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1. 发明授权

US6141105A Three-dimensional measuring device and three-dimensional measuring method 失效
标题翻译：三维测量装置和三维测量方法
公开(公告)号：US6141105A
公开(公告)日：2000-10-31
申请号：US748325
申请日：1996-11-13
申请人： Akira Yahashi , Toshio Norita , Eiro Fujii , Fumiya Yagi , Satoru Hirose , Takuto Joko , Makoto Miyazaki , Tadashi Fukumoto , Hideki Tanabe , Yoshiko Sakagawa
发明人： Akira Yahashi , Toshio Norita , Eiro Fujii , Fumiya Yagi , Satoru Hirose , Takuto Joko , Makoto Miyazaki , Tadashi Fukumoto , Hideki Tanabe , Yoshiko Sakagawa
IPC分类号： G01B11/00 , G01B11/25 , G01B11/24
CPC分类号： G01B11/2518 , G01B11/005
摘要： This invention is related to a three-dimensional measuring device for measuring three-dimensional positions of an objects. The three-dimensional measuring device comprises an optical projection system and an optical reception system. In a preliminary measurement prior to an actual measurement, the optical projection system projects slit light beam on the object with varying projection angle with in a narrow range, and the optical reception system receives the slit light beam reflected by the object and generates image signals corresponding to an amount of the received light synchronously with variation of the projection angle. Measurement conditions including intensity of the light beam and the projection angle for the actual measurement are set in accordance with the image signals of the actual measurement. Under the measurement conditions, the actual measurement is executed by projecting the light beam on the object with varying the projection angle within a wide range.
摘要翻译：本发明涉及用于测量物体的三维位置的三维测量装置。三维测量装置包括光学投影系统和光学接收系统。在实际测量之前的初步测量中，光学投影系统在狭窄的范围内以不同的投影角将物体上的狭缝光束投射到物体上，并且光学接收系统接收被物体反射的狭缝光束并产生相应的图像信号与投影角度的变化同步地接收到的光量。根据实际测量的图像信号来设定包括光束的强度和实际测量的投影角度的测量条件。在测量条件下，通过在宽范围内改变投影角度将光束投射在物体上来执行实际测量。

2. 发明授权

US06529280B1 Three-dimensional measuring device and three-dimensional measuring method 有权
标题翻译：三维测量装置和三维测量方法
公开(公告)号：US06529280B1
公开(公告)日：2003-03-04
申请号：US09676767
申请日：2000-10-02
申请人： Akira Yahashi , Toshio Norita , Eiro Fujii , Fumiya Yagi , Satoru Hirose , Takuto Joko , Makoto Miyazaki , Tadashi Fukumoto , Hideki Tanabe , Yoshiko Sakagawa
发明人： Akira Yahashi , Toshio Norita , Eiro Fujii , Fumiya Yagi , Satoru Hirose , Takuto Joko , Makoto Miyazaki , Tadashi Fukumoto , Hideki Tanabe , Yoshiko Sakagawa
IPC分类号： G01B1124
CPC分类号： G01B11/2518 , G01B11/005
摘要： This invention is related to a three-dimensional measuring device for measuring three-dimensional positions of an objects. The three-dimensional measuring device comprises an optical projection system and an optical reception system. In a preliminary measurement prior to an actual measurement, the optical projection system projects slit light beam on the object with varying projection angle with in a narrow range, and the optical reception system receives the slit light beam reflected by the object and generates image signals corresponding to an amount of the received light synchronously with variation of the projection angle. Measurement conditions including intensity of the light beam and the projection angle for the actual measurement are set in accordance with the image signals of the actual measurement. Under the measurement conditions, the actual measurement is executed by projection the light beam on the object with varying the projection angle within a wide range.
摘要翻译：本发明涉及用于测量物体的三维位置的三维测量装置。三维测量装置包括光学投影系统和光学接收系统。在实际测量之前的初步测量中，光学投影系统在狭窄的范围内以不同的投影角度将物体上的狭缝光束投射到物体上，并且光接收系统接收被物体反射的狭缝光束并产生相应的图像信号与投影角度的变化同步地接收到的光量。根据实际测量的图像信号来设定包括光束的强度和实际测量的投影角度的测量条件。在测量条件下，通过在宽范围内改变投影角度将光束投射在物体上来执行实际测量。

