公开(公告)号：US06268918B1

公开(公告)日：2001-07-31

申请号：US09332969

申请日：1999-06-15

申请人： Hideki Tanabe ,  Eiichi Ide ,  Hiroshi Uchino ,  Makoto Miyazaki ,  Koichi Kamon ,  Toshio Norita

发明人： Hideki Tanabe ,  Eiichi Ide ,  Hiroshi Uchino ,  Makoto Miyazaki ,  Koichi Kamon ,  Toshio Norita

IPC分类号： G01B1124

CPC分类号： H04N5/238 ,  G01B11/25 ,  G06T7/521 ,  H04N5/2256 ,  H04N5/235

摘要： An apparatus and method for detecting a three-dimensional image. The apparatus includes a projector which projects a reference light on an object; an image sensor which senses an image of the object; and a controller for controlling the projector and the image sensor, wherein the image sensor includes an aperture that restricts the passage of entering light; and an aperture controller for setting an aperture value for the aperture when receiving a two-dimensional image input, and setting an aperture value for the aperture when receiving a three-dimensional image input. The aperture value is set based on the intensity of received reference light. A processing unit determines the position of the object based on a relationship between an illumination direction of the reference light at the determined time center Npeak and an entrance direction of the reference light relative to the target pixel. A flicker detector detects a change frequency in light received by the image sensor, and the controller controls the image sensor to sense frames of an image at a frequency which is a multiple of the detected change frequency.

摘要翻译： 一种用于检测三维图像的装置和方法。 该装置包括将参考光投射在物体上的投影仪; 感测对象的图像的图像传感器; 以及用于控制投影仪和图像传感器的控制器，其中图像传感器包括限制进入光的通过的孔; 以及光圈控制器，用于在接收二维图像输入时设置孔径的孔径值，并且在接收三维图像输入时设置孔径的孔径值。 光圈值是根据接收的参考光的强度设定的。 处理单元基于所确定的时间中心Npeak处的参考光的照明方向与参考光的相对于目标像素的入射方向之间的关系来确定对象的位置。 闪烁检测器检测由图像传感器接收的光的变化频率，并且控制器控制图像传感器以以所检测的变化频率的倍数的频率感测图像的帧。

公开(公告)号：US06233049B1

公开(公告)日：2001-05-15

申请号：US09273544

申请日：1999-03-22

申请人： Takashi Kondo ,  Hideki Tanabe ,  Makoto Miyazaki ,  Eiichi Ide ,  Hiroshi Uchino ,  Toshio Norita

发明人： Takashi Kondo ,  Hideki Tanabe ,  Makoto Miyazaki ,  Eiichi Ide ,  Hiroshi Uchino ,  Toshio Norita

IPC分类号： G01B1124

CPC分类号： G01B11/2518

摘要： A three-dimensional measurement device employs a slit ray projection technique to optically determine a three-dimensional image. The device offers a choice in operating modes between high-speed measurement, high-resolution measurement and large dynamic range in the depth direction, to accommodate various situations. The different modes of operation are achieved by selectively modifying one or more of the scanning speed of a projected reference beam, the readout speed of a photosensor, the line width or line spacing of the photosensor, and the number of lines per image frame.

摘要翻译： 三维测量装置采用狭缝射线投影技术来光学地确定三维图像。 该装置可以在高速测量，高分辨率测量和深度方向上的大动态范围之间的操作模式下进行选择，以适应各种情况。 通过选择性地修改投影参考光束的扫描速度，光传感器的读出速度，光电传感器的线宽或线间距以及每个图像帧的行数来实现不同的操作模式。

公开(公告)号：US06252659B1

公开(公告)日：2001-06-26

申请号：US09273543

申请日：1999-03-22

申请人： Toshio Norita ,  Hiroshi Uchino ,  Hideki Tanabe ,  Eiiehi Ide ,  Koichi Kamon

发明人： Toshio Norita ,  Hiroshi Uchino ,  Hideki Tanabe ,  Eiiehi Ide ,  Koichi Kamon

IPC分类号： G01B1124

CPC分类号： G01B11/2522 ,  G06T7/521

摘要： A three-dimensional measurement apparatus includes an optical system for scanning a reference beam across a target object to be measured, a light sensor which receives light reflected from the target object, and a processor for calculating a three-dimensional shape of the target object from the received light. An image for calculating the three-dimensional shape of the target object and an image for displaying the target object are both captured by the same sensor. The displayed image is a grayscale image that is based on a centroid that is calculated from multiple data samples taken for each pixel in the image as the target is being scanned.

