3-D camera

• US 6,122,062 A
• Filed: 05/03/1999
• Issued: 09/19/2000
• Est. Priority Date: 05/03/1999
• Status: Expired due to Fees

• Current Assignee: Fanuc Robotics North America Inc (Fanuc Corporation)
• Original Assignee: Fanuc Robotics North America Inc (Fanuc Corporation)
• Inventors: Rutledge, Gary, Bieman, Leonard H.
• Primary Examiner(s): Font, Frank G.
• Assistant Examiner(s): Ratliff, Reginald A.
• Application Number:
  US09/303,887
• Time in Patent Office: 505 Days
• Field of Search: 356/376, 356/350, 356/402
• US Class Current: 356/621
• CPC Class Codes: G01B 11/2527 with phase change by in-plane movement of the patern

Abstract

A 3-D camera system (10) includes a light source (12) and a grating (14) spaced at a predetermined distance from the light source (12). The light source (12) and grating (14) project a shadow of the grating (14) on an object (16). Images of the object (16) with the grating (14) shadows projected thereon are captured by a sensor (18) in a video camera (17). A processor (19) converts the images to a three dimensional bit map of the object (16). The light source (12) includes a plurality of at least three rows of light sources (20) defining a matrix (22) whereby different rows of the matrix (22) may be illuminated to produce different grating (14) shadows on the object (16).

Claims

1. A 3-D camera system for creating a three dimensional image of an object comprising:

a light source for projecting light on the object;

a grating spaced at a predetermined position relative to said light source for creating a grating shadow defining an image upon the object;

said system characterized by said light source including a plurality of at least three rows of light sources defining a matrix whereby different rows may be selectively illuminated to produce at least three different grating shadows on the object.

2. The 3-D camera system of claim 1 including a video camera having a sensor for viewing the object and capturing each of said selective images produced by said grating shadows on the object.

3. The 3-D camera system of claim 2 including a processor for converting the images of the object with the shadows projected thereon into a three dimensional bit map of the object.

4. The 3-D camera system of claim 3 wherein said sensor includes a two-dimensional imaging array.

5. The 3-D camera system of claim 3 wherein said sensor includes a line scan sensor defining a one-dimensional imaging array for producing a bit map along a single line.

6. The 3-D camera system of claim 3 wherein said sensor includes a single detector for producing a bit map at a single point.

7. The 3-D camera system of claim 1 wherein said light source includes a plurality of at least three slab diode lasers.

8. The 3-D camera system of claim 1 wherein said light source includes a plurality of at least three horizontally oriented light stripes which emit a line of light.

9. The 3-D camera system of claim 1 wherein said discreet point light sources are discreet point light sources defined by light emitting diodes.

10. The 3-D camera system of claim 1 wherein said discreet point light sources are discreet point light sources defined by laser diodes.

11. The 3-D camera system of claim 1 wherein said light source emits infrared light.

12. A method for shifting a grating shadow over an object to be imaged by a 3-D camera comprising the steps of:

lighting a first row of lights to create a first grating shadow on the object;

lighting a second row of lights spaced from said first row to create a second grating shadow on the object; and

lighting a third row of lights spaced from said second row to create a third grating shadow on the object.

13. A method for shifting a grating shadow over an object to be imaged by a 3-D camera comprising the steps of:

providing a light matrix including a plurality of rows of light sources, said plurality being a multiple of three;

lighting a first row and every third row thereafter of said light matrix to create a first grating shadow on the object;

lighting a second row spaced from said first row and every third row thereafter of said light matrix to create a second grating shadow on the object;

lighting a third row spaced from the second row and every third row thereafter of said light matrix to create a third grating shadow on the object.

14. A method for shifting a grating shadow over an object to be imaged by a 3-D camera comprising the steps of:

providing a light matrix including a plurality of rows of light sources;

lighting a first group of said rows of said light matrix to create a first grating shadow on the object;

lighting a second group of said rows of said light matrix to create a second grating shadow on the object;

lighting a third group of said rows of said light matrix to create a third grating shadow on the object.

15. A 3-D camera system for creating a three dimensional image of an object comprising:

a first light source for projecting light on the object;

a second light source for projecting light on the object;

a grating spaced at a predetermined position relative to said light sources for creating a grating shadow defining an image upon the object;

said system characterized by said first and second light sources defining a matrix whereby said first and second light sources may be selectively illuminated to increase the intensity of light on the object and produce an overlapping common shadow on the object.