3. 发明授权

US06522412B2 Measuring system with improved method of reading image data of an object 有权
公开(公告)号：US06522412B2
公开(公告)日：2003-02-18
申请号：US09879896
申请日：2001-06-14
申请人： Toshio Norita , Makoto Miyazaki , Eiro Fujii , Shigeaki Imai , Fumiya Yagi , Satoru Hirose
发明人： Toshio Norita , Makoto Miyazaki , Eiro Fujii , Shigeaki Imai , Fumiya Yagi , Satoru Hirose
IPC分类号： G01B1124
CPC分类号： G01B11/2518 , G06T7/521
摘要： When a scanning start position set signal is input in an area image sensor, the content is transferred to a vertical scanning circuit, and the scan start position is set. Image of a desired row is read by horizontal scanning. Then, one shift signal for vertical scanning is input, the position of scanning is shifted by one row, and horizontal scanning is performed. Thus image of the next row is read. By repeating this operation, a desired strip-shaped image is read. The shape of the object is determined and when a portion is determined to have complicated shape, the image data is input by means of a lens having long focal length, and image data of other portions are input by means of a lens having short focal length. By putting together a plurality of input image data, image data as a whole is generated.

4. 发明授权

US06788807B1 Three dimensional information measurement method and apparatus 失效
标题翻译：三维信息测量方法及装置
公开(公告)号：US06788807B1
公开(公告)日：2004-09-07
申请号：US09243794
申请日：1999-02-03
申请人： Toshio Norita , Takashi Kondo , Eiro Fujii , Fumiya Yagi
发明人： Toshio Norita , Takashi Kondo , Eiro Fujii , Fumiya Yagi
IPC分类号： G06K900
CPC分类号： A61B5/0064 , A61B5/103 , A61B5/1077 , G01B11/24
摘要： Method and apparatus for measuring three dimensional information of a target placed in an interior space of a rotator type mirror by using the rotator type mirror in combination with an imaging apparatus disposed with its light receiving axis aligned with a center axis of the rotator type mirror. The invention includes projecting reference light toward the rotator type mirror from a position on the center axis, and scanning the target with mirror reflected reference light that is produced by reflecting the reference light on the rotator type mirror. The invention further includes obtaining the three dimensional information of the target, based on a physical quantity corresponding to the projection angle of the reference light and on a physical quantity corresponding to the position of a projected image obtained when the mirror reflected reference light that scanned the target is captured by the imaging apparatus via the rotator type mirror.
摘要翻译：通过使用转子式反射镜与成像装置组合地测量放置在转子式反射镜的内部空间中的目标的三维信息的方法和装置，该成像装置以其受光轴与转子式反射镜的中心轴对准的方式设置。本发明包括从中心轴的位置朝向旋转体型反射镜投射参考光，并通过将参考光反射在旋转体型反射镜上产生的镜面反射参考光来扫描目标。本发明还包括：基于与参考光的投影角相对应的物理量和对应于当扫描的参考光的反射镜反射的参考光获得的投影图像的位置的物理量，获得目标的三维信息目标被成像装置通过旋转体型反射镜捕获。

5. 发明授权

US06407817B1 Measuring system with improved method of reading image data of an object 失效
公开(公告)号：US06407817B1
公开(公告)日：2002-06-18
申请号：US09387498
申请日：1999-09-01
申请人： Toshio Norita , Fumiya Yagi , Satoru Hirose
发明人： Toshio Norita , Fumiya Yagi , Satoru Hirose
IPC分类号： G01B1114
CPC分类号： G01B11/2518 , G06T7/521
摘要： When a scanning start position set signal is input in an area image sensor, the content is transferred to a vertical scanning circuit, and the scan start position is set. Image of a desired row is read by horizontal scanning. Then, one shift signal for vertical scanning is input, the position of scanning is shifted by one row, and horizontal scanning is performed. Thus image of the next row is read. By repeating this operation, a desired strip-shaped image is read. The shape of the object is determined and when a portion is determined to have complicated shape, the image data is input by means of a lens having long focal length, and image data of other portions are input by means of a lens having short focal length. By putting together a plurality of input image data, image data as a whole is generated.

