Three-dimensional coordinate scanner and method of operation
First Claim
1. A noncontact optical three-dimensional measuring device comprising:
- an assembly that includes a projector, a first camera, and a second camera, wherein the projector, the first camera, and the second camera are fixed in relation to one another, there being a first distance between the projector and the first camera and a second distance between the projector and the second camera, the projector having a light source, the projector configured to emit onto a surface of an object a first light having any of a plurality of patterns, the first camera having a first lens and a first photosensitive array, the first camera configured to receive a first portion of the first light emitted from the projector and reflected off the surface and to produce a first digital signal in response, the first camera having a first field of view, the first field of view being a first angular viewing region of the first camera, the second camera having a second lens and a second photosensitive array, the second camera configured to receive a second portion of the first light emitted from the projector and reflected off the surface and to produce a second digital signal in response, the second camera having a second field of view, the second field of view being a second angular viewing region of the second camera, the second field of view being different than the first field of view; and
a processor, electrically coupled to the projector, the first camera, and the second camera, that executes a computer executable program code that when executed by the processor performs operations that include causing the first digital signal to be collected at a first time and the second digital signal to be collected at a second time different than the first time, determining three-dimensional coordinates of a first point on the surface based at least in part on the first digital signal and the first distance, and determining three-dimensional coordinates of a second point on the surface based at least in part on the second digital signal and the second distance.
1 Assignment
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Accused Products
Abstract
A noncontact optical three-dimensional measuring device that includes a projector, a first camera, and a second camera; a processor electrically coupled to the projector, the first camera and the second camera; and computer readable media which, when executed by the processor, causes the first digital signal to be collected at a first time and the second digital signal to be collected at a second time different than the first time and determines three-dimensional coordinates of a first point on the surface based at least in part on the first digital signal and the first distance and determines three-dimensional coordinates of a second point on the surface based at least in part on the second digital signal and the second distance.
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Citations
26 Claims
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1. A noncontact optical three-dimensional measuring device comprising:
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an assembly that includes a projector, a first camera, and a second camera, wherein the projector, the first camera, and the second camera are fixed in relation to one another, there being a first distance between the projector and the first camera and a second distance between the projector and the second camera, the projector having a light source, the projector configured to emit onto a surface of an object a first light having any of a plurality of patterns, the first camera having a first lens and a first photosensitive array, the first camera configured to receive a first portion of the first light emitted from the projector and reflected off the surface and to produce a first digital signal in response, the first camera having a first field of view, the first field of view being a first angular viewing region of the first camera, the second camera having a second lens and a second photosensitive array, the second camera configured to receive a second portion of the first light emitted from the projector and reflected off the surface and to produce a second digital signal in response, the second camera having a second field of view, the second field of view being a second angular viewing region of the second camera, the second field of view being different than the first field of view; and a processor, electrically coupled to the projector, the first camera, and the second camera, that executes a computer executable program code that when executed by the processor performs operations that include causing the first digital signal to be collected at a first time and the second digital signal to be collected at a second time different than the first time, determining three-dimensional coordinates of a first point on the surface based at least in part on the first digital signal and the first distance, and determining three-dimensional coordinates of a second point on the surface based at least in part on the second digital signal and the second distance. - View Dependent Claims (9, 10)
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2. A noncontact optical three-dimensional measuring device comprising:
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an assembly that includes a projector, a first camera, and a second camera, wherein the projector, the first camera, and the second camera are fixed in relation to one another, there being a first distance between the projector and the first camera and a second distance between the projector and the second camera, the projector having a light source, the projector configured to emit onto a surface of an object a first light having any of a plurality of patterns, the first camera having a first lens and a first photosensitive array, the first camera configured to receive a first portion of the first light reflected off the surface and to produce a first digital signal in response, the first camera having a first field of view, the first field of view being a first angular viewing region of the first camera, the second camera having a second lens and a second photosensitive array, the second camera configured to receive a second portion of the first light reflected off the surface and to produce a second digital signal in response, the second camera having a second field of view, the second field of view being a second angular viewing region of the second camera, the second field of view being different than the first field of view; a processor, electrically coupled to the projector, the first camera, and the second camera, that executes a computer executable program code that when executed by the processor performs operations that include causing the first digital signal to be collected at a first time and the second digital signal to be collected at a second time different than the first time, determining three-dimensional coordinates of a first point on the surface based at least in part on the first digital signal and the first distance, and determining three-dimensional coordinates of a second point on the surface based at least in part on the second digital signal and the second distance; and wherein the computer executable program code causes the projector to produce the first light having a first pattern from among the plurality of patterns and the first camera to produce in response the first digital signal and further causes the projector to produce the first light having a second pattern from among the plurality of patterns and the second camera to produce in response the second digital signal. - View Dependent Claims (3, 4, 5, 6, 7, 8, 11)
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12. A method of determining three-dimensional coordinates on a surface of an object, the method comprising:
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providing an assembly that includes a projector, a first camera, and a second camera, wherein the projector, the first camera, and the second camera are fixed in relation to one another, there being a first distance between the projector and the first camera and a second distance between the projector and the second camera, the projector having a light source, the projector configured to emit onto the surface a first light having any of a plurality of patterns, the first camera having a first lens and a first photosensitive array, the first camera configured to receive a first portion of the first light reflected off the surface, the first camera having a first field of view, the first field of view being a first angular viewing region of the first camera, the second camera having a second lens and a second photosensitive array, the second camera configured to receive a second portion of the first light reflected off the surface, the second camera having a second field of view, the second field of view being a second angular viewing region of the second camera, the second field of view being different than the first field of view; providing a processor electrically coupled to the projector, the first camera and the second camera; emitting from the projector onto the surface, in a first instance, the first light having a first pattern selected from among the plurality of patterns; acquiring in the first instance a first image of the surface with the first camera and sending a first digital signal to the processor in response; determining a first set of three-dimensional coordinates of first points on the surface, the first set based at least in part on the first pattern, the first digital signal and the first distance; carrying out a diagnostic procedure that determines a quality factor for the first set; determining a second pattern of the first light selected from among the plurality of patterns, the second pattern based at least in part on results of the diagnostic procedure; emitting from the projector onto the surface, in a second instance, the first light having the second pattern; acquiring in the second instance a second image of the surface with the second camera and sending a second digital signal to the processor in response; and determining a second set of three-dimensional coordinates of second points on the surface, the second set based at least in part on the second pattern, the second digital signal, and the second distance. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification