Three-dimensional coordinate scanner and method of operation
First Claim
1. A noncontact optical three-dimensional measuring device comprising:
- an assembly that includes a first projector, a first camera, a second projector and a second camera, wherein the first projector, the first camera, the second projector, and the second camera are in a fixed relation to one another, the first projector having a first light source, the first projector configured to emit onto a surface of an object a first light having at least one pattern, 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 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 projector having a second light source, the second projector configured to emit onto the surface of the object a second light, the second camera having a second lens and a second photosensitive array, the second camera configured to receive a second portion of the second light reflected off the surface and to produce a second 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 first projector, the second projector, the first camera, and the second camera, being configured to execute a non-transitory computer executable program code that when executed by the processor performs operations that include causing the first signal to be collected at a first time and the second 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 signal, and determining three-dimensional coordinates of a second point on the surface based at least in part on the second signal; and
wherein the processor is further configured to execute the non-transitory computer executable program code that when executed by the processor performs operations that determine the presence of a multipath interference and cause the assembly to move from a first position to a second position in response to the presence of multipath interference at a third time between the first time and the second time.
1 Assignment
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Accused Products
Abstract
A noncontact optical three-dimensional measuring device that includes a first projector, a first camera, a second projector, and a second camera; a processor electrically coupled to the first projector, the first camera, the second projector, 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
22 Claims
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1. A noncontact optical three-dimensional measuring device comprising:
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an assembly that includes a first projector, a first camera, a second projector and a second camera, wherein the first projector, the first camera, the second projector, and the second camera are in a fixed relation to one another, the first projector having a first light source, the first projector configured to emit onto a surface of an object a first light having at least one pattern, 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 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 projector having a second light source, the second projector configured to emit onto the surface of the object a second light, the second camera having a second lens and a second photosensitive array, the second camera configured to receive a second portion of the second light reflected off the surface and to produce a second 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 first projector, the second projector, the first camera, and the second camera, being configured to execute a non-transitory computer executable program code that when executed by the processor performs operations that include causing the first signal to be collected at a first time and the second 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 signal, and determining three-dimensional coordinates of a second point on the surface based at least in part on the second signal; and wherein the processor is further configured to execute the non-transitory computer executable program code that when executed by the processor performs operations that determine the presence of a multipath interference and cause the assembly to move from a first position to a second position in response to the presence of multipath interference at a third time between the first time and the second time. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. 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 first projector, a first camera, a second projector and a second camera, wherein the first projector, the first camera, the second projector, and the second camera are fixed in relation to one another, there being a first distance between the first projector and the first camera, there being a second distance between the second projector and the second camera, the first projector having a first light source, the first projector configured to emit onto the surface a first light having at least one pattern, 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 projector having a second light source, the second projector configured to emit onto the surface a second light, the second camera having a second lens and a second photosensitive array, the second camera configured to receive a second portion of the second 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 first projector, the first camera, the second projector, and the second camera; emitting from the first projector onto the surface, in a first instance, the first light having the at least one pattern; acquiring in the first instance a first image of a first area of the surface with the first camera and sending a first signal to the processor in response; determining by the processor a first set of three-dimensional coordinates of first points in the first area, the first set based at least in part on the at least one pattern, the first signal and the first distance; emitting from the second projector onto the surface, in a second instance, the second light; acquiring in the second instance a second image of a second area of the surface with the second camera and sending a second signal to the processor in response; determining by the processor a second set of three-dimensional coordinates of second points in the second area, the second set based at least in part on the second light, the second signal, and the second distance; determining the presence of multipath interference at a first position of the assembly; moving the assembly from the first position to a second position in response to determining the presence of the multipath interference; and wherein the second light is emitted when the assembly is in the second position. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification