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1.发明授权Apparatus and method for improved determination of the spatial location of object surface points 失效用于改善物体表面点空间位置确定的装置和方法
公开(公告)号：US5216259A
公开(公告)日：1993-06-01
申请号：US698133
申请日：1991-05-10
申请人： Howard K. Stern , Stanley Elstein
发明人： Howard K. Stern , Stanley Elstein
CPC分类号： G01S17/89 , G01S17/107 , G01S7/4865 , G01S7/487
摘要： Apparatus and method for use in determining the location of object surface points wherein a short pulse of optical energy is projected at the object surface and a time dependent gain function is used to modify the reflected optical energy resulting from the pulse so that time delay information indicative range can be developed and processed.
摘要翻译： 用于确定物镜表面点的位置的装置和方法，其中将光能量的短脉冲投影在物体表面处，并且使用时间相关增益函数来修改由脉冲产生的反射光能量，以便指示时间延迟信息 范围可以开发和处理。
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2.发明授权Method and apparatus for three dimensional object surface determination using co-planar data from multiple sensors 失效使用来自多个传感器的共面数据进行三维物体表面测定的方法和装置
公开(公告)号：US5028799A
公开(公告)日：1991-07-02
申请号：US445121
申请日：1989-11-30
IPC分类号： G01B11/24
CPC分类号： G01B11/24
摘要： A practice for developing data for use in the three-dimensional location of the points on an object surface wherein first and second sensor means are used to cause first and second electromagnetic radiation to be directed at the object surface at first and second directions which are in a common plane.
摘要翻译： 用于开发用于物体表面上的点的三维位置的数据的实践，其中第一和第二传感器装置用于使第一和第二电磁辐射在第一和第二方向上被引导到物体表面 一架共同的飞机。
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3.发明授权
公开(公告)号：US4991968A
公开(公告)日：1991-02-12
申请号：US221641
申请日：1988-07-20
IPC分类号： G01B11/24
CPC分类号： G01B11/24
摘要： A system for object surface determination in which the projector/detector sensor of the system is controlled by a control detector which is responsive to a plurality of different parts of a portion of the reflected radiation being sensed by the projector/detector sensor.
摘要翻译： 一种用于物体表面确定的系统，其中系统的投影仪/检测器传感器由控制检测器控制，该控制检测器响应于由投影仪/检测器传感器感测的反射辐射的一部分的多个不同部分。
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公开(公告)号：US4895434A
公开(公告)日：1990-01-23
申请号：US172472
申请日：1988-03-24
申请人： Howard K. Stern , Joel Hecker , Peter Calabrese , Richard Schmidt
发明人： Howard K. Stern , Joel Hecker , Peter Calabrese , Richard Schmidt
CPC分类号： G02B26/106 , G01B11/00 , G01B11/2441 , Y10S359/90
摘要： A 3-D measurement system utilizing a holographic scanner is provided with beam direction compensation means for compensating for changes in angular deflection of the scanner and further means is provided for synchronizing the scanner diffraction segments with the camera imaging mechanism of the 3-D system as well as for providing multiple offsets of the projected beam.
摘要翻译： 利用全息扫描仪的3-D测量系统设置有用于补偿扫描仪的角偏转变化的光束方向补偿装置，并且还提供了用于使扫描仪衍射段与3-D系统的照相机成像机构同步的装置， 以及提供投影光束的多个偏移。
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公开(公告)号：US4511252A
公开(公告)日：1985-04-16
申请号：US44644
申请日：1979-06-01
IPC分类号： G01B11/245 , G01B11/25 , G01C11/02 , G01B11/00 , G01C11/04
CPC分类号： G01B11/2536 , G01B11/245 , G01C11/02
摘要： A plurality of projectors are positioned in spaced relationship about an object with a surface to be geometrically analyzed. The projectors have cooperating masks which project onto the object illuminated patterns that subdivide the object into predetermined sections. Each mask has a predetermined pattern of sections, and is applied in sequence. The masks are cooperatively advanced in the projectors, with a separate illuminating pattern prevailing on the object each time that the masks are advanced. The combinations of the patterns on the masks define closely-spaced sections subdividing the object. The patterns are coded so that each section is uniquely defined in coded form. Cameras having the entire object within their field of view, photograph the object each time a separate mask is applied.
摘要翻译： 多个投影仪以关于具有待几何分析的表面的物体的间隔关系定位。 投影机具有投影到物体照明图案上的合作口罩，将物体细分成预定部分。 每个掩模具有预定的部分图案，并且按顺序施加。 面罩在投影机上协同推进，每次面罩前进时，每个对象上都有独立的照明模式。 掩模上的图案的组合定义了细分对象的紧密间隔的部分。 这些模式被编码，使得每个部分以编码形式唯一地定义。 在其视野内具有整个物体的摄像机，每次应用单独的掩模时拍摄物体。
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6.发明授权
公开(公告)号：US4508452A
公开(公告)日：1985-04-02
申请号：US44642
申请日：1979-06-01
摘要： The surface to be sensed or scanned is placed in the path of a projector which is moved along an axis of the surface. The path of motion of the projector is subdivided into predetermined sections which are illuminated by the projector in accordance with a predetermined sequential pattern. This procedure of moving the projector is repeated a predetermined number of times, with a separate illuminating pattern prevailing each time that the projector is moved relative to the surface and traverses the entire surface to be scanned. The combinations of the patterns obtained from the repeated scannings of the projector define closely-spaced sections of the surface. The patterns are coded so that each section is uniquely defined in coded form. A camera having the entire surface within its field of view photographs the surface each time that the projector is moved along the axis of the surface.
摘要翻译： 要被感测或扫描的表面被放置在沿着表面的轴线移动的投影仪的路径中。 投影机的运动路径被细分成根据预定顺序图案由投影仪照亮的预定部分。 移动投影仪的这个过程重复预定次数，每次当投影机相对于表面移动并穿过要扫描的整个表面时，单独的照明模式是主要的。 从投影仪的重复扫描获得的图案的组合定义了表面的紧密间隔的部分。 这些模式被编码，使得每个部分以编码形式唯一地定义。 每次投影机沿着表面的轴线移动时，其视野内的整个表面的相机拍摄表面。
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7.发明授权System and method for three-dimensional inspection using patterned light projection 有权使用图案光投影的三维检查的系统和方法
公开(公告)号：US6144453A
公开(公告)日：2000-11-07
申请号：US412349
申请日：1999-10-05
CPC分类号： G01N21/88 , G01N21/8806
摘要： A three-dimensional inspection system is used to obtain three-dimensional information pertaining to an article having specular surfaces, such as a BGA device, by projecting a pattern of light onto the article at an oblique angle with respect to the article. The system includes patterned light projector having an optical axis disposed at an oblique angle with respect to the plane of the article being inspected and an image detector or camera disposed generally above the article being inspected to detect the image of the pattern projected on the article. The patterned light projector includes an extended light source that directs light along the optical axis and a light patterning member disposed at an angle with respect to the optical axis such that the light pattern is in focus in an image plane parallel to the plane of the article, thereby satisfying the Scheimpflug condition. The light pattern preferably includes lines of light projected onto the article with a substantially equal thickness and spacing. The spacing of the lines is preferably greater than a spacing or pitch of the specular elements, such as the solder balls on a BGA device. An image processor is coupled to the image detector to receive the image, locate the lines, and measure the lateral shift of the lines. Height information is determined from the lateral shift and projection angle using triangulation.
摘要翻译： 使用三维检查系统来获得与具有镜面的物品（例如BGA装置）有关的三维信息，通过以相对于物品倾斜的角度将光图案投射到物品上。 该系统包括图案化的光投影仪，其具有相对于被检查物品的平面倾斜的角度设置的光轴，以及通常在被检查物品上方设置的图像检测器或照相机，以检测投影在物品上的图案的图像。 图案化的光投影仪包括沿着光轴引导光的延伸光源和相对于光轴以一定角度设置的光图案形成部件，使得光图案在平行于物品的平面的图像平面中聚焦 ，从而满足Scheimpflug条件。 光图案优选地包括投影到具有基本相等的厚度和间隔的物品上的光线。 线的间距优选大于镜面元件的间距或间距，例如BGA器件上的焊球。 图像处理器耦合到图像检测器以接收图像，定位线并测量线的横向偏移。 使用三角测量从横向偏移和投影角度确定高度信息。
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公开(公告)号：US4925308A
公开(公告)日：1990-05-15
申请号：US230443
申请日：1988-08-09
IPC分类号： G01B11/00
CPC分类号： G01B11/005
摘要： A method and apparatus is provided for calibrating distance measuring instruments, in particular, optical three dimensional measurement sensors. The method is not restricted to aligning the motion of the calibrating surface to be parallel to the sensor centerline. Accordingly more than one sensor can be present during the calibration procedure. This leads to the practicality of aligning multiple sensor systems using a common translation stage for all sensors or using translation stages that are a part of the system. The joint calibration of sensors embedded in a system guarantees proper registration without additional steps. A method for calibrating optical sensors to accuracies approaching the wavelength of light is given.
