公开(公告)号：US07492398B1

公开(公告)日：2009-02-17

申请号：US09405848

申请日：1999-09-27

申请人： Toshio Norita ,  Kazuchika Sato ,  Hiroyuki Okada ,  Makoto Miyazaki ,  Koichi Kamon

发明人： Toshio Norita ,  Kazuchika Sato ,  Hiroyuki Okada ,  Makoto Miyazaki ,  Koichi Kamon

IPC分类号： H04N3/14 ,  H04N5/335

CPC分类号： H04N5/23245 ,  A61B1/00 ,  A61B5/0059 ,  G01B11/00 ,  G01S7/00 ,  G01S7/4861 ,  G01S17/89 ,  G02B26/10 ,  H04N5/3415 ,  H04N5/343 ,  H04N5/3452 ,  H04N5/3454 ,  H04N5/347 ,  H04N13/211 ,  H04N13/236 ,  H04N13/254

摘要： A three-dimensional input apparatus for generating data specifying the shape of an object by receiving the light from the object is disclosed. The detection light is irradiated toward the object by a projector so as to scan a virtual surface. An image sensing device detects the light reflected from the object. A controller thins out data and outputs it to the image sensing device in a direction corresponding to the main scanning direction of the virtual surface of the image sensing device. The controller also controls the image sensing device such that the light-receiving signal is repeatedly read on a line along the direction of movement of the received detection light in an effective area constituting a part of the image sensing surface thereby to read the light-receiving signal in the effective area.

摘要翻译： 公开了一种三维输入装置，用于通过接收来自物体的光来产生指定对象的形状的数据。 检测光被投影仪朝向物体照射，以扫描虚拟表面。 图像感测装置检测从物体反射的光。 控制器将数据切出并以与图像感测装置的虚拟表面的主扫描方向相对应的方向将其输出到图像感测装置。 控制器还控制图像感测装置，使得在构成图像感测表面的一部分的有效区域中沿着接收的检测光的移动方向的一行上重复读取光接收信号，从而读取光接收 信号在有效区域。

公开(公告)号：US06906751B1

公开(公告)日：2005-06-14

申请号：US09356564

申请日：1999-07-19

申请人： Toshio Norita ,  Kazuchika Sato ,  Makoto Miyazaki ,  Koichi Kamon ,  Hiroyuki Okada

发明人： Toshio Norita ,  Kazuchika Sato ,  Makoto Miyazaki ,  Koichi Kamon ,  Hiroyuki Okada

IPC分类号： H04N5/232 ,  H04N5/235 ,  H04N5/353 ,  H04N5/378 ,  H04N9/64 ,  G02B27/40 ,  H04N5/222 ,  H04N3/335

CPC分类号： H04N5/35581 ,  H04N5/23212 ,  H04N5/2353 ,  H04N5/2355

摘要： A solid-state image sensor includes a photocell array for accumulating signal charge for each pixel in accordance with progress of exposure, and a read circuit for reading out information on the accumulated signal charge from the photocell array. With an insulating structure between its input and output, an amplifier in the read circuit generates an output signal without resetting the accumulated charge in the photocell. Information on the accumulated charge is read out at different exposure times while signal charge is accumulated during exposure, and a plurality of image signals can sequentially be obtained without destroying the information.

摘要翻译： 固态图像传感器包括用于根据曝光的进展累积每个像素的信号电荷的光电池阵列，以及用于从光电池阵列读出关于积累的信号电荷的信息的读取电路。 在其输入和输出之间具有绝缘结构，读取电路中的放大器产生输出信号而不复位光电池中的累积电荷。 关于在曝光期间积累信号电荷的不同曝光时间读出累积电荷的信息，并且可以顺序地获得多个图像信号而不破坏信息。

公开(公告)号：US06424422B1

公开(公告)日：2002-07-23

申请号：US09334918

申请日：1999-06-17

申请人： Koichi Kamon ,  Hideki Tanabe ,  Makoto Miyazaki ,  Toshio Norita

发明人： Koichi Kamon ,  Hideki Tanabe ,  Makoto Miyazaki ,  Toshio Norita

IPC分类号： G01B1124

CPC分类号： G01B11/24

摘要： A three-dimensional input device including a light projecting device for projecting detection light, and an image sensing device for receiving the detection light reflected by an object and converting the received light to electrical signals. The detection light is controlled so as to scan the object periodically while changing the projection direction of the detection light, and to consecutively perform a plurality of scans at mutually different detection light projection angles in accordance with the predefined specifications at the start of operation.