摘要翻译： 三维测量装置包括用于扫描待测对象物体上的参考光束的光学系统，接收从目标物体反射的光的光传感器，以及用于计算目标物体的三维形状的处理器， 收到的光。 用于计算目标对象的三维形状的图像和用于显示目标对象的图像都被相同的传感器捕获。 所显示的图像是基于当正在扫描目标时由图像中的每个像素采集的多个数据样本计算出的质心的灰度图像。

公开(公告)号：US20060126054A1

公开(公告)日：2006-06-15

申请号：US11335508

申请日：2006-01-20

申请人： Koichi Kamon ,  Toshio Norita ,  Hiroshi Uchino

发明人： Koichi Kamon ,  Toshio Norita ,  Hiroshi Uchino

IPC分类号： G01C3/08

CPC分类号： G01S7/497 ,  G01B11/25 ,  G01S7/4863 ,  G01S7/4865 ,  G01S17/105 ,  G01S17/42 ,  G01S17/89 ,  G06T7/521

摘要： The purpose of the present invention is to realize a compact three-dimensional measurement device of high resolution. In the present invention, a pulse light is projected on an object, the light reflected from the object is received by a solid state area sensor having a plurality of photoelectric conversion elements, the area sensor is controlled with a timing synchronized with the projection of the pulse light, and the distance to each photoelectric conversion element is measured based on the output of the solid state area sensor.

公开(公告)号：US07009690B2

公开(公告)日：2006-03-07

申请号：US09855506

申请日：2001-05-16

申请人： Koichi Kamon ,  Toshio Norita ,  Hiroshi Uchino

发明人： Koichi Kamon ,  Toshio Norita ,  Hiroshi Uchino

IPC分类号： G01C3/00 ,  G01C3/08 ,  G01C5/00 ,  G06K9/00

CPC分类号： G01S7/497 ,  G01B11/25 ,  G01S7/4863 ,  G01S7/4865 ,  G01S17/105 ,  G01S17/42 ,  G01S17/89 ,  G06T7/521

摘要： The purpose of the present invention is to realize a compact three-dimensional measurement device of high resolution. In the present invention, a pulse light is projected on an object, the light reflected from the object is received by a solid state area sensor having a plurality of photoelectric conversion elements, the area sensor is controlled with a timing synchronized with the projection of the pulse light, and the distance to each photoelectric conversion element is measured based on the output of the solid state area sensor.

摘要翻译： 本发明的目的是实现高分辨率的紧凑型三维测量装置。 在本发明中，将脉冲光投射在物体上，从物体反射的光被具有多个光电转换元件的固态区域传感器接收，该区域传感器以与 脉冲光，并且基于固态区域传感器的输出测量到每个光电转换元件的距离。

公开(公告)号：US06172755B2

公开(公告)日：2001-01-09

申请号：US09465446

申请日：1999-12-17

申请人： Toshio Norita ,  Hiroshi Uchino ,  Takuto Joko ,  Eiichi Ide

发明人： Toshio Norita ,  Hiroshi Uchino ,  Takuto Joko ,  Eiichi Ide

IPC分类号： G01B1124

CPC分类号： G01S7/487 ,  G01S7/4918 ,  G01S17/42 ,  G01S17/48 ,  G01S17/89

摘要： In a three dimensional measurement system, a three dimensional pickup apparatus picks up an object repeatedly to generate image information including a shape of the object, and an information processor receives image frame signals and digital signals from the pickup apparatus to process the image information. Image information is sent as image frame signals through a first output terminal, and digital signals are sent through a second output terminal in correspondence to output of the image information through the first output terminal. In the information processor, an input controller receives the digital signals from the first output terminal and receives the image frame signals suitable for transmission of moving images in correspondence to the received digital signals from the second output terminal. For example, the pickup conditions for a next period are set based on the pickup information obtained in a current period. For example, a distance sensor is provided further to adjust the pickup conditions in various ways in continuous pickup mode.

