Device and method for measuring a complexly formed object
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01J-003/50
H04N-007/18
G01B-011/245
G01B-011/25
출원번호
US-0256749
(2014-04-18)
등록번호
US-9733126
(2017-08-15)
발명자
/ 주소
Kostka, Guenther
Schmitt, Peter
Huegel, Christian
Goldstein, Ralf
출원인 / 주소
Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V.
대리인 / 주소
Perkins Coie LLP
인용정보
피인용 횟수 :
0인용 특허 :
3
초록▼
A device for measuring a complexly formed object includes a plurality of light-section measuring devices, a rotator for causing a rotation between the complexly formed object and the plurality of light-section measuring devices around a rotation axis, wherein each of the plurality of light-section m
A device for measuring a complexly formed object includes a plurality of light-section measuring devices, a rotator for causing a rotation between the complexly formed object and the plurality of light-section measuring devices around a rotation axis, wherein each of the plurality of light-section measuring devices is configured to generate a respective fan beam in a respective fan plane, wherein the fan planes are arranged such that the rotation axis extends within each of the fan planes, wherein the plurality of light-section measuring devices is configured such that the fan beams are directed to the complexly formed object from different fan directions which, when projected into a common plane through which the rotation axis extends, by rotation around the rotation axis, differ from each other.
대표청구항▼
1. A device for measuring a complexly formed object, comprising: a plurality of light-section measuring devices;a rotator for causing a rotation between the complexly formed object and the plurality of light-section measuring devices around a rotation axis;wherein each of the plurality of light-sect
1. A device for measuring a complexly formed object, comprising: a plurality of light-section measuring devices;a rotator for causing a rotation between the complexly formed object and the plurality of light-section measuring devices around a rotation axis;wherein each of the plurality of light-section measuring devices is configured to generate a respective fan beam in a respective fan plane, wherein the fan planes are arranged such that the rotation axis extends within each of the fan planes;wherein the plurality of light-section measuring devices is configured such that the fan beams are directed onto the complexly formed object from fan directions which, when projected into a common plane through which the rotation axis extends, by rotation around the rotation axis, differ from each other,wherein the device further comprisesa plurality of color imaging cameras for capturing color images of the complexly formed object from different color imaging directions;a controller configured to direct the rotator to continuously perform the rotation from a starting position to an end position over a rotation angle and the light-section measuring devices to periodically perform light-section measurements during the rotation, and the color imaging cameras to capture the complexly formed object at the starting position and the end position;a reconstructor configured to determine a 3D shape of the complexly formed object from the light-section measurements of the light-section measuring devices, and a renderer configured to render the 3D shape of the complexly formed object by using the color images captured by the color imaging cameras,wherein the complexly formed object is a plant and the reconstructor is configured to group 3D sample points of the complexly formed object acquired by the light-section measurements to individually correspond to a leaf of the plant, and to determine 3D parameters of a parametrizable 3D leaf object for the individual leaves by fitting the 3D leaf object to the 3D sample points. 2. The device according to claim 1, wherein the fan planes are co-planar and define the common plane. 3. The device according to claim 1, wherein the light-section measuring devices are configured to operate at different frequency bands or operate in an intermediate cycling mode. 4. The device according to claim 1, wherein the device comprises at least three light-section measuring devices so that a first of the different fan directions points along a side direction onto the rotation axis which is angled with respect to the rotation axis between 60° and 120°, a second of the different fan directions points onto the rotation axis at a first angle relative to the side direction and a third of the different fan directions points onto the rotation axis at a second angle relative to the side direction pointing opposite to the first angle. 5. The device according to claim 1, wherein each light-section measuring device comprises a respective light-section imaging camera positioned so as to capture the complexly formed object from a capturing direction, the projection of which onto the common plane substantially coincides with a direction among the different fan directions along which the fan beams of the respective light-section measuring devices are directed onto the complexly formed object. 6. The device according to claim 1, further comprising a plurality of white light sources for illuminating the complexly formed object with substantially white light from different illumination directions. 7. The device according to claim 1, further comprising a plurality of color imaging cameras for capturing color images of the complexly formed object from different color imaging directions. 8. The device according to claim 1, wherein the different illumination directions and the different color imaging directions coincide so that the color imaging cameras view the complexly formed object substantially from a side from which the complexly formed object is lit by the color imaging cameras. 9. The device according to claim 8, wherein the plurality of color imaging cameras are distributed such that a projection of all different color imaging directions angled at an angle relative to the rotation axis, which is within a predetermined angle range, onto a plane perpendicular to the rotation axis comprise a mean angle distance around the rotation axis which is between 45° and 180°, both exclusively. 