Scanning apparatus and method

Abstract

A scanning apparatus and method for generating computer models of three-dimensional objects comprising means for scanning the object to capture data from a plurality of points on the surface of the object so that the scanning means may capture data from two or more points simultaneously, sensing the position of the scanning means, generating intermediate data structures from the data, combining intermediate data structures to provide the model; display, and manually operating the scanning apparatus. The signal generated is structured light in the form of a stripe or an area from illumination sources such as a laser diode or bulbs which enable data for the position and color of the surface to be determined. The object may be on a turntable and may be viewed in real time as rendered polygons on a monitor as the object is scanned.

1. A scanning apparatus, comprising:
 a multiply-jointed arm having a plurality of arm segments and a data communication link to transmit data; and 
 a scanner mounted on an arm segment of the multiply-jointed arm for movement therewith to capture data from a plurality of points on a surface of an object, the scanner having a housing enclosing:
 (a) a light source operable to emit light onto the object surface; 
 (b) a light detector operable to detect light reflected from the object surface and to generate electrical image data signals in dependence upon the detected light; and 
 (c) a data processor operable to process the electrical image data signals to generate processed data of reduced quantity, the data processor being connected to the data communication link to transmit the processed data therealong. 
 
 
     
     
       2. A scanning apparatus according to  claim 1 , wherein the data processor is operable to generate the processed data of reduced quantity by processing the electrical image data signals to generate measurement data and processing the measurement data to reduce the quantity thereof. 
     
     
       3. A scanning apparatus according to  claim 1 , wherein the data processor is operable to generate the processed data of reduced quantity by filtering the data. 
     
     
       4. A scanning apparatus according to  claim 1 , wherein the data processor is operable to generate the processed data of reduced quantity by discarding data. 
     
     
       5. A scanning apparatus according to  claim 1 , wherein the communication link comprises a cable. 
     
     
       6. A scanning apparatus according to  claim 1 , further comprising a battery power supply within the apparatus to power the scanner. 
     
     
       7. A scanner mountable on a multiply-jointed arm for movement therewith to capture data from a plurality of points on a surface of an object, the scanner having a housing enclosing:
 a light source operable to emit light onto the object surface; 
 a light detector operable to detect light reflected from the object surface and to generate electrical image data signals in dependence upon the detected light; and 
 a data processor operable to process the electrical image data signals to generate processed data of reduced quantity, the data processor being connectable to a data communication link to transmit the processed data therealong. 
 
     
     
       8. A scanner according to  claim 7 , wherein the data processor is operable to generate the processed data of reduced quantity by processing the electrical image data signals to generate measurement data and processing the measurement data to reduce the quantity thereof. 
     
     
       9. A scanner according to  claim 7 , wherein the data processor is operable to generate the processed data of reduced quantity by filtering the data. 
     
     
       10. A scanner according to  claim 7 , wherein the data processor is operable to generate the processed data of reduced quantity by discarding data. 
     
     
       11. A scanning apparatus, comprising:
 a multiply-jointed arm having a plurality of arm segments; 
 a scanner mounted on an arm segment of the multiply-jointed arm for movement therewith to capture data from a plurality of points on a surface of an object, the scanner having a housing enclosing:
 (a) a light source operable to emit light onto the object surface; 
 (b) a light detector operable to detect light reflected from the object surface and to generate electrical image data signals in dependence upon the detected light; and 
 (c) a data processor operable to process the electrical image data signals to generate digital image data; and 
 
 a bus connected to the data processor of the scanner to transmit the digital image data. 
 
     
     
       12. A scanning apparatus according to  claim 11 , wherein the data processor comprises a frame grabber. 
     
     
       13. A scanning apparatus according to  claim 11 , further comprising a battery power supply within the apparatus to power the scanner. 
     
     
       14. A scanner mountable on a multiply-jointed arm for movement therewith to capture data from a plurality of points on a surface of an object, the scanner having a housing enclosing:
 a light source operable to emit light onto the object surface; 
 a light detector operable to detect light reflected from the object surface and to generate electrical image data signals in dependence upon the detected light; and 
 a data processor operable to process the electrical image data signals to generate digital image data, 
 the data processor being connectable to a bus to transmit the digital image data. 
 