摘要翻译： 在三维测量系统中，三维拾取装置重复地拾取对象以产生包括对象的形状的图像信息，并且信息处理器从拾取装置接收图像帧信号和数字信号以处理图像信息。 图像信息通过第一输出端子作为图像帧信号发送，并且通过第一输出端子对应于图像信息的输出，通过第二输出端子发送数字信号。 在信息处理器中，输入控制器接收来自第一输出端的数字信号，并根据来自第二输出端的接收到的数字信号接收适于传输运动图像的图像帧信号。 例如，基于在当前周期中获得的拾取信息来设定下一个周期的拾取条件。 例如，距离传感器被进一步设置以在连续拾取模式下以各种方式调节拾取条件。

公开(公告)号：US06556307B1

公开(公告)日：2003-04-29

申请号：US09393384

申请日：1999-09-10

申请人： Toshio Norita ,  Hiroshi Uchino ,  Eiichi Ide

发明人： Toshio Norita ,  Hiroshi Uchino ,  Eiichi Ide

IPC分类号： G01B1124

CPC分类号： G01B11/2518

摘要： A method and apparatus for inputting three-dimensional data are provided, in which operation for obtaining incident angles is not required and accuracy of three-dimensional data can be improved. The method includes steps of irradiating a reference light beam from a first starting point A to an object by a first angle &thgr;A, irradiating a reference light beam from a second starting point B separated from the first starting point A to the object by a second angle &thgr;B, moving the first and the second starting points A, B in one direction so as to perform sub scanning of an imaginary plane VS, detecting time points TA, TB when the reference light beam reflected by the object Q passes each sampling section of the imaginary plane; and calculating the position of the object for each sampling section in accordance with positions of the first and second starting points A, B in each of the detected time points TA, TB and first and second angles &thgr;A, &thgr;B.

摘要翻译： 提供一种用于输入三维数据的方法和装置，其中不需要用于获得入射角的操作，并且可以提高三维数据的精度。 该方法包括以下步骤：将来自第一起始点A的参考光束照射到物体上的第一角度θA，从与第一起始点A分离的第二起点B的参考光束照射到物体第二角度 θB，沿着一个方向移动第一和第二起始点A，B，以便进行虚拟平面VS的副扫描，当由对象Q反射的参考光束通过每个采样部分时检测时间点TA，TB 假想平面; 并且根据检测时间点TA，TB以及第一和第二角度θA，θB中的每一个中的第一和第二起始点A，B的位置来计算每个采样部分的对象的位置。

公开(公告)号：US6049385A

公开(公告)日：2000-04-11

申请号：US867877

申请日：1997-06-04

申请人： Toshio Norita ,  Hiroshi Uchino ,  Takuto Joko ,  Eiichi Ide

发明人： Toshio Norita ,  Hiroshi Uchino ,  Takuto Joko ,  Eiichi Ide

IPC分类号： G01S7/487 ,  G01S7/491 ,  G01S17/42 ,  G01S17/89 ,  G01B11/24

CPC分类号： G01S7/487 ,  G01S17/42 ,  G01S17/48 ,  G01S17/89 ,  G01S7/4918

摘要： In a three dimensional measurement system, a three dimensional pickup apparatus picks up an object repeatedly to generate image information including a shape of the object, and an information processor receives image frame signals and digital signals from the pickup apparatus to process the image information. Image information is sent as image frame signals through a first output terminal, and digital signals are sent through a second output terminal in correspondence to output of the image information through the first output terminal. In the information processor, an input controller receives the digital signals from the first output terminal and receives the image frame signals suitable for transmission of moving images in correspondence to the received digital signals from the second output terminal. For example, the pickup conditions for a next period are set based on the pickup information obtained in a current period. For example, a distance sensor is provided further to adjust the pickup conditions in various ways in continuous pickup mode.

