US5661667A
Expired / Lapsed
US
⏱️ 0.0 years remaining
3D imaging using a laser projector
Assignee: Virtek Laser Systems Inc
•
Filing: 1995-01-04
•
Granted: 1997-08-26
•
Expires: 2015-01-04
Abstract
Abstract A method for generating 3D data of an object using a laser projector uses the steps of calibrating at least two laser projectors to a known coordinate system relative to an object; projecting a first laser beam along a path to a point on the object; placing a reflection target at the point for reflecting the first laser beam for generating a first feedback signal indicative of the first laser beam hitting the reflective target; calculating first vector coordinates of the path of the first laser beam; projecting a second laser beam towards the point; moving the second laser beam in a predetermined pattern until the second laser beam reflects off of the reflective target generating a second feedback signal indicative of the second laser beam hitting the reflective target; calculating second vector coordinates of the path of the second laser beam; triangulating the first vector coordinates with the second vector coordinates establishing a digitized 3D coordinate of the point relative to the coordinate system; responsive to an external signal, storing the 3D coordinate in an electronic memory storage device; manipulating the target reflector to points of interest on the surface; and repeating the steps to generate a series of digitized 3D coordinates.
Inventors
- 👤 Kurt D. Rueb
- 👤 Richard Michael Bordignon
- 👤 John Wieczorek
- 👤 David J. Wigg
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-06 12:10
CPC Classifications
G; G06; G06K; G06K7/00; G06K7/10; G06K7/10544; G06K7/10821; G06K7/10831; G01; G01B; G01B11/00; G01B11/002
Claims Analysis
Total Claims: 49
Claim 1
Independent Claim
131 words
A method for generating 3D data of an object using a laser projector comprising the steps of: establishing a coordinate system by selecting at least four non-redundant reference targets on an object, calibrating at least two laser projectors to said coordinate system by using each of said laser projectors to locate said at least four non-redundant reference targets and calculating a relative 3-dimensional orientation and position of each of said laser projectors relative to said coordinate system, projecting at least two laser beams along respective paths to a desired point on said object; calculating vector coordinates for each respective path of said laser beams when each of said laser beams intersects said point; and triangulating said vector coordinates establishing a digitized 3D coordinate of said point relative to said coordinate system.
Claim 2
Independent Claim
131 words
A method for generating 3D data of an object using a laser projector comprising the steps of: establishing a coordinate system by selecting at least four non-redundant reference targets on an object, calibrating at least two laser projectors to said coordinate system by using each of said laser projectors to locate said at least four non-redundant reference targets and calculating a relative 3-dimensional orientation and position of each of said laser projectors relative to said coordinate system, projecting at least two laser beams along respective paths to a desired point on said object; calculating vector coordinates for each respective path of said laser beams when each of said laser beams intersects said point; and triangulating said vector coordinates establishing a digitized 3D coordinate of said point relative to said coordinate system.
Claim 3
Dependent Claim
44 words
A method as claimed in claim 1 wherein said method further includes a step of generating a feedback signal when each of said laser beams intersect said point and said step of calculating said vector coordinates is responsive to each of said feedback signals.
Claim 4
Dependent Claim
29 words
A method as claimed in claim 2 wherein said method further includes a step of reflecting said lasers beams off said point for triggering each of said feedback signals.
Claim 5
Dependent Claim
34 words
A method as claimed in claim 3 wherein said method includes a step of refracting said laser beams towards a light sensor which is responsive to said laser beams for generating said feedback signals.
Claim 6
Dependent Claim
42 words
A method as claimed in claim 4 wherein said steps of projecting said laser beams includes a step of focusing each of said lasers beams through an aperture of a wedge-shaped lens adapted to refract said laser beams towards said light sensor.
Claim 7
Dependent Claim
31 words
A method as claimed in claim 3 wherein said step of generating said feedback signals includes a step of manipulating a target reflector to said point for reflecting said laser beams.
Claim 8
Dependent Claim
40 words
A method as claimed in claim 6 wherein said step of projecting said laser beams includes a step of moving each of said laser beams in a predetermined pattern until each of said laser beams reflects off said reflective target.
Claim 9
Dependent Claim
22 words
A method as claimed in claim 7 wherein said step of moving said laser beams commences after a predetermined amount of time.