10. The device according to claim 9, wherein the predetermined angle range is at least 20°. 11. The device according to claim 9, wherein the plurality of color imaging cameras are equally distributed by a mean angle distance of 120°. 12. The device according to claim 1, wherein the plurality of color imaging cameras are distributed such that a projection of all different color imaging directions angled at an angle relative to the rotation axis, which is within a predetermined angle range, onto a plane perpendicular to the rotation axis comprise a mean angle distance around the rotation axis which is between 45° and 180°, both exclusively, and wherein the rotation angle is 360° plus ¼ to ¾ of the mean angle distance. 13. The device according to claim 9, further comprising a plurality of white light sources for illuminating the complexly formed object with substantially white light along the different color imaging directions in a first frequency band which does not overlap with a sensitivity band of the light-section measuring devices, and a controller configured to direct the rotator to continuously perform the rotation from a starting position to an end position over a rotation angle and the light-section measuring devices to periodically perform light-section measurements, and the color imaging cameras to capture the complexly formed object during the rotation. 14. The device according to claim 1, wherein the controller is configured to perform the periodic light-section measurements during the rotation within the rotation angle of 360° only. 15. A device for measuring a complexly formed object, comprising: a plurality of light-section measuring devices;a rotator for causing a rotation between the complexly formed object and the plurality of light-section measuring devices around a rotation axis;wherein each of the plurality of light-section measuring devices is configured to generate a respective fan beam in a respective fan plane, wherein the fan planes are arranged such that the rotation axis extends within each of the fan planes;wherein the plurality of light-section measuring devices is configured such that the fan beams are directed onto the complexly formed object from fan directions which, when projected into a common plane through which the rotation axis extends, by rotation around the rotation axis, differ from each other,wherein the device further comprisesa plurality of color imaging cameras for capturing color images of the complexly formed object from different color imaging directions;a controller configured to direct the rotator to continuously perform the rotation from a starting position to an end position over a rotation angle and the light-section measuring devices to periodically perform light-section measurements during the rotation, and the color imaging cameras to capture the complexly formed object at the starting position and the end position;a reconstructor configured to determine a 3D shape of the complexly formed object from the light-section measurements of the light-section measuring devices, and a renderer configured to render the 3D shape of the complexly formed object by using the color images captured by the color imaging cameras,wherein the complexly formed object is a plant and the reconstructor is configured to group 3D sample points of the complexly formed object acquired by the light-section measurements to individually correspond to a leaf of the plant, and to determine a boundary of the leaves in a picture acquired from a predetermined one of the color imaging cameras and 3D parameters of a parametrizable 3D leaf object for the individual leaves by fitting the 3D leaf object to the 3D sample points and a projection of the 3D leaf object onto the predetermined color imaging camera to the boundary. 16. A method for measuring a complexly formed object, comprising: providing a plurality of light-section measuring devices;causing a rotation between the complexly formed object and the plurality of light-section measuring devices around a rotation axis;wherein each of the plurality of light-section measuring devices is configured to generate a respective fan beam in a respective fan plane, wherein the planes are arranged such that the rotation axis extends within each of the fan planes;wherein the plurality of light-section measuring devices is configured such that the fan beams are directed onto the complexly formed object from fan directions which, when projected into a common plane through which the rotation axis extends, by rotation around the rotation axis, differ from each other;whereina plurality of color imaging cameras capture color images of the complexly formed object from different color imaging directions; andthe rotator is directed to continuously perform the rotation from a starting position to an end position over a rotation angle and the light-section measuring devices to periodically perform light-section measurements during the rotation, and the color imaging cameras to capture the complexly formed object at the starting position and the end position,a 3D shape of the complexly formed object is determined from the light-section measurements of the light-section measuring devices, and the 3D shape of the complexly formed object is rendered by using the color images captured by the color imaging cameras,the complexly formed object is a plant, andthe reconstructing comprises grouping 3D sample points of the complexly formed object acquired by the light-section measurements to individually correspond to a leaf of the plant, and determining 3D parameters of a parametrizable 3D leaf object for the individual leaves by fitting the 3D leaf object to the 3D sample points.
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이 특허에 인용된 특허 (3)
Downing Elizabeth A. (Sunnyvale CA) Rogers Steven W. (Conway AR) Titsworth Raymond (Conway AR) Christian Donald J. (Fremont CA) Baird Michael L. (Los Altos CA), Light scanning system for measurement of orientation and physical features of a workpiece.
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