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    • 73. 发明授权
    • Arrangement for rapid depth measurement using lens focusing
    • 使用透镜聚焦进行快速深度测量的布置
    • US4640620A
    • 1987-02-03
    • US566688
    • 1983-12-29
    • Richard Schmidt
    • Richard Schmidt
    • G01B11/25G01B11/24
    • G01B11/25
    • A pattern of light is projected upon a surface to be measured which may be devoid of surface detail. A sharply focused image of the surface provides distance discrimination. Although the projected pattern may be separate from the imaging optics, a common optics path removes distortion, provides maximum sensitivity and eliminates processing for misalignment between projector and imager. Parallel detection of regions within the image receiving light intensities above a threshold enables rapid availability of measurements. Optical cross-correlation and Fourier transform processing methods may be employed to enhance image processing with no processing delay. Three-dimensional co-ordinate measurements relative to the sensor are reported for all in-focus regions of the image. Refocusing the lens provides depth coverage.
    • 光的图案被投影在待测表面上,其可能没有表面细节。 表面的清晰聚焦图像提供距离辨别。 虽然投影图案可能与成像光学元件分离,但是常见的光学路径消除了失真,提供了最大的灵敏度,并消除了投影机和成像器之间的未对准处理。 图像中的区域的并行检测接收高于阈值的光强度可以快速获得测量结果。 可以采用光学互相关和傅立叶变换处理方法来增强没有处理延迟的图像处理。 针对图像的所有对焦区域报告相对于传感器的三维坐标测量。 重新对焦镜头提供了深度覆盖。
    • 74. 发明授权
    • Method of measuring in three-dimensions at high speed
    • 高速三维测量方法
    • US4630910A
    • 1986-12-23
    • US580653
    • 1984-02-16
    • Joseph RossPaul DiMatteo
    • Joseph RossPaul DiMatteo
    • G03B29/00
    • G03B29/00
    • An apparatus with a common aperture and multiple image recording surfaces with individual filters and/or controlled shutters enables the implementation of several methods of 3-D measurement systems. The parallel nature of the device lends to short measurement times suitable for measuring moving objects. A similar apparatus may be constructed to project multiple images simultaneously or in rapid succession. Elimination of mechanical motion within the projectors and cameras of the prior art reduce the measurement time significantly. A new method of 3-D measurement employing a sweeping light plane and time encoded image recording uses the apparatus. An alternate method maintains a stationary projected light plane through which an object moves as it is measured in 3-D. Another method uses simultaneous projection of light patterns at different frequencies. Another method employs the time of flight of a light pulse and time encoded recording of the reflected energy.
    • 具有公共孔径和具有单独滤光器和/或受控百叶窗的多个图像记录表面的装置使得能够实现三维测量系统的几种方法。 设备的平行特性有助于测量移动物体的测量时间。 可以构造类似的装置以同时或快速连续投影多个图像。 消除现有技术的投影仪和照相机内的机械运动显着减少测量时间。 采用扫描光平面和时间编码图像记录的三维测量的新方法使用该装置。 一种替代方法是保持一个固定的投影光平面,物体在3-D中测量时可以通过该平面移动。 另一种方法使用不同频率的光图案的同时投影。 另一种方法采用光脉冲的飞行时间和反射能量的时间编码记录。
    • 75. 发明授权
    • Detection of three-dimensional information with a projected plane of
light
    • 用投影平面检测三维信息
    • US4594001A
    • 1986-06-10
    • US539615
    • 1983-10-06
    • Paul DiMatteoJoseph RossRichard Schmidt
    • Paul DiMatteoJoseph RossRichard Schmidt
    • G01B11/24
    • G01B11/24
    • An object is scanned first with a light plane from a variable-intensity light-plane projector, and the reflected light is used as signals to modify point by point the output of the projector in accordance with the intensity of the respective reflective-light signal. Thereupon the object is scanned a second time and the projector is instructed to apply less light than before to those points of the object from which a strong reflected-light signal was received during the first scan, and/or to apply more light to points from which a weak reflected-light signal was received during the first scan. In similar manner, a projected intensity encoded light volume is projected on an object and the reflected light is used as signals to point-by-point modify the output of the projector for subsequent projections.