Claim 10
Dependent Claim
15 words
A method as claimed in claim 8 wherein said predetermined pattern is an expanding spiral.
Claim 11
Dependent Claim
24 words
A method as claimed in claim 7 wherein each of said laser beams are refracted towards a light sensor for generating said feedback signals.
Claim 12
Dependent Claim
81 words
A method as claimed in claim 10 wherein said step of projecting said laser beams includes generating each of said laser beams with a laser light source, focusing each of said laser beams through an aperture of a wedged-shape lens, directing said laser beams towards said point and said step of generating said feedback signals includes reflecting said laser beams off said point back towards said laser light source, refracting said laser beams with said wedged-shape lens towards said light sensor.
Claim 13
Dependent Claim
23 words
A method as claimed in claim 11 wherein a reflective target is manipulated to said point to reflect each of said laser beams.
Claim 14
Dependent Claim
65 words
A method as claimed in claim 12 wherein said calibration step includes a step of projecting said a laser beam from each of said laser projectors to a plurality of known locations on said object, calculating vector coordinates of each of said known locations and triangulating said vector coordinates establishing a relative 3D orientation and position of each said known locations relative to said object.
Claim 15
Dependent Claim
20 words
A method as claimed in claim 13 wherein said steps of triangulating vector coordinates is a closed-form inverse perspective transformation.
Claim 16
Dependent Claim
24 words
A method as claimed in claim 1 wherein said method includes a step of storing said 3D coordinate in an electronic memory storage device.
Claim 17
Dependent Claim
18 words
A method as claimed in claim 15 wherein said 3D coordinate is stored responsive to an external signal.
Claim 18
Dependent Claim
18 words
A method as chimed in claim 16 wherein said external signal is a generated by a computer mouse.
Claim 19
Dependent Claim
27 words
A method as claimed in claim 16 wherein said external signal is remotely generated and transmitted to a receiver electrically connected to said electronic memory storage device.
Claim 20
Dependent Claim
25 words
A method as claimed in claim 16 wherein said method is repeated for a plurality of points to generate a series of digitized 3D coordinates.
Claim 21
Dependent Claim
22 words
A method as claimed in claim 19 wherein said method includes the step of periodically re-calibrating the at least two laser projectors.
Claim 22
Dependent Claim
34 words
A method as claimed in claim 19 wherein said method further includes a step of generating an image representative of said series of digitized 3D coordinates and laser projecting said image onto said object.
Claim 23
Dependent Claim
47 words
A method as claimed in claim 1 wherein said method further includes a step of terminating a feedback signal when each of said laser beams intersect said point and said step of calculating said vector coordinates is responsive to the termination of each of said feedback signals.
Claim 24
Dependent Claim
50 words
A method as claimed in claim 22 wherein said method is switchable from terminating said feedback signal to a step of generating a feedback signal when each of said laser beams intersect said point and said step of calculating said vector coordinates is responsive to each of said feedback signals.
Claim 25
Dependent Claim
34 words
A method as claimed in claim 23 wherein said method includes a step of refracting said laser beams towards a light sensor which is responsive to said laser beams for generating said feedback signals.
Claim 26
Dependent Claim
50 words
A method as claimed in claim 24 wherein said steps of projecting said laser beams includes a step of focusing each of said lasers beams through an aperture of a wedge-shaped lens adapted to refract said laser beams towards said light sensor after each of said laser beams is reflected.
Claim 27
Dependent Claim
30 words
A method as claimed in claim 25 wherein said step of terminating said feedback signals includes a step of manipulating a target reflector having a non-reflecting center to said point.
Claim 28
Dependent Claim
31 words
A method as claimed in claim 26 wherein said step of generating said feedback signals includes a step of manipulating a target reflector to said point for reflecting said laser beams.
Claim 29
Dependent Claim
40 words
A method as claimed in claim 27 wherein said step of projecting said laser beams includes a step of moving each of said laser beams in a predetermined pattern until each of said laser beams reflects off said reflective target.
Claim 30
Dependent Claim
14 words
A method as claimed in claim 28 wherein said predetermined pattern is a circle.