6. 发明授权

US5668631A Measuring system with improved method of reading image data of an object 失效
标题翻译：测量系统，改进了读取物体图像数据的方法
公开(公告)号：US5668631A
公开(公告)日：1997-09-16
申请号：US358306
申请日：1994-12-19
申请人： Toshio Norita , Fumiya Yagi , Satoru Hirose
发明人： Toshio Norita , Fumiya Yagi , Satoru Hirose
IPC分类号： G01B11/25 , G01B11/24
CPC分类号： G06T7/0057 , G01B11/2518
摘要： When a scanning start position set signal is input in an area image sensor, the content is transferred to a vertical scanning circuit, and the scan start position is set. Image of a desired row is read by horizontal scanning. Then, one shift signal for vertical scanning is input, the position of scanning is shifted by one row, and horizontal scanning is performed. Thus image of the next row is read. By repeating this operation, a desired strip-shaped image is read. The shape of the object is determined and when a portion is determined to have complicated shape, the image data is input by means of a lens having long focal length, and image data of other portions are input by means of a lens having short focal length. By putting together a plurality of input image data, image data as a whole is generated.
摘要翻译：当在区域图像传感器中输入扫描开始位置设置信号时，将内容传送到垂直扫描电路，并设置扫描开始位置。通过水平扫描读取所需行的图像。然后，输入用于垂直扫描的一个移位信号，扫描的位置移位一行，并进行水平扫描。因此，读取下一行的图像。通过重复该操作，读取期望的条形图像。确定物体的形状，并且当确定部分具有复杂形状时，通过具有长焦距的透镜输入图像数据，并且借助于具有短焦距的透镜输入其他部分的图像数据。通过合成多个输入图像数据，生成整体的图像数据。

7. 发明授权

US06243165B1 Measuring system with improved method of reading image data of an object 失效
公开(公告)号：US06243165B1
公开(公告)日：2001-06-05
申请号：US08841560
申请日：1997-04-30
申请人： Toshio Norita , Fumiya Yagi , Satoru Hirose
发明人： Toshio Norita , Fumiya Yagi , Satoru Hirose
IPC分类号： G01B1104
CPC分类号： G01B11/2518 , G06T7/521
摘要： When a scanning start position set signal is input in an area image sensor, the content is transferred to a vertical scanning circuit, and the scan start position is set. Image of a desired row is read by horizontal scanning. Then, one shift signal for vertical scanning is input, the position of scanning is shifted by one row, and horizontal scanning is performed. Thus image of the next row is read. By repeating this operation, a desired strip-shaped image is read. The shape of the object is determined and when a portion is determined to have complicated shape, the image data is input by means of a lens having long focal length, and image data of other portions are input by means of a lens having short focal length. By putting together a plurality of input image data, image data as a whole is generated.

8. 发明授权

US06233049B1 Three-dimensional measurement apparatus 有权
标题翻译：三维测量装置
公开(公告)号：US06233049B1
公开(公告)日：2001-05-15
申请号：US09273544
申请日：1999-03-22
申请人： Takashi Kondo , Hideki Tanabe , Makoto Miyazaki , Eiichi Ide , Hiroshi Uchino , Toshio Norita
发明人： Takashi Kondo , Hideki Tanabe , Makoto Miyazaki , Eiichi Ide , Hiroshi Uchino , Toshio Norita
IPC分类号： G01B1124
CPC分类号： G01B11/2518
摘要： A three-dimensional measurement device employs a slit ray projection technique to optically determine a three-dimensional image. The device offers a choice in operating modes between high-speed measurement, high-resolution measurement and large dynamic range in the depth direction, to accommodate various situations. The different modes of operation are achieved by selectively modifying one or more of the scanning speed of a projected reference beam, the readout speed of a photosensor, the line width or line spacing of the photosensor, and the number of lines per image frame.
摘要翻译：三维测量装置采用狭缝射线投影技术来光学地确定三维图像。该装置可以在高速测量，高分辨率测量和深度方向上的大动态范围之间的操作模式下进行选择，以适应各种情况。通过选择性地修改投影参考光束的扫描速度，光传感器的读出速度，光电传感器的线宽或线间距以及每个图像帧的行数来实现不同的操作模式。