摘要翻译： 一种三维输入装置，包括用于投射检测光的投光装置，以及用于接收被物体反射的检测光并将接收的光转换成电信号的图像感测装置。 控制检测光，以便在改变检测光的投影方向的同时周期性地扫描物体，并且在操作开始时根据预定义的规格在相互不同的检测光投影角度连续执行多次扫描。

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：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：US06429941B1

公开(公告)日：2002-08-06

申请号：US09352346

申请日：1999-07-13

申请人： Koichi Kamon ,  Toshio Norita

发明人： Koichi Kamon ,  Toshio Norita

IPC分类号： G01B1124

CPC分类号： G01S17/10 ,  G01S7/497

摘要： A distance measuring equipment and method that measures a distance to an object with high accuracy regardless of the reflectivity of the object is disclosed. The distance measuring equipment includes a transmitter for transmitting pulsed light to the outside, a receiver for receiving the pulsed light reflected by an object in the outside and performing photoelectric conversion and a measuring portion for measuring a time period from the transmission time point of the pulsed light to the reception time point of the reflected light so as to output data of the distance to the object. The measuring portion periodically samples the electric signal obtained by the photoelectric conversion of the receiver and memorize plural instantaneous values at plural time points. Then, the measuring portion determines the time point at the inflection point of the quantity variation of the received light on the basis of the memorized plural instantaneous values so as to generate the data of the distance to the object on the basis of the determined time point as the reception point.

摘要翻译： 公开了一种距离测量设备和方法，其与物体的反射率无关地以高精度测量到物体的距离。 距离测量设备包括用于将脉冲光传输到外部的发射器，用于接收由外部物体反射的脉冲光并执行光电转换的接收器，以及用于测量从脉冲的传输时间点开始的时间段的测量部分 照射到反射光的接收时间点，以输出到对象的距离的数据。 测量部分周期性地对通过接收机的光电转换获得的电信号进行采样，并在多个时间点存储多个瞬时值。 然后，测量部分基于存储的多个瞬时值确定接收光的量变化的拐点处的时间点，以便根据所确定的时间点生成到对象的距离的数据 作为接待点。

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：US06529280B1

公开(公告)日：2003-03-04

申请号：US09676767

申请日：2000-10-02

申请人： Akira Yahashi ,  Toshio Norita ,  Eiro Fujii ,  Fumiya Yagi ,  Satoru Hirose ,  Takuto Joko ,  Makoto Miyazaki ,  Tadashi Fukumoto ,  Hideki Tanabe ,  Yoshiko Sakagawa

发明人： Akira Yahashi ,  Toshio Norita ,  Eiro Fujii ,  Fumiya Yagi ,  Satoru Hirose ,  Takuto Joko ,  Makoto Miyazaki ,  Tadashi Fukumoto ,  Hideki Tanabe ,  Yoshiko Sakagawa

IPC分类号： G01B1124

CPC分类号： G01B11/2518 ,  G01B11/005

摘要： This invention is related to a three-dimensional measuring device for measuring three-dimensional positions of an objects. The three-dimensional measuring device comprises an optical projection system and an optical reception system. In a preliminary measurement prior to an actual measurement, the optical projection system projects slit light beam on the object with varying projection angle with in a narrow range, and the optical reception system receives the slit light beam reflected by the object and generates image signals corresponding to an amount of the received light synchronously with variation of the projection angle. Measurement conditions including intensity of the light beam and the projection angle for the actual measurement are set in accordance with the image signals of the actual measurement. Under the measurement conditions, the actual measurement is executed by projection the light beam on the object with varying the projection angle within a wide range.

摘要翻译： 本发明涉及用于测量物体的三维位置的三维测量装置。 三维测量装置包括光学投影系统和光学接收系统。 在实际测量之前的初步测量中，光学投影系统在狭窄的范围内以不同的投影角度将物体上的狭缝光束投射到物体上，并且光接收系统接收被物体反射的狭缝光束并产生相应的图像信号 与投影角度的变化同步地接收到的光量。 根据实际测量的图像信号来设定包括光束的强度和实际测量的投影角度的测量条件。 在测量条件下，通过在宽范围内改变投影角度将光束投射在物体上来执行实际测量。