     
     
       15. A scanner according to  claim 14 , wherein the data processor comprises a frame grabber. 
     
     
       16. A coordinate measuring machine, comprising:
 a multiply-jointed arm having a plurality of arm segments and a physical data path to transmit data; and 
 a scanner mounted on an arm segment of the multiply-jointed arm for movement therewith to capture data from a plurality of points on a surface of an object, the scanner having a housing enclosing:
 a light source operable to emit light onto the object surface; 
 a light detector operable to detect light reflected from the object surface and to generate electrical image data signals in dependence upon the detected light; and 
 a data processor operable to process the electrical image data signals to generate data defining coordinate measurements of the surface of the object, and to transmit the generated data on the physical data path. 
 
 
     
     
       17. A coordinate measuring machine according to  claim 16 , wherein the data processor is arranged to process the electrical image data signals to generate data defining coordinate measurements comprising three-dimensional positions. 
     
     
       18. A coordinate measuring machine according to  claim 16 , wherein the data processor is arranged to process the electrical image data signals to generate data defining coordinate measurements comprising points in three-dimensional space. 
     
     
       19. A coordinate measuring machine according to  claim 16 , wherein the data processor is arranged to process the electrical image data signals to generate data defining coordinate measurements comprising connected polygons in three-dimensional space. 
     
     
       20. A coordinate measuring machine according to  claim 16 , wherein the physical data path comprises a cable. 
     
     
       21. A coordinate measuring machine according to  claim 16 , further comprising a batter battery power supply within the apparatus to power the scanner. 
     
     
       22. A scanner mountable on a multiply-jointed arm for movement therewith to capture data from a plurality of points on a surface of an object, the scanner having a housing enclosing:
 a light source operable to emit light onto the object surface; 
 a light detector operable to detect light reflected from the object surface and to generate electrical image data signals in dependence upon the detected light; and 
 a data processor operable to process the electrical image data signals to generate data defining coordinate measurements of the surface of the object, and to transmit the generated data on a physical data path. 
 
     
     
       23. A scanner according to  claim 22 , wherein the data processor is arranged to process the electrical image data signals to generate data defining coordinate measurements comprising three-dimensional positions. 
     
     
       24. A scanner according to  claim 22 , wherein the data processor is arranged to process the electrical image data signals to generate data defining coordinate measurements comprising points in three-dimensional space. 
     
     
       25. A scanner according to  claim 22 , wherein the data processor is arranged to process the electrical image data signals to generate data defining coordinate measurements comprising connected polygons in three-dimensional space. 
     
     
       26. A laser scanning apparatus, comprising:
 a multiply-jointed arm having a plurality of arm segments and a data communication link to transmit data; and 
 a laser scanner mounted on an arm segment of the multiply-jointed arm for movement therewith to capture data from a plurality of points on a surface of an object, the laser scanner having a housing enclosing:
 (a) a laser to emit a laser stripe onto the object surface; 
 (b) a camera operable to generate images of laser light reflected from the object surface; and 
 (c) a data processor operable to process the images generated by the camera to generate processed data defining a position of the laser stripe in the images, the data processor being connected to the data communication link to transmit the processed data therealong. 
 
 
     
     
       27. A laser scanning apparatus according to  claim 26 , wherein:
 the camera is arranged to generate images comprising a plurality of pixels; and 
 the data processor is arranged to process the images generated by the camera to generate processed data defining a position of the laser stripe in the images to sub-pixel accuracy. 
 
     
     
       28. A laser scanning apparatus according to  claim 26 , wherein the data communication link comprises a cable. 
     
     
       29. A laser scanning apparatus according to  claim 26 , further comprising a batter battery power supply within the apparatus to power the laser scanner. 
     
     
       30. A laser scanner mountable on a multiply-jointed arm for movement therewith to capture data from a plurality of points on a surface of an object, the laser scanner having a housing enclosing:
 a laser to emit a laser stripe onto the object surface; 
 a camera operable to generate images of laser light reflected from the object surface; and 
 a data processor operable to process the images generated by the camera to generate processed data defining a position of the laser stripe in the images, the data processor being connectable to a data communication link to transmit the processed data therealong. 
 