    • 首先用来自可变强度光平面投影仪的光平面扫描物体,并且将反射光用作根据相应反射光信号的强度逐点修改投影仪的输出的信号。 因此,第二次扫描物体,并且指示投影仪将比以前更少的光施加到在第一次扫描期间从其接收到强烈的反射光信号的物体的那些点,和/或向多个点施加更多的光 在第一次扫描期间接收到弱反射光信号。 以类似的方式,将投影强度编码光体积投射在物体上,并且将反射光用作逐点修改投影仪的输出以用于随后的投影的信号。
    • 76. 发明授权
    • Method for locating points on a three-dimensional surface using light
intensity variations
    • 使用光强度变化在三维表面上定位点的方法
    • US4443706A
    • 1984-04-17
    • US463970
    • 1983-02-04
    • Paul DiMatteoJoseph Ross
    • Paul DiMatteoJoseph Ross
    • G01B11/24
    • G01B11/24
    • A method for locating points on a surface in which the surface is irradiated selectively with an irradiating volume which has a varying intensity that defines a first pattern. After irradiating the surface with the first pattern, the surface is irradiated similarly with volumes having varying intensities defining a second or more patterns. Both of these patterns are applied to a point to be located on the surface. The radiation impinging on the surface is recorded by a camera which forms images of the patterns. The images are scanned to find the intensities of the point in the two or more patterns. More than one pattern may be simultaneously irradiated, using different frequencies to distinquish the data. The location of the point on the surface is dependent on a predetermined ratio or difference of the intensities of the point in the two or more patterns. The patterns may be linear, sinusoidal, smooth, non-smooth and/or two dimensional functions ultimately producing a single valued ratio or difference result.
    • 一种用于定位表面的点的方法,其中表面被选择性地照射具有限定第一图案的变化强度的照射体积。 在用第一图案照射表面之后,类似于具有限定第二或更多图案的强度变化的体积照射表面。 这些图案都被应用于要位于表面上的点。 通过形成图案图像的照相机记录入射在表面上的辐射。 扫描图像以找到两个或多个图案中的点的强度。 可以同时照射不止一种图案,使用不同的频率来区分数据。 表面上的点的位置取决于两个或更多个图案中的点的预定比率或强度差。 这些图案可以是线性的,正弦的,平滑的,非平滑的和/或二维的功能,最终产生单值或差分结果。
    • 78. 发明授权
    • Machine vision-based singulation verification system and method
    • 基于机器视觉的单片验证系统及方法
    • US06944324B2
    • 2005-09-13
    • US09768385
    • 2001-01-24
    • Don TranGeorge W. Schurr
    • Don TranGeorge W. Schurr
    • G06T7/00G06K9/00
    • G06T7/0004G06T7/13G06T7/181G06T7/44G06T2207/30108
    • A system and method for detecting multiple object conditions, such as side-by-side and overlapped objects, such as packages, on a conveyor. The system includes at least one machine vision system including at least one machine vision camera, at least one illumination subsystem and at least one machine vision computer. The illumination subsystem(s) is configured to illuminate a plurality of objects as they are conveyed past at least one field of view at an inspection station along a conveyor belt. Each machine vision camera is positioned to capture one or more images of the objects as the objects are conveyed past the field of view(s). Each machine vision computer is programmed to detect the presence of multiple object conditions by detecting and counting the number of edges appearing in an image of an object captured by one of the machine vision cameras. The method illuminates at least one object as it passes through the field of view, at which time at least one image of the object is captured. Next, each captured image is processed using a machine vision computer by windowing each parcel using a Region of Interest (ROI) and counting the number of edges appearing within the ROI. The presence of other than a single package condition is determined if the number of edges exceeds four.
    • 一种用于在输送机上检测多个物体条件的系统和方法,例如并排和重叠物体,例如包装。 该系统包括至少一个机器视觉系统,其包括至少一个机器视觉相机,至少一个照明子系统和至少一个机器视觉计算机。 照明子系统被配置为当沿着传送带在检验站传送至少一个视野时照射多个物体。 每个机器视觉摄像机被定位成当对象被传送通过视野时捕获对象的一个​​或多个图像。 每个机器视觉计算机被编程以通过检测和计数出现在由机器视觉摄像机之一捕获的对象的图像中出现的边缘的数量来检测多个对象状况的存在。 该方法在通过视场时照亮至少一个对象,此时捕获对象的至少一个图像。 接下来,使用机器视觉计算机处理每个捕获的图像,通过使用感兴趣区域(ROI)对每个包裹进行加窗,并对出现在ROI内的边缘数进行计数。 如果边缘数超过4,则确定除了单个包装条件之外的存在。