摘要翻译： 在三维测量系统中，三维拾取装置重复地拾取对象以产生包括对象的形状的图像信息，并且信息处理器从拾取装置接收图像帧信号和数字信号以处理图像信息。 图像信息通过第一输出端子作为图像帧信号发送，并且通过第一输出端子对应于图像信息的输出，通过第二输出端子发送数字信号。 在信息处理器中，输入控制器接收来自第一输出端的数字信号，并根据来自第二输出端的接收到的数字信号接收适于传输运动图像的图像帧信号。 例如，基于在当前周期中获得的拾取信息来设定下一个周期的拾取条件。 例如，距离传感器被进一步设置以在连续拾取模式下以各种方式调节拾取条件。

公开(公告)号：US06882435B2

公开(公告)日：2005-04-19

申请号：US10334863

申请日：2003-01-02

申请人： Fumiya Yagi ,  Eiichi Ide ,  Hiroshi Uchino ,  Koichi Kamon ,  Takashi Kondo

发明人： Fumiya Yagi ,  Eiichi Ide ,  Hiroshi Uchino ,  Koichi Kamon ,  Takashi Kondo

IPC分类号： G01B11/00 ,  G01B11/03 ,  G01B11/24 ,  G01B21/00 ,  G01B21/20 ,  G01C3/06 ,  G01C11/06

CPC分类号： G01C11/06

摘要： An object is to provide a three-dimensional data input apparatus that enables data currently required by the user to be easily extracted from the stored past three-dimensional data, shooting position data or shooting direction data. When the user provides the three-dimensional measuring device 1 with a measurement instruction, the portions operate through control by the central processing portion 17 to obtain the three-dimensional data SS and the two-dimensional image data SN of the object Q. The group of the three-dimensional data SS, the two-dimensional image data SN, the position data SP and the attitude data SA that are in the one-to-one correspondence with one another as described above are stored in the storage portion 18 every time the three-dimensional data of the object Q is measured. In a case where a fixed point observation of the object is repetitively performed by use of the three-dimensional measuring device 1, by extracting from the storage portion 18 three-dimensional data SSK and two-dimensional image data SNK obtained in the past and comparing them with the present three-dimensional data SSG and two-dimensional image data SNG, the change in the configuration of the object during that period can be found.

摘要翻译： 目的是提供一种三维数据输入装置，其能够容易地从存储的过去的三维数据，拍摄位置数据或拍摄方向数据中提取用户当前需要的数据。 当用户向三维测量装置1提供测量指令时，这些部分通过中央处理部分17的控制进行操作，以获得对象Q的三维数据SS和二维图像数据SN。组 如上所述，三维数据SS，二维图像数据SN，位置数据SP和彼此一一对应的姿势数据SA每次都被存储在存储部分18中 测量对象Q的三维数据。 在通过使用三维测量装置1重复执行对象的固定点观察的情况下，通过从存储部18提取过去获得的三维数据SSK和二维图像数据SNK以及比较 他们与当前的三维数据SSG和二维图像数据SNG，可以发现在该期间对象的配置的变化。

公开(公告)号：US06507406B1

公开(公告)日：2003-01-14

申请号：US09589516

申请日：2000-06-08

申请人： Fumiya Yagi ,  Eiichi Ide ,  Hiroshi Uchino ,  Koichi Kamon ,  Takashi Kondo

发明人： Fumiya Yagi ,  Eiichi Ide ,  Hiroshi Uchino ,  Koichi Kamon ,  Takashi Kondo

IPC分类号： G01B1124

CPC分类号： G01C11/06

摘要： An object is to provide a three-dimensional data input apparatus that enables data currently required by the user to be easily extracted from the stored past three-dimensional data, shooting position data or shooting direction data. When the user provides the three-dimensional measuring device 1 with a measurement instruction, the portions operate through control by the central processing portion 17 to obtain the three-dimensional data SS and the two-dimensional image data SN of the object Q. The group of the three-dimensional data SS, the two-dimensional image data SN, the position data SP and the attitude data SA that are in the one-to-one correspondence with one another as described above are stored in the storage portion 18 every time the three-dimensional data of the object Q is measured. In a case where a fixed point observation of the object is repetitively performed by use of the three-dimensional measuring device 1, by extracting from the storage portion 18 three-dimensional data SSK and two-dimensional image data SNK obtained in the past and comparing them with the present three-dimensional data SSG and two-dimensional image data SNG, the change in the configuration of the object during that period can be found.