     
     
       31. A laser scanner according to  claim 30 , wherein:
 the camera is arranged to generate images comprising a plurality of pixels; and 
 the data processor is arranged to process the images generated by the camera to generate processed data defining a position of the laser stripe in the images to sub-pixel accuracy. 
 
     
     
       32. A laser scanning apparatus, comprising:
 a multiply-jointed arm having a plurality of arm segments and a data communication link to transmit data; and 
 a laser scanner mounted on an arm segment of the multiply-jointed arm for movement therewith to capture data from a plurality of points on a surface of an object, the laser scanner having a housing enclosing: 
 (a) a laser to emit at least one laser stripe onto the object surface; 
 (b) a camera operable to generate images of laser light reflected from the object surface, each image comprising a plurality of pixels; and 
 (c) a data processor operable to process the images generated by the camera to perform measurements to sub-pixel accuracy, the data processor being connected to the data communication link to transmit results of the measurements therealong. 
 
     
     
       33. A laser scanning apparatus according to  claim 32 , wherein the data communication link comprises a cable. 
     
     
       34. A laser scanning apparatus according to  claim 32 , further comprising a batter battery power supply within the apparatus to power the laser scanner. 
     
     
       35. A laser scanner mountable on a multiply-jointed arm for movement therewith to capture data from a plurality of points on a surface of an object, the laser scanner having a housing enclosing:
 a laser to emit at least one laser stripe onto the object surface; 
 a camera operable to generate images of laser light reflected from the object surface, each image comprising a plurality of pixels; and 
 a data processor operable to process the images generated by the camera to perform measurements to sub-pixel accuracy, the data processor being connectable to a data communication link to transmit results of the measurements therealong. 
 
     
     
       36. An apparatus comprising:
 a scanner including a light source which emits light to an object so that the light reflects off the object, and a light detector which detects the reflected light, wherein the scanner outputs information indicated by the detected light;   a position detector detecting position of at least one of the object and the scanner at a timing corresponding to a timing at which the light detector detects the reflected light;   a processor determining a relative position of the object to the scanner using the information output by the scanner; and   a three dimensional data generator generating three-dimensional data of the object using the determined relative position and the information output by the position detector.    
     
     
       37. An apparatus comprising according to claim 36, wherein
 the timing at which the light detector detects the reflected light is at least one of different timings defined by a synchronization signal; and   the apparatus further comprising a trigger pulse generator receiving the synchronization signal and, in response thereto, outputting trigger pulses to the position detector, which indicate the timing at which the position detector is to detect the position.    
     
     
       38. An apparatus according to claim 37, wherein timing at which the trigger pulse generator outputs trigger pulses is a predetermined time behind timing at which the trigger pulse generator receives the synchronization signal.  
     
     
       39. An apparatus comprising according to claim 36, wherein the position detector is a remote position sensor.  
     
     
       40. An apparatus comprising according to claim 36, wherein the position detector calculates the position to thereby detect the position.  
     
     
       41. An apparatus comprising according to claim 36, further comprising:
 a probe which captures data from individual points on the object touched by the probe.    
     
     
       42. An apparatus comprising:
 a scanner including a light source which emits light to an object so that the light reflects off the object, and a light detector which detects the reflected light, so that the scanner thereby scans the object, wherein the scanner outputs information indicated by the detected light; and   a processor which, as the object is being scanned by the scanner, determines a changing relative positional relationship between the object and the scanner at a timing corresponding to a timing at which the light detector detects the reflected light, and   a three dimensional data generator generating three-dimensional data of the object using the information output by the scanner and the determined change in positional relationship.    
     
     
       43. An apparatus comprising:
 a scanner including a light source which emits light to an object so that the light reflects off the object, and a light detector which detects the reflected light, wherein the scanner outputs information indicated by the detected light;   a position detector detecting position of at least one of the object and the scanner at a timing corresponding to a timing at which the light detector detects the reflected light; and   a processor determining a relative position of the object to the scanner using the information output by the scanner, and generating three-dimensional data of the object using the determined relative position and the information output by the position detector.    
     