9. 发明授权

US06424422B1 Three-dimensional input device 失效
标题翻译：三维输入设备
公开(公告)号：US06424422B1
公开(公告)日：2002-07-23
申请号：US09334918
申请日：1999-06-17
申请人： Koichi Kamon , Hideki Tanabe , Makoto Miyazaki , Toshio Norita
发明人： Koichi Kamon , Hideki Tanabe , Makoto Miyazaki , Toshio Norita
IPC分类号： G01B1124
CPC分类号： G01B11/24
摘要： A three-dimensional input device including a light projecting device for projecting detection light, and an image sensing device for receiving the detection light reflected by an object and converting the received light to electrical signals. The detection light is controlled so as to scan the object periodically while changing the projection direction of the detection light, and to consecutively perform a plurality of scans at mutually different detection light projection angles in accordance with the predefined specifications at the start of operation.
摘要翻译：一种三维输入装置，包括用于投射检测光的投光装置，以及用于接收被物体反射的检测光并将接收的光转换成电信号的图像感测装置。控制检测光，以便在改变检测光的投影方向的同时周期性地扫描物体，并且在操作开始时根据预定义的规格在相互不同的检测光投影角度连续执行多次扫描。

10. 发明授权

US06268918B1 Three-dimensional input device 有权
标题翻译：三维输入设备
公开(公告)号：US06268918B1
公开(公告)日：2001-07-31
申请号：US09332969
申请日：1999-06-15
申请人： Hideki Tanabe , Eiichi Ide , Hiroshi Uchino , Makoto Miyazaki , Koichi Kamon , Toshio Norita
发明人： Hideki Tanabe , Eiichi Ide , Hiroshi Uchino , Makoto Miyazaki , Koichi Kamon , Toshio Norita
IPC分类号： G01B1124
CPC分类号： H04N5/238 , G01B11/25 , G06T7/521 , H04N5/2256 , H04N5/235
摘要： An apparatus and method for detecting a three-dimensional image. The apparatus includes a projector which projects a reference light on an object; an image sensor which senses an image of the object; and a controller for controlling the projector and the image sensor, wherein the image sensor includes an aperture that restricts the passage of entering light; and an aperture controller for setting an aperture value for the aperture when receiving a two-dimensional image input, and setting an aperture value for the aperture when receiving a three-dimensional image input. The aperture value is set based on the intensity of received reference light. A processing unit determines the position of the object based on a relationship between an illumination direction of the reference light at the determined time center Npeak and an entrance direction of the reference light relative to the target pixel. A flicker detector detects a change frequency in light received by the image sensor, and the controller controls the image sensor to sense frames of an image at a frequency which is a multiple of the detected change frequency.
摘要翻译：一种用于检测三维图像的装置和方法。该装置包括将参考光投射在物体上的投影仪; 感测对象的图像的图像传感器; 以及用于控制投影仪和图像传感器的控制器，其中图像传感器包括限制进入光的通过的孔; 以及光圈控制器，用于在接收二维图像输入时设置孔径的孔径值，并且在接收三维图像输入时设置孔径的孔径值。光圈值是根据接收的参考光的强度设定的。处理单元基于所确定的时间中心Npeak处的参考光的照明方向与参考光的相对于目标像素的入射方向之间的关系来确定对象的位置。闪烁检测器检测由图像传感器接收的光的变化频率，并且控制器控制图像传感器以以所检测的变化频率的倍数的频率感测图像的帧。

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