Multi-source sensor for three-dimensional imaging using phased structured light

• US 8,064,068 B2
• Filed: 01/23/2009
• Issued: 11/22/2011
• Est. Priority Date: 01/25/2008
• Status: Active Grant

• Current Assignee: CyberOptics Corporation (Nordson Corporation)
• Original Assignee: CyberOptics Corporation (Nordson Corporation)
• Inventors: Fisher, Lance K., Haugen, Paul R.
• Primary Examiner(s): Punnoose; Roy M
• Application Number:
  US12/358,420
• Publication Number:
  US 20090190139A1
• Time in Patent Office: 1,033 Days
• Field of Search: 356/603, 250/559.22, 382/147, 382/154
• US Class Current: 356/603
• CPC Class Codes: G01B 11/2518 Projection by scanning of the object
• CPC Class Codes: G01B 11/2531 using several gratings, projected with variable angle of incidence on the object, and one detection device
• CPC Class Codes: G01B 11/2536 using several gratings with variable grating pitch, projected on the object with the same angle of incidence

Abstract

A system for sensing a three-dimensional topology of a test surface is provided. A first illumination source generates first patterned illumination from a first point of view. A second illumination source generates second patterned illumination from a second point of view, the second point of view differing from the first point of view. An area array image detector simultaneously acquires at least first and second fringe images relative to the first and second patterned illuminations. A controller is coupled to the first and second sources and to the detector. The controller generates a height topology of the test surface based on images acquired while the first and second patterned illuminators are energized.

Claims

1. A system for sensing a three-dimensional topology of a test surface, the system comprising:

a first illumination source configured to generate first patterned illumination from a first point of view;

a second illumination source configured to generate second patterned illumination from a second point of view, the second point of view differing from the first point of view;

an area array image detector configured to simultaneously acquire at least first and second fringe images relative to the first and second patterned illuminations; and

a controller coupled to the first and second sources and to the detector, the controller being configured to generate a height topology of the test surface based on images acquired while the first and second patterned illuminators are energized.

2. The system of claim 1, wherein the controller is further configured to ignore a portion of one of the first and second images if there is a shadow present in that image.

3. The system of claim 1 wherein images relative to the first and second illumination sources are averaged together to produce a combined height topology.

4. The system of claim 1, wherein the controller is configured to generate relative movement between the image detector and the test surface, and wherein each of the first and second illumination sources includes a strobe lamp.

5. The system of claim 4, wherein the controller is configured to generate the relative movement in a scan direction, and wherein the controller has a phase image acquisition cycle that includes engaging each of the first and second illuminators and acquiring a single image of the test surface while the first and second illuminators are engaged.

6. The system of claim 5, wherein the controller is configured to generate a plurality of phase image acquisition cycles.

7. The system of claim 6, wherein the relative movement between each image acquisition system is a fraction of a fringe period.

8. The system of claim 5, wherein each of the first and second patterned illuminations has a size in the scan direction, and wherein the controller is configured to generate relative movement, from a first position (N), to a subsequent scan position (N+1) that is displaced a distance from the first position approximately equal to the size in the scan direction of one of the first and second patterned illuminations.

9. The system of claim 8, wherein the controller is configured to compute the height topology based upon images of the first patterned illumination acquired during one image cycle (N) and images of the second patterned illumination acquired during a different cycle (N−

1).

10. The system of claim 1, wherein the first and second patterned illuminations are disposed adjacent one another on the test surface.

11. The system of claim 1, wherein the first and second patterned illuminations overlap one another along a scan direction.

12. A method of three-dimensionally mapping an image of a test surface, the method comprising:

projecting a first fringe image onto the test surface from a first point of view;

projecting a second fringe image onto the test surface from a second point of view different from the first point of view;

capturing a first plurality of fringe phase images of the test surface while the first and second patterned illuminations are disposed upon the test surface, wherein relative movement between the test surface and the fringe images results in a displacement between each fringe phase image capture that is a fraction of a fringe period;

causing relative displacement between the test surface and the fringe images to an extent equal to a size of one of the first and second fringe images in a scan direction;

capturing a second plurality of fringe phase images of the test surface while the first and second patterned illuminations are disposed upon the test surface, wherein relative movement between the test surface and the fringe images results in a displacement between each fringe phase image capture that is a fraction of a fringe period; and

computing a height map based upon the first and second plurality of fringe phase images.

13. The method of claim 12, wherein at least a portion of an image is discarded if it is determined to contain a shadow.

14. The method of claim 12, wherein the first and second plurality of fringe phase images are used to provide an averaged height map.