Claim 31
Dependent Claim
42 words
A method as claimed in claim 1 wherein said method further includes a step of providing a platform having retroreflectors in a predefined pattern defining a reference coordinate system and said object is placed on said platform for generating 3D data thereof.
Claim 32
Dependent Claim
26 words
A method as claimed in claim 30 wherein said method includes the step of calibrating said at least two laser projectors to the reference coordinate system.
Claim 33
Independent Claim
275 words
A method for generating 3D data of an object using at least two laser projectors comprising the steps of: establishing a coordinate system by selecting at least four non-redundant reference targets on an object, calibrating at least two laser projectors to said coordinate system by using each of said laser projectors to locate said at least four non-redundant reference targets and calculating a relative 3-dimensional orientation and position of each of said laser projectors relative to said coordinate system, generating a first laser beam with a first laser light source, focusing said first laser beam through an aperture of a first wedged-shape lens, directing said first laser beam towards a point on said object, reflecting said first laser beam off a reflective target manipulated to said point back towards said first laser light source, refracting said first laser beam with said first wedged-shape lens towards a first light sensor generating a first feedback signal, responsive to said first feedback signal, calculating first vector coordinates of said first laser beam; generating a second laser beam with a second laser light source, focusing said second laser beam through an aperture of a second wedged-shape lens, directing said second laser beam towards said point, reflecting said second laser beam off said reflective target back towards said second laser light source, refracting said second laser beam with said second wedged-shape lens towards a second light sensor generating a second feedback signal, responsive to said second feedback signal, calculating second vector coordinates of said second laser beam; triangulating said first vector coordinates with said second vector coordinates establishing a digitized 3D coordinate of said point relative to said coordinate system.
Claim 34
Independent Claim
275 words
A method for generating 3D data of an object using at least two laser projectors comprising the steps of: establishing a coordinate system by selecting at least four non-redundant reference targets on an object, calibrating at least two laser projectors to said coordinate system by using each of said laser projectors to locate said at least four non-redundant reference targets and calculating a relative 3-dimensional orientation and position of each of said laser projectors relative to said coordinate system, generating a first laser beam with a first laser light source, focusing said first laser beam through an aperture of a first wedged-shape lens, directing said first laser beam towards a point on said object, reflecting said first laser beam off a reflective target manipulated to said point back towards said first laser light source, refracting said first laser beam with said first wedged-shape lens towards a first light sensor generating a first feedback signal, responsive to said first feedback signal, calculating first vector coordinates of said first laser beam; generating a second laser beam with a second laser light source, focusing said second laser beam through an aperture of a second wedged-shape lens, directing said second laser beam towards said point, reflecting said second laser beam off said reflective target back towards said second laser light source, refracting said second laser beam with said second wedged-shape lens towards a second light sensor generating a second feedback signal, responsive to said second feedback signal, calculating second vector coordinates of said second laser beam; triangulating said first vector coordinates with said second vector coordinates establishing a digitized 3D coordinate of said point relative to said coordinate system.
Claim 35
Dependent Claim
25 words
A method as claimed in claim 32 wherein said method further includes a step of storing said 3D coordinate in an electronic memory storage device.
Claim 36
Dependent Claim
25 words
A method as claimed in claim 33 wherein said method is repeated for a plurality of points to generate a series of digitized 3D coordinates.
Claim 37
Dependent Claim
22 words
A method as claimed in claim 34 wherein said method includes the step of periodically calibrating the at least two laser projectors.
Claim 38
Dependent Claim
35 words
A method as claimed in claim 35 wherein said method further includes a step of generating an image representative of said series of digitized 3D coordinates and periodically laser projecting said image onto said object.