摘要翻译： 提供了一种用于校准距离测量仪器，特别是光学三维测量传感器的方法和装置。 该方法不限于校准表面的运动与传感器中心线平行。 因此，在校准过程期间可以存在多于一个的传感器。 这导致使用用于所有传感器的公共转换级或使用作为系统的一部分的翻译级来对准多个传感器系统的实用性。 嵌入系统中的传感器的联合校准保证了正确的注册，无需额外的步骤。 给出了一种用于校准光学传感器以精确接近光的波长的方法。
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9.发明授权
公开(公告)号：US4775235A
公开(公告)日：1988-10-04
申请号：US946690
申请日：1986-12-29
申请人： Joel Hecker , Howard K. Stern
发明人： Joel Hecker , Howard K. Stern
摘要： An optical spot scanning system for use in three dimensional measurement and inspection of an object surface wherein a deflector means is placed in the path of the projection axis of the spot projector to deflect the portion of same between the deflector and the object surface, thereby moving the spot to various positions on the object surface, and wherein the deflector means is also positioned in the path of the optical axis of the system sensing means to deflect the portion of same between the sensing means and the object surface by the same degree as the portion of the projection axis is deflected, thereby ensuring the axes portions which are aligned to be coplanar remain coplanar, and that the image of the spot on the object surface will be properly conveyed to the linear sensor array in the sensing means.
摘要翻译： 一种用于物体表面的三维测量和检查的光点扫描系统，其中偏转装置被放置在投影仪的投影轴线的路径中，以使偏转器和物体表面之间的部分偏转，从而移动 该位置到物体表面上的各种位置，并且其中偏转器装置也位于系统感测装置的光轴的路径中，以将感测装置和物体表面之间的部分偏转与相同的程度 突起轴的一部分被偏转，从而确保对准的共面的轴部保持共面，并且物体表面上的点的图像将被适当地传送到感测装置中的线性传感器阵列。
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10.发明授权
公开(公告)号：US4269513A
公开(公告)日：1981-05-26
申请号：US004301
申请日：1979-01-18
IPC分类号： G01B11/245 , G01B11/25 , G01C11/02 , G01B11/00 , G01B11/24
CPC分类号： G01C11/02 , G01B11/245 , G01B11/2536
摘要： A plurality of projectors are positioned in spaced relationship about an object with a surface to be geometrically analyzed. The projectors have cooperating masks which project onto the object illuminated patterns that subdivide the object into predetermined sections. Each mask has a predetermined pattern of sections, and is applied in sequence. The masks are cooperatively advanced in the projectors, with a separate illuminating pattern prevailing on the object each time that the masks are advanced. The combinations of the patterns on the masks define closely-spaced sections subdividing the object. The patterns are coded so that each section is uniquely defined in coded form. Cameras having the entire object within their field of view, photograph the object each time a separate mask is applied. To sense sections of the surface independent of the reflectance characteristics of the surface, the projectors direct two separate illuminating signals at the object surface. The two illuminating signals are inversely related to each other, and after they are recorded by the cameras, the recorded signals are subtracted from each other to result in a waveform having points at which the subtraction yields zero values. These points are then used to define the projection field.
摘要翻译： 多个投影仪以关于具有待几何分析的表面的物体的间隔关系定位。 投影机具有投影到物体照明图案上的合作口罩，将物体细分成预定部分。 每个掩模具有预定的部分图案，并且按顺序施加。 面罩在投影机上协同推进，每次面罩前进时，每个对象上都有独立的照明模式。 掩模上的图案的组合定义了细分对象的紧密间隔的部分。 这些模式被编码，使得每个部分以编码形式唯一地定义。 在其视野内具有整个物体的摄像机，每次应用单独的掩模时拍摄物体。 为了独立于表面的反射特性来感测表面的部分，投影仪在物体表面处引导两个独立的照明信号。 两个照明信号彼此负相关，并且在通过照相机记录之后，将所记录的信号彼此相减，以产生具有减法产生零值的点的波形。 然后使用这些点来定义投影区域。
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