     
       44. An apparatus comprising:
 a scanner including a light source which emits light to an object so that the light reflects off the object, and a light detector which detect the reflected light, wherein the scanner outputs first information indicated by the detected light;   a position detector which processes second information related to position of at least one of the object and the scanner at a timing related to a timing at which the light detector detects the reflected light;   a processor which communicates with the position detector and the scanner, and which generates three-dimensional data of the object using the first information outputted by the scanner and the second information outputted by the position detector.    
     
     
       45. An apparatus according to claim 44, wherein
 the timing at which the light detector detects the reflected light is at least one of different timings defined by a synchronization signal; and   the apparatus further comprising a trigger pulse generator receiving the synchronization signal and, in response thereto, outputting trigger pulses, of which each indicates a timing at which the position detector is to detect the position, to the position detector.    
     
     
       46. An apparatus according to claim 45, wherein the timing at which the trigger pulse generator outputs trigger pulses is a predetermined time behind a timing at which the trigger pulse generator receives the synchronization signal.  
     
     
       47. An apparatus according to claim 46, wherein the position detector calculates the position to thereby detect the position.  
     
     
       48. An apparatus comprising:
 a scanner including a light source which emits light to an object so that the light reflects off the object, and a light detector which detects the reflected light, wherein the scanner outputs first information indicated by the detected light;   a processor unit which communicates with the scanner and which generates three-dimensional data of the object using the first information outputted by the scanner and second information relative to a position of at least one of the object and the scanner at a timing corresponding to a timing at which the light detector detects the reflected light.    
     
     
       49. An apparatus according to claim 48 further comprising:
 a position detector which detects relative position between the scanner and the object at the timing corresponding to the timing at which the light detector detects the reflected light.    
     
     
       50. An apparatus according to claim 48, wherein
 the timing at which the light detector detects the reflected light is at least one of different timings defined by a synchronization signal; and   the apparatus further comprising a trigger pulse generator receiving the synchronization signal and, in response thereto, outputting trigger pulses, of which each indicates a timing at which the position detector is to detect the position, to the position detector.    
     
     
       51. An apparatus according to claim 49, wherein
 the timing at which the light detector detects the reflected light is at least one of different timings defined by a synchronization signal; and   the apparatus further comprising a trigger pulse generator receiving the synchronization signal and, in response thereto, outputting trigger pulses, of which each indicates a timing at which the position detector is to detect the position, to the position detector.    
     
     
       52. An apparatus according to claim 50, wherein a timing at which the trigger pulse generator outputs trigger pulses is a predetermined time behind a timing at which the trigger pulse generator receives the synchronization signal.  
     
     
       53. An apparatus according to claim 51, wherein a timing at which the trigger pulse generator outputs trigger pulses is a predetermined time behind a timing at which the trigger pulse generator receives the synchronization signal.  
     
     
       54. An apparatus according to claim 52, wherein the position detector calculates the position to thereby detect the position.  
     
     
       55. An apparatus according to claim 53, wherein the position detector calculates the position to thereby detect the position.  
     
     
       56. A method for generating three-dimensional data of the object, comprising:
 irradiating light onto the object from a scanner;   detecting light reflected from a surface of the object by the scanner;   outputting information indicated by the detected light from the scanner;   detecting relative position of the object to the scanner at a timing related to a timing at which the reflected light is detected; and   generating three-dimensional data of the object using the detected relative position and the outputted information.    
     
     
       57. A method according to claim 56, further comprising:
 generating a synchronization signal from the scanner; and   generating a trigger pulse, in response to receiving the synchronization signal at a trigger pulse generator,   wherein the relative position of the object to the scanner is detected at a timing at which the trigger pulse is detected by the position sensor.    
     
     
       58. A method according to claim 57, wherein the trigger pulse is output at a timing which is a predetermined time behind a timing at which the trigger pulse generator receives the synchronization signal.  
     
     
       59. A method for generating three-dimensional data of an object, comprising:
 irradiating light onto the object from a scanner;   detecting light reflected from a surface of the object by the scanner;   outputting information indicated by the detected light from the scanner;   generating a trigger pulse synchronized with a timing at which the sensor detects light;   processing position information relative to the position of the scanner;   outputting the position information in response to the trigger pulse; and   generating three-dimensional data of the object using the position data and the information output from the sensor.