Claim 39
Independent Claim
308 words
A method for generating 3D data of an object using at least two laser projectors comprising the steps of: calibrating at least two laser projectors to a coordinate system relative to an object; generating a first laser beam with a first laser light source, focusing said first laser beam through an aperture of a first wedged-shape lens, directing said first laser beam towards a point on said object, reflecting said first laser beam off a reflective target manipulated to said point back towards said first laser light source, refracting said first laser beam with said first wedged-shape lens towards a first light sensor generating a first feedback signal, responsive to said first feedback signal, calculating first vector coordinates of said first laser beam; generating a second laser beam with a second laser light source, focusing said second laser beam through an aperture of a second wedged-shape lens, directing said second laser beam towards said point, reflecting said second laser beam off said reflective target back towards said second laser light source, refracting said second laser beam with said second wedged-shape lens towards a second light sensor generating a second feedback signal, responsive to said second feedback signal, calculating second vector coordinates of said second laser beam; triangulating said first vector coordinates with said second vector coordinates establishing a digitized 3D coordinate of said point relative to said coordinate system; storing said 3D coordinate in an electronic memory storage device; repeating said method for a plurality of points to generate a series of digitized 3D coordinates; periodically calibrating the at least two laser projectors; generating an image representative of said series of digitized 3D coordinates and periodically laser projecting said image onto said object; and projecting only a portion of said image near a point of interest, responsive to a feedback signal being received from the point of interest.
Claim 40
Independent Claim
308 words
A method for generating 3D data of an object using at least two laser projectors comprising the steps of: calibrating at least two laser projectors to a coordinate system relative to an object; generating a first laser beam with a first laser light source, focusing said first laser beam through an aperture of a first wedged-shape lens, directing said first laser beam towards a point on said object, reflecting said first laser beam off a reflective target manipulated to said point back towards said first laser light source, refracting said first laser beam with said first wedged-shape lens towards a first light sensor generating a first feedback signal, responsive to said first feedback signal, calculating first vector coordinates of said first laser beam; generating a second laser beam with a second laser light source, focusing said second laser beam through an aperture of a second wedged-shape lens, directing said second laser beam towards said point, reflecting said second laser beam off said reflective target back towards said second laser light source, refracting said second laser beam with said second wedged-shape lens towards a second light sensor generating a second feedback signal, responsive to said second feedback signal, calculating second vector coordinates of said second laser beam; triangulating said first vector coordinates with said second vector coordinates establishing a digitized 3D coordinate of said point relative to said coordinate system; storing said 3D coordinate in an electronic memory storage device; repeating said method for a plurality of points to generate a series of digitized 3D coordinates; periodically calibrating the at least two laser projectors; generating an image representative of said series of digitized 3D coordinates and periodically laser projecting said image onto said object; and projecting only a portion of said image near a point of interest, responsive to a feedback signal being received from the point of interest.
Claim 41
Dependent Claim
24 words
A method as claimed in claim 37 wherein said method further includes a step of manipulating a target reflector to said point of interest.
Claim 42
Dependent Claim
43 words
A method as claimed in claim 38 wherein said image includes additional text information and said method further includes a step of projecting a symbol indicative of a presence of said text information and projecting said text information responsive to a feedback signal.
Claim 43
Dependent Claim
22 words
A method as claimed in claim 39 wherein said method further includes a step of manipulating a target reflector to said symbol.
Claim 44
Dependent Claim
64 words
A method as claimed in claim 40 wherein said calibration steps includes a step of projecting said laser beams from each of said laser projectors to a plurality of known locations on said object, calculating vector coordinates of each of said known locations and triangulating said vector coordinates establishing a relative 3D orientation and position of each said known locations relative to said object.
Claim 45
Dependent Claim
20 words
A method as claimed in claim 41 wherein said steps of triangulating vector coordinates is a closed-form inverse perspective transformation.
Claim 46
Dependent Claim
31 words
A method as claimed in claim 1 wherein said step of calibrating includes calibrating said two laser projectors to a reference platform and then calibrating said object to said reference platform.
Claim 47
Dependent Claim
28 words
A method as claimed in claim 43 wherein said reference platform is sized to receive said object and said object rests on said platform when undergoing said calibrating.
Claim 48
Dependent Claim
20 words
A method as claimed in claim 44 wherein said platform has a plurality of retroreflective targets at predetermined locations thereabout.
Claim 49
Dependent Claim
26 words
A method as claimed in claim 45 wherein at least four of said plurality of retroreflective targets reflect said laser beam when said objects rests thereon.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2000-08-25 | 2001-02-24 | 2001-08-26 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2004-08-25 | 2005-02-24 | 2005-08-26 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2008-08-25 | 2009-02-24 | 2009-08-26 | $7700.00 | Window Closed / Lapsed |