Method and apparatus for determining the 3D coordinates of an object

Patent metadata

Field	Value
Publication number	US-10704891-B2
Application number	US-201715816491-A
Country	US
Kind code	B2
Filing date	Nov 17, 2017
Priority date	Dec 2, 2016
Publication date	Jul 7, 2020
Grant date	Jul 7, 2020

Abstract

A 3D sensor for an apparatus for determining the 3D coordinates of an object comprises in accordance with the invention at least one camera and at least three plane projectors.

First claim

The invention claimed is:

1. An apparatus for determining 3D coordinates of an object, the apparatus comprising:
a 3D sensor comprising:
at least one camera and
at least three plane projectors and

a plurality of line-scan sensors that are arranged at an angle with respect to one another.

2. The apparatus of claim 1 , wherein the 3D sensor further includes a projector that is configured to project a pattern onto the object.

3. The apparatus of claim 1 , wherein the 3D sensor includes a scanner.

4. The apparatus of claim 1 , wherein the 3D sensor comprises three plane projectors.

5. The apparatus of claim 1 , wherein:
the at least three plane projectors extend perpendicularly with respect to one another and
each of the at least three plane projectors is configured to project a light plane.

6. The apparatus of claim 1 , wherein at least one of the at least three plane projectors comprises a laser plane projector.

7. The apparatus of claim 1 , wherein the plurality of line-scan sensors comprises three line-scan sensors.

8. The apparatus of claim 7 , wherein three of the line-scan sensors extend at right angles with respect to one another.

9. The apparatus of claim 1 , further including an industrial robot configured to position the 3D sensor.

10. The apparatus of claim 1 , wherein the 3D sensor comprises six plane projectors.

11. The apparatus of claim 1 , wherein the plurality of line-scan sensors comprises six line-scan sensors.

12. An apparatus for determining 3D coordinates of an object, the apparatus comprising:
a 3D sensor comprising:
a camera and
a plurality of plane projectors that extend perpendicularly with respect to one another, wherein each of the plurality of plane projectors is configured to project a light plane and,

a plurality of line-scan sensors that are arranged at an angle with respect to one another.

13. A method for determining 3D coordinates of an object using an apparatus including a 3D sensor and a plurality of line-scan sensors that are arranged at an angle with respect to one another, wherein the 3D sensor includes at least one camera and at least three plane projectors that project light planes, the method comprising:
recording the object using the at least one camera,
determining points of intersection of the light planes using the line-scan sensors, and
determining, from the points of intersection, a location and an orientation of the 3D sensor.

14. The method of claim 13 , further comprising positioning, by an industrial robot, the 3D sensor.

Assignees

• Zeiss Carl Industrielle Messtechnik Gmbh

Inventors

• Pontai Béla

Classifications

• G01B11/2531 Primary

  using several gratings, projected with variable angle of incidence on the object, and one detection device · CPC title

• G01S5/163

  Determination of attitude (using inertial means G01C9/00; control of attitude G05D1/49) · CPC title

• G01B21/045

  Correction of measurements (G01B9/02055 takes precedence) · CPC title

• G01S17/66

  Tracking systems using electromagnetic waves other than radio waves · CPC title

• G01B5/004

  for measuring coordinates of points · CPC title