Multiple laser scanner

• US 7,995,834 B1
• Filed: 01/20/2006
• Issued: 08/09/2011
• Est. Priority Date: 01/20/2006
• Status: Active Grant

• Current Assignee: NextPat Limited
• Original Assignee: NextEngine, Inc.
• Inventors: Agabra, David S., McKinley, William D., Millers, Jeremy A., Feeney, Mark A., Knighton, Mark S., Cardei, Vlad Constantin
• Primary Examiner(s): Le; Vu
• Assistant Examiner(s): Allison; Andrae S
• Application Number:
  US11/336,216
• Time in Patent Office: 2,027 Days
• Field of Search: 382/106, 382/154, 382/276, 382285-286, 348/42, 348/128, 356/376, 356/394, 356/425, 250/559.23, 250/59.31
• US Class Current: 382/154
• CPC Class Codes: G01B 11/245 using a plurality of fixed, simultaneously operating transducers G01B11/2408 - G01B11/2425, G01B11/255 take precedence
• CPC Class Codes: G06V 10/12 Details of acquisition arrangements; Constructional details thereof
• CPC Class Codes: G06V 2201/12 Acquisition of 3D measurements of objects

Abstract

A method and system to capture geometry of a three dimensional target while disambiguating multiple projected target elements. The system projects at least three light pattern elements toward a target at a diverse spacing relative to each other. The system captures at least one image of the target while illuminated by at least one of the pattern elements. The pattern elements are moved relative to the target. The system disambiguates one pattern element from any other contained within an image of the target, at least in part based on the diverse spacing. The system measures triangulation locations of points on a three-dimensional surface of the target.

Claims

1. A method comprising:

projecting at least three light pattern elements toward a target at a diverse angular spacing relative to each other about a first axis;

capturing at least one image of the target while illuminated by at least one of the pattern elements;

moving the pattern elements relative to the target consistent with rotation of the projection about a second axis;

disambiguating one pattern element from any other contained within an image of the target, at least in part based on the diverse angular spacing; and

measuring by triangulation a location of points on a three-dimensional surface of the target.

2. The method of claim 1 wherein the diverse angular spacing is manifest as one of:

a unique angular spacing between any two adjacent pattern elements, and a unique combination of angular spacing between groups of pattern elements.

3. The method of claim 1 further comprising:

arranging the diverse angular spacing of the pattern elements to reduce an amount of rotation required to measure the dimensional surface of the target.

4. The method of claim 1 wherein the first and second axes are substantially parallel.

5. The method of claim 1 wherein measuring comprises:

measuring each of at least two pattern elements projected upon a same location on the target by triangulation.

6. The method of claim 1 wherein moving the pattern elements relative to the target comprises at least one of:

moving the light source, moving an element in an optical path, moving the target, or sequentially projecting images of the pattern elements in different locations.

7. The method of claim 1 further comprising:

correlating images of a surface texture of the target to the three-dimensional measurements of target surface.

8. The method of claim 1 wherein at least one pattern element is one of:

a stripe, a spot, a group of stripes, a group of spots, a group of stripes and spots, and an interference pattern.

9. A method comprising:

projecting at least three light pattern elements towards a target, the light elements having diverse linear spacing within a projection phase;

capturing at least one image of the target while illuminated by at least one pattern element;

linearly translating the pattern elements relative to the target;

disambiguating one pattern element from any other contained within an image of the target at least in part based on the diverse linear spacing of the pattern elements; and

measuring by triangulation a location of points on a three-dimensional surface of the target.

10. The method of claim 9 further comprising:

arranging the diverse linear spacing to reduce the translation required to capture the surface of the target.

11. The method of claim 9 wherein measuring comprises:

measuring by triangulation each of at least two pattern elements projected upon a same location on the target.

12. The method of claim 9 further comprising:

correlating a surface texture of the target to measurements of the three-dimensional target surface.

13. The method of claim 9 wherein the early diverse spacing is manifest as a one of:

unique linear spacing between adjacent pattern elements or a unique combination of linear spacing between groups of pattern elements.

14. A system comprising:

a projection unit to project at least three diversely spaced light pattern elements toward a target;

an image sensing array to capture light from the projection unit reflected by the target;

a processor to disambiguate the light pattern elements based on a timing between illuminations of a pixel in the image sensing array.

15. The system of claim 14 wherein the projection unit comprises:

a plurality of laser diodes retained to project laser stripes at angularly diverse spacing.

16. The system of claim 15 further comprises:

a rotary drive to rotate the projection unit about an axis.

17. The system of claim 14 wherein the projection unit comprises:

a plurality of laser diodes retained in a linearly diverse spacing.

18. The system of claim 14 wherein the light pattern elements are simultaneously projected.

19. The system of claim 14 wherein the image sensing array is an area array.