THREE-DIMENSIONAL IMAGER
First Claim
Patent Images
1. A three-dimensional (3D) measuring system comprising:
- a first set of 3D imagers, each designated by an index j between 1 and an integer N equal to or greater than 2, each 3D imager j configured to determine 3D coordinates of an object in an imager frame of reference, each 3D imager j having a 3D imager pose j within a system frame of reference, each 3D imager j including;
a projector j configured to project a patterned light over an area onto the object;
a camera j configured to capture an image of the patterned light on the object, the camera j including a lens j and a photosensitive array j, the camera j configured to image the patterned light on the object onto the photosensitive array j;
a processor j mechanically coupled to the projector j and the camera j, the processor j configured to determine the 3D coordinates of the object in the imager frame of reference based at least in part on the projected patterned light, the image of the patterned light on the object captured by the camera j, and a relative pose of the projector j with respect to the camera j;
a first mounting frame coupled to each 3D imager j in the first set of 3D imagers; and
a system controller configured to obtain a system collection of 3D coordinates, the system collection of 3D coordinates being 3D coordinates of the object in the system frame of reference, the system collection of coordinates based at least in part on the determined 3D coordinates of the object provided by the first set of 3D imagers and on the 3D imager pose j in the system frame of reference of each 3D imager j in the first set of 3D imagers.
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Accused Products
Abstract
A three-dimensional (3D) measuring device includes a cooling fan and an enclosure attached to a projector and a camera. The camera images a pattern of light projected by the projector onto an object to determine 3D coordinates points on the object. A fan draws air through an opening in the front of the enclosure, across a plurality of components in the enclosure and out a second opening in the enclosure.
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Citations
20 Claims
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1. A three-dimensional (3D) measuring system comprising:
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a first set of 3D imagers, each designated by an index j between 1 and an integer N equal to or greater than 2, each 3D imager j configured to determine 3D coordinates of an object in an imager frame of reference, each 3D imager j having a 3D imager pose j within a system frame of reference, each 3D imager j including; a projector j configured to project a patterned light over an area onto the object; a camera j configured to capture an image of the patterned light on the object, the camera j including a lens j and a photosensitive array j, the camera j configured to image the patterned light on the object onto the photosensitive array j; a processor j mechanically coupled to the projector j and the camera j, the processor j configured to determine the 3D coordinates of the object in the imager frame of reference based at least in part on the projected patterned light, the image of the patterned light on the object captured by the camera j, and a relative pose of the projector j with respect to the camera j; a first mounting frame coupled to each 3D imager j in the first set of 3D imagers; and a system controller configured to obtain a system collection of 3D coordinates, the system collection of 3D coordinates being 3D coordinates of the object in the system frame of reference, the system collection of coordinates based at least in part on the determined 3D coordinates of the object provided by the first set of 3D imagers and on the 3D imager pose j in the system frame of reference of each 3D imager j in the first set of 3D imagers. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A three-dimensional (3D) measuring system comprising:
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a master part including a first base part selected from a plurality of base parts, there being at least three fiducial markers affixed to the first base part; a first part-under-test including a second base part selected from the plurality of base parts; a photogrammetry camera configured to image the master part, including the at least three fiducial markers, from a plurality of photogrammetry camera positions to obtain a corresponding plurality of photogrammetry two-dimensional (2D) images; a first 3D imager having a first projector and a first camera, the first 3D imager configured to determine 3D coordinates in a first imager frame of reference; a second 3D imager having a second projector and a second camera, the second 3D imager configured to determine 3D coordinates in a second imager frame of reference, wherein the system is configured to determine in a system frame of reference a first pose of the first 3D imager and a second pose of the second 3D imager based at least in part on the plurality of photogrammetry 2D images, determined 3D coordinates of at least three fiducial markers from among the at least three fiducial markers in the first imager frame of reference, and determined 3D coordinates of at least three fiducial markers from among the at least three fiducial markers in the second imager frame of reference, and wherein the system is further configured to determine 3D coordinates of the first part-under-test in the system frame of reference based at least in part on the determined first pose, the determined second pose, determined 3D coordinates of the first part-under-test by the first 3D imager in the first imager frame of reference, and determined 3D coordinates of the first part-under-test by the second 3D imager in the second imager frame of reference. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method comprising:
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providing a master part, a first part-under-test, a photogrammetry camera, a first three-dimensional (3D) imager, and a second 3D imager, the master part including a first base part selected from a plurality of base parts, there being at least three fiducial markers affixed to the first base part, the first part-under-test including a second base part selected from the plurality of base parts, the first 3D imager having a first projector, a first camera, and a first frame of reference, the second 3D imager having a second projector, a second camera, and a second frame of reference; imaging the master part, including the at least three fiducial markers, with the photogrammetry camera from a plurality of photogrammetry camera positions to obtain a corresponding plurality of photogrammetry two-dimensional (2D) images; determining with the first 3D imager 3D coordinates of the at least three fiducial markers in the first frame of reference; determining with the second 3D imager 3D coordinates of the at least three fiducial markers in the second frame of reference; determining in a system frame of reference a first pose of the first 3D imager and a second pose of the second 3D imager based at least in part on the plurality of photogrammetry 2D images, the determined 3D coordinates of at least three fiducial markers from among the at least three fiducial markers in the first frame of reference, and the determined 3D coordinates of at least three fiducial markers from among the at least three fiducial markers in the second frame of reference; determining with the first 3D imager first 3D coordinates of the first part-under-test in the first frame of reference; determining with the second 3D imager second 3D coordinates of the first part-under-test in the second frame of reference; determining 3D coordinates of the first part-under-test in the system frame of reference based at least in part on the determined first pose, the determined second pose, the determined first 3D coordinates of the first part-under-test in the first imager frame of reference, and the determined second 3D coordinates of the first part-under-test in the second frame of reference; and storing the 3D coordinates of the first part-under-test in the system frame of reference. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification