Three-dimensional measurement device

Patent metadata

Field	Value
Publication number	US-10139220-B2
Application number	US-201815867821-A
Country	US
Kind code	B2
Filing date	Jan 11, 2018
Priority date	Jul 14, 2015
Publication date	Nov 27, 2018
Grant date	Nov 27, 2018

Abstract

A three-dimensional measurement device includes: a first irradiator that radiates a first light pattern from a first position toward an object; a first grid controller that controls a first grid to change phases of the first light pattern; a second irradiator that radiates a second light pattern from a second position toward the object; a second grid controller that controls the second grid to change phases of the second light pattern; a camera that takes an image of reflected light from the object; and a processor that: performs one of a first imaging process of imaging processes performed by radiation of the first light pattern and a second imaging process of imaging processes performed by radiation of the second light pattern; and subsequently performs the other imaging process without waiting for completion of the transfer or changeover of the first or the second grid involved in the one imaging process.

First claim

What is claimed is:

1. A three-dimensional measurement device comprising:
a first irradiator that comprises:
a first light source; and
a first grid that converts a light from the first light source into a first light pattern having a striped light intensity distribution, and that radiates the first light pattern from a first position toward a measurement object;

a first grid controller that controls transfer or changeover of the first grid to change phases of the first light pattern a first predetermined number of times;
a second irradiator that comprises:
a second light source; and
a second grid that converts a light from the second light source into a second light pattern having a striped light intensity distribution, and that radiates the second light pattern from a second position that is different from the first position toward the measurement object;

a second grid controller that controls transfer and changeover of the second grid to change phases of the second light pattern a second predetermined number of times, wherein the second predetermined number is smaller than the first predetermined number;
a camera that takes an image of reflected light from the measurement object irradiated with the first or the second light pattern; and
an image processor that:
performs one of:
a first imaging process of the first predetermined number of imaging processes performed by radiation of the first light pattern with changing the phases in the first predetermined number of times; and
a second imaging process of the second predetermined number of imaging processes performed by radiation of the second light pattern with changing the phases in the second predetermined number of times; and

subsequently performs the other of the first and the second imaging process without waiting for completion of the transfer or changeover of the first or the second grid involved in the one imaging process, wherein

the image processor further:
performs three-dimensional measurement of the measurement object based on the first predetermined number of image data taken by the first predetermined number of imaging processes performed by radiation of the first light pattern;
performs three-dimensional measurement of the measurement object based on the second predetermined number of image data taken by the second predetermined number of imaging processes performed by radiation of the second light pattern by using:
a relationship between a gain and an offset that is determined according to a predetermined imaging condition; and
a value of the gain or the offset with regard to each pixel on the image data that is determined from a luminance value of the pixel;

obtains a measurement result by using one light pattern of the first and the second light pattern with regard to a region that is measurable by radiation of the one light pattern; and
obtains a measurement result by using the other light pattern of the first and the second light pattern with regard to a region that is not measurable by radiation of the one light pattern.

2. The three-dimensional measurement device according to claim 1 , wherein
the relationship between the gain and the offset is a relationship that mutually unequivocally determines the gain and the offset.

3. The three-dimensional measurement device according to claim 2 , wherein
when the second predetermined number is equal to 2,
when relative phases of the second light pattern with changing the phase twice are 0 and γ, respectively, and
when luminance values of each pixel in two different image data are V 0 and V 1 , respectively,
the image processor calculates a phase θ that satisfies relations of Expressions (1), (2) and (3) given below in three-dimensional measurement:
V 0 =A sin θ+ B   (1)

V 1 =A sin(θ+γ)+ B   (2)

A=KB   (3)

where γ≠0, A denotes the gain, B denotes the offset and K denotes a proportional constant.

4. The three-dimensional measurement device according to claim 3 , wherein
γ is equal to 180 degrees.

5. The three-dimensional measurement device according to claim 3 , wherein
γ is equal to 90 degrees.

6. The three-dimensional measurement device according to claim 2 , further comprising:
a memory that stores information about the relationship between the gain and the offset that is calculated in advance by calibration.

7. The three-dimensional measurement device according to claim 2 , wherein
the image processor determines the relationship between the gain and the offset based on the first predetermined number of image data taken by the first predetermined number of imaging processes performed by radiation of the first light pattern.

8. The three-dimensional measurement device according to claim 2 , wherein
the image processor determines the relationship between the gain and the offset based on the second predetermined number of image data taken by the second predetermined number of imaging processes performed by radiation of the second light pattern.

9. The three-dimensional measurement device according to claim 1 , wherein
the relationship between the gain and the offset is a relationship that gives the gain and the offset proportional to each other.

10. The three-dimensional measurement device according to claim 9 , wherein
when the second predetermined number is equal to 2,
when relative phases of the second light pattern with changing the phase twice are 0 and γ, respectively, and
when luminance values of each pixel in two different image data are V 0 and V 1 , respectively,
the image processor calculates a phase θ that satisfies relations of Expressions (1), (2) and (3) given below in three-dimensional measurement:
V 0 =A sin θ+ B   (1)

V 1 =A sin(θ+γ)+ B   (2)

A=KB   (3)

where γ≠0, A denotes the gain, B denotes the offset and K denotes a proportional constant.

11. The three-dimensional measurement device according to claim 1 , wherein
when the second predetermined number is equal to 2,
when relative phases of the second light pattern with changing the phases twice are 0 and γ, respectively, and
when luminance values of each pixel in two different image data are V 0 and V 1 , respectively,
the image processor calculates a phase θ that satisfies relations of Expressions (1), (2) and (3) given below in three-dimensional measurement:
V 0 =A sin θ+ B   (1)

V 1 =A sin(θ+γ)+ B   (2)

A=KB   (3)

where γ≠0, A denotes the gain, B denotes the offset and K denotes a proportional constant.

12. The three-dimensional measurement device according to claim 11 , wherein
γ is equal to 180 degrees.

13. The three-dimensional measurement device according to claim 11 , wherein
γ is equal to 90 degrees.

14. The three-dimensional measurement device according to claim 1 , further comprising:
a memory that stores information about the relationship between the gain and the offset that is calculated in advance by calibration.

15. The three-dimensional measurement device according to claim 1 , wherein
the image processor determines the relationship between the gain and the offset based on the first predetermined number of image data taken by the first predetermined number of imaging processes performed by radiation of the first light pattern.

16. The three-dimensional measurement device according to claim 1 , wherein
the image processor determines the relationship between the gain and the offset based on the second predetermined number of image data taken by the second predetermined number of imaging processes performed by radiation

Assignees

• Ckd Corp

Inventors

• Ohyama Tsuyoshi
• Sakaida Norihiko
• Mamiya Takahiro
• Ishigaki Hiroyuki

Classifications

• G06T2207/30152

  Solder · CPC title

• G01B11/2504

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• G06T7/0004

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• G01N21/9501

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• G06T1/00

  General purpose image data processing · CPC title