not in the foreground, and outputting the filtered depth buffer to the two-dimensional display.
    Type: Application
    Filed: February 27, 2017
    Publication date: August 30, 2018
    Applicant: Trimble AB
    Inventors: Andrés Serna, Thomas Chaperon
  • Patent number: 9976854
    Abstract: Embodiments provide for a geodetic instrument comprising a scanning head, a reflecting optical element, a radiation source, a control unit and an electronic distance measurement (EDM) unit. The scanning head is rotatable about a first axis. The reflecting optical element mounted in the scanning head and rotatable about the same first axis. The radiation source is adapted to emit light to be output along a light beam path from the geodetic instrument via light reflection against the reflecting optical element. The control unit is adapted to adjust an angular displacement profile of the reflecting optical element about the first axis relative to an angular displacement profile of the scanning head such that an angular displacement of the light beam path about the first axis as a function of time presents a stair-like profile. The EDM unit is adapted to determine a distance to a target during a flat portion of the stair-like profile.
    Type: Grant
    Filed: December 5, 2016
    Date of Patent: May 22, 2018
    Assignee: Trimble AB
    Inventor: Ulf Berg
  • Patent number: 9952047
    Abstract: The present disclosure relates to a measuring instrument and a method implemented in such a measuring instrument. The measuring instrument includes an image sensor, an actuator, a control unit and a processor. The actuator is arranged to move a field of view of the image sensor. The control unit is configured to cause the image sensor to capture at least one digital image during motion of the field of view of the image sensor by the actuator. The exposure time for capturing the digital image is longer than an identifiable section of a regulating pattern for modulation of an optical radiation either emitted or reflected by at least one target. The processor is configured to process at least a portion of the captured image for detecting in the at least one portion the identifiable section of the regulating pattern. Such a measuring instrument is advantageous for detecting and/or identifying a target in the vicinity of the instrument.
    Type: Grant
    Filed: January 12, 2017
    Date of Patent: April 24, 2018
    Assignee: Trimble AB
    Inventors: Mikael Nordenfelt, Mikael Hertzman
  • Patent number: 9874458
    Abstract: The present invention provides a method for calibrating a geodetic instrument, an instrument and a computer program product thereof. In the method and geodetic instrument of the present invention, a value of at least one parameter affecting the measurements made by the instrument is detected and compared with a predetermined threshold. On the basis of the comparison between the detected value and the predetermined threshold, the instrument aims at a reference target and a calibration is performed using the reference target. The present invention is advantageous in that the accuracy and reliability of the measurements performed by the instrument are increased. Further, the present invention is advantageous in that the requirements on mechanical stability are reduced.
    Type: Grant
    Filed: February 13, 2015
    Date of Patent: January 23, 2018
    Assignee: Trimble AB
    Inventor: Christian Grässer
  • Patent number: 9869549
    Abstract: A robotic laser-pointing apparatus has an instrument center, a first rotation axis, a second rotation axis, and a pointing axis, with the first rotation axis, the second rotation axis and the pointing axis in a known relationship to the instrument center. A laser source provides a pointing-laser beam along the pointing axis. A pointing drive system aims the laser beam by rotating the pointing axis about the instrument center in response to a pointing-direction control. Focusing optics having a focusing-optics drive serve to focus the pointing-laser beam in response to a focusing-optics control. A processor, responsive to target-position information, generates the pointing-direction control and the focusing-optics control. Some embodiments include an electronic-distance-measurement system having a measurement beam. Some embodiments provide for compensation of aiming errors of the pointing-laser beam and the measurement beam.
    Type: Grant
    Filed: May 27, 2015
    Date of Patent: January 16, 2018
    Assignee: Trimble AB
    Inventors: Christian Graesser, Robert Miller, Mikael Nordenfelt
  • Patent number: 9863782
    Abstract: The present invention provides a method for calibrating a geodetic instrument, an instrument and a computer program product thereof. In the method and geodetic instrument of the present invention, a value of at least one parameter affecting the measurements made by the instrument is detected and compared with a predetermined threshold. On the basis of the comparison between the detected value and the predetermined threshold, the instrument aims at a reference target and a calibration is performed using the reference target. The present invention is advantageous in that the accuracy and reliability of the measurements performed by the instrument are increased. Further, the present invention is advantageous in that the requirements on mechanical stability are reduced.
    Type: Grant
    Filed: February 4, 2015
    Date of Patent: January 9, 2018
    Assignee: TRIMBLE AB
    Inventor: Christian Grässer
  • Patent number: 9804263
    Abstract: Methods and apparatus are provided for measuring distance from an instrument origin to each of a plurality of points in an environment. Laser pulses are emitted along a measurement axis at successive displacements about the origin. The emission time of each pulse is time-shifted relative to a fixed rate. The time shift corresponds to an index of a repetitive sequential pattern. Received pulses are detected at respective arrival times. For each received pulse: a current apparent distance is determined, a measured delta distance is calculated, a range interval is assigned by comparing measured delta distance with an expected delta distance synchronized with the index of the latest emitted pulse, the current apparent distance is defined to be a true measured distance for any received pulse assigned to a first time interval, otherwise the current apparent distance is defined to be a false measured distance.
    Type: Grant
    Filed: July 29, 2014
    Date of Patent: October 31, 2017
    Assignee: TRIMBLE AB
    Inventors: Gregory Lepere, Guillaume David
  • Patent number: 9689970
    Abstract: Distance measurement methods and apparatus use laser pulse sets having signatures which enable returned pulses to be correlated with emitted pulses. Each pulse set comprises at least one pulse and a signature selected from a set of possible signatures. Pulse sets reflected from at least one surface are detected and, for each set, the signature is recognized and a time of flight is determined. Signatures are defined by one or more of: spacing in time between pulses of a set, wavelength of the at least one pulse of the set, spacing in time between a first subset of a set and a second subset of a set, difference of wavelength between pulses of a set, and difference of wavelength between a first subset of a set and a second subset of a set. Each set can have multiple groups of pulses and pulses within a group can have different amplitudes.
    Type: Grant
    Filed: July 1, 2015
    Date of Patent: June 27, 2017
    Assignee: Trimble AB
    Inventor: Auguste d'Aligny
  • Patent number: 9678963
    Abstract: Methods and apparatus are provided for processing data representing three-dimensional points organized in a data structure wherein each point has multiple components, the data is organized in a respective layer per component, each layer is segmented in cells of a two-dimensional grid, the cells are arranged such that the components of a given point are contained in corresponding cells of multiple layers, the cells are grouped in patches by layer, and the patches are arranged such that the components of an array of points is represented by corresponding patches of multiple layers. At least one first criterion and at least one second criterion are obtained. Data are retrieved from cells of patches meeting the at least one first criterion and from layers meeting the at least one second criterion. The retrieved data are processed to obtain a derivative data set.
    Type: Grant
    Filed: August 26, 2014
    Date of Patent: June 13, 2017
    Assignee: Trimble AB
    Inventors: Jorge Hernandez Londono, Thomas Chaperon, Guillaume Tremblay
  • Patent number: D786717
    Type: Grant
    Filed: November 26, 2015
    Date of Patent: May 16, 2017
    Assignee: Trimble AB
    Inventors: Robin Grieves, Gerard Scanlon, Magnus Westermark, Georgios Gatsios