# US 11,906,288 B2 · Three-dimensional shape measuring method and three-dimensional shape measuring device

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- Number: US 11,906,288 B2
- Document ID: US11906288B2
- Status: Granted
- Kind: B2
- Application number: 17/475,387
- Filed: 2021-09-15
- Published: 2022-03-17
- Granted: 2024-02-20
- Earliest claimed: 2020-09-16
- Assignees: Seiko Epson Corporation
- Applicants: Seiko Epson Corporation
- Inventors: Shuji Narimatsu; Hirosada Horiguchi; Hiroshi Hasegawa
- Web page: https://patentgrep.com/patent/US11906288B2

## CPC

- G01B 11/2513: {with several lines being projected in more than one direction, e.g. grids, patterns}
- G01B 11/002: {for measuring two or more coordinates}
- G01B 11/0608: {Height gauges}
- G01B 11/2509: {Color coding}
- G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light
- G06T 7/60: Analysis of geometric attributes
- G06T 7/73: using feature-based methods
- G06T 2207/10024: Color image
- H04N 23/13: with multiple sensors
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION

## Abstract

A three-dimensional shape measuring method includes: projecting a first grid pattern based on a first light and a first full pattern based on a second light onto a target object, the first light and the second light being lights of two colors included in three primary colors of light; picking up, by a three-color camera, an image of the first grid pattern and the first full pattern projected on the target object, and acquiring a first picked-up image based on the first light and a second picked-up image based on the second light; and calculating height information of the target object, using the first picked-up image, and calculating position information of the target object, using the second picked-up image.

## Claims

### Claim 1

A three-dimensional shape measuring method comprising:
projecting a first grid pattern based on a first light and a first full pattern based on a second light onto a target object, the first light and the second light being lights of two colors included in three primary colors of light;
picking up, by a three-color camera, an image of the first grid pattern and the first full pattern projected on the target object, and acquiring a first picked-up image based on the first light and a second picked-up image based on the second light; and
calculating height information of the target object, using the first picked-up image, and calculating position information of the target object, using the second picked-up image.

### Claim 2 (depends on 1)

The three-dimensional shape measuring method according to claim 1, wherein
the first grid pattern and the first full pattern are projected by a three-color separation projector.

### Claim 3 (depends on 2)

The three-dimensional shape measuring method according to claim 2, wherein
the three-color separation projector is a three-panel projector.

### Claim 4 (depends on 1)

The three-dimensional shape measuring method according to claim 1, wherein
the three-color camera has a three-panel image pickup element.

### Claim 5 (depends on 1)

The three-dimensional shape measuring method according to claim 1, wherein
the first light is red light or blue light, and the second light is green light.

### Claim 6 (depends on 1)

The three-dimensional shape measuring method according to claim 1, further comprising:
projecting a second grid pattern based on a third light onto the target object, the third light being a light other than the first light and the second light, of lights of three colors included in the three primary colors of light;
picking up, by the three-color camera, an image of the first grid pattern, the second grid pattern, and the first full pattern projected on the target object and thus acquiring the first picked-up image, the second picked-up image, and a third picked-up image based on the third light; and
calculating the height information of the target object, using the first picked-up image and the third picked-up image, and calculating the position information of the target object, using the second picked-up image.

### Claim 7 (depends on 1)

The three-dimensional shape measuring method according to claim 1, further comprising:
projecting a second full pattern based on a third light onto the target object, the third light being a light other than the first light and the second light, of lights of three colors included in the three primary colors of light;
picking up, by the three-color camera, an image of the first grid pattern, the first full pattern, and the second full pattern projected on the target object and thus acquiring the first picked-up image, the second picked-up image, and a third picked-up image based on the third light; and
calculating the height information of the target object, using the first picked-up image, and calculating the position information of the target object, using the second picked-up image and the third picked-up image.

### Claim 8

A three-dimensional shape measuring device comprising:
a projector projecting a first grid pattern based on a first light and a first full pattern based on a second light onto a target object, the first light and the second light being lights of two colors included in three primary colors of light;
a three-color camera picking up an image of the first grid pattern and the first full pattern projected on the target object and acquiring a first picked-up image based on the first light and a second picked-up image based on the second light; and
a computing unit calculating height information of the target object, using the first picked-up image, and calculating position information of the target object, using the second picked-up image.