JP4608293B2 - Hand three-dimensional measuring apparatus and method - Google Patents

Description

  The present invention relates to an apparatus and method for measuring a thick object to be measured with high accuracy and high density, and in particular, a stereometer apparatus suitable for obtaining three-dimensional shape data of a hand necessary for manufacturing gloves according to an easy order. And a method.

  There are three sizes of glove products, S, M, and L, except for some sports gloves, and free sizes are common, but there is no written standard for this size notation, and it is unique by the manufacturer. The current situation is up to the decision. In the design of gloves, the work of creating a pattern is the work of determining the size. This pattern is still designed by hand-drawn drawings created by experienced craftsmen. For this reason, the correspondence of the part of the pattern of the glove was only understood empirically.

  On the other hand, there is an apparatus shown in FIG. 1 as an apparatus for solving the above problem. This device is composed of a monochrome CCD (Charge Coupled Diode) camera (100), a line (101), a linear slider (102), a lighting panel (103), and a control device (104). A monochrome CCD camera (100) The line (101) is fixed in a positional relationship and can be moved by the linear slider (102) while maintaining the positional relationship. The linear slider (102) moves parallel to the surface of the illumination panel (103) that is the measurement surface. The laser light from the line (101) and the illumination panel (103) are constantly irradiated, and only the linear slider (102) and the monochrome CCD camera (100) are controlled during measurement.

  In the conventional apparatus described above, the linear slider (102) is first moved to a predetermined position, and the monochrome CCD camera (100) is irradiated with the transmitted light from the illumination panel (103) and the laser light from the line (101). Image. The captured image is captured via an image input boat. Next, the positions of the monochrome CCD camera (100) and the line (101) are repeatedly moved to predetermined positions. Finally, based on the images obtained by multiple times of imaging, the personal computer (105) performs image processing to measure the three-dimensional shape and the measurement site.

However, the conventional method has a problem that it is necessary to extract the contour of the hand using the image on the back side of the hand and the three-dimensional measurement result, and to estimate each part of the hand based on the result. Specifically, there is a problem that the position of the finger must be estimated by paying attention to the curvature of the contour of the hand and using the fact that the part where the curvature changes greatly is the tip or root of the finger. It was.
Further, the boundary between the forearm and the wrist is similarly obtained using the curvature, but there is a problem that the estimation of the part is inaccurate only with the curvature.

Therefore, in addition to image recognition from the back side of the hand, image recognition from the palm side is performed. At that time, the hand is placed on a reference plate which is a transparent plate, and the palm side is imaged as a two-dimensional image. 3D images, and after processing those images, the back side image is used for stereoscopic measurement, and the image taken from the palm side is used for estimation of each part of the hand. 3D measurement method and apparatus have been proposed, characterized by combining images, measuring 3D dimensions from synthesized images, accumulating the measured 3D dimensions as 3D shape data and creating a database. (Patent Document 1).
JP 2004-3086 A

However, in the invention of Patent Document 1, improvements are desired in the following points.
(1) Ease of operation Sufficient measurement may not be possible without accurate hand positioning.
Conventionally, since the origin is obtained from a captured image of the camera, when the reference base (transparent acrylic plate) is contaminated, the origin may be recognized at a position out of place. In such a situation, even if the program is restarted, a different position may be used as the origin unless the dirt is removed. Therefore, in order to set the correct origin, it is necessary to visually confirm the position of the line light and determine the origin.
In addition, since the step motor is used to drive the mirror, if the motor is rotated by an external force during the program operation, the computer cannot recognize the rotation due to the external force, and the subsequent measurement may not be performed correctly.
(2) Safety In the device configuration using laser light, a mechanism for preventing laser light leakage has been demanded.
(3) Measurement accuracy In order to perform image processing, there was a case where a good quality original image could not be obtained. This is because it is difficult to separate the hand and the background image and there is an influence of external light.
(4) Measurement speed Since the apparatus of Patent Document 1 requires a measurement time of 2 to 3 minutes (excluding printing time) for one measurement, improvement of the measurement speed has been demanded.

  Accordingly, an object of the present invention is to provide a three-dimensional measurement apparatus and method capable of solving the above-described problems.

The present invention solves the above problem by adopting the following mechanism.
(1) Mechanism for improving operability By providing a convex stopper on the reference table (diffusion plate), the position to be measured is notified to the person being measured, or a reference line is drawn between the optical sensor and the reference table. By notifying the deviation by the combination of the measurement position, the measurement position is not displaced.
Further, the object to be measured (hand) is guided to an appropriate position by providing voice and / or screen display guidance for the operation procedure.
Regarding deviation due to contamination of the reference table, the line light generator is directly rotated by the servo motor, so the motor itself has rotation (position) information, and the origin is obtained from this rotation information of the motor. The origin can be obtained regardless of the state of the reference table. Moreover, the impact resistance from the outside is improved by using a servo motor.
With regard to impact resistance, since the motor itself is positioned with position information, there is a function to keep the angular position specified by the program even when an external force is applied. Is less likely to occur.

(2) Mechanism for improving safety a. Restriction of line optical path by software A control program restricts the operating range of the laser optical path so that the line optical path does not go outside the observation equipment.
I. Restriction of the laser beam path by hardware A light leakage prevention plate is installed on the same straight line between the laser light source and the insertion hole, and the laser beam is emitted outside the observation equipment even if an unexpected operation occurs due to an abnormality in the control program or a setting error. Do not.
Further, as shown in FIG. 2, the swing angle is physically limited by providing a stopper.

(3) Mechanism for improving measurement accuracy An LED (Light Emitting Diode) is used in combination with a diffuser as a transmissive light source. Specifically, the light sources are averaged by arranging the LED light sources so that the halos on the diffusion plate are substantially adjacent to each other.
When the shapes of the objects to be measured are substantially the same, the LED light source may be arranged along the outline of the planar shape of the objects to be measured. In addition, the influence of disturbance light is minimized by attaching an optical filter to the imaging means.

(4) Mechanism for improving measurement speed By making the measurement pitch variable, the measurement pitch is reduced by increasing the measurement density by reducing the measurement pitch, and by increasing the measurement pitch at the part where measurement density is not required. Time can be shortened.
In addition, the accuracy is not improved by increasing the measurement time, but the measurement time is shortened by increasing the measurement density only at the site where measurement accuracy is required, so that the accuracy is not lowered.

  That is, the first invention is a diffusion plate for placing an object to be measured, one or more illumination light sources installed under the diffusion plate, and a light projection device for irradiating the diffusion plate with line light from above And an imaging means disposed above the object to be measured, an object insertion hole, a control unit, and an image processing unit, wherein the imaging means is alternatively made The irradiation of the line light and the illumination light source is imaged, and the image processing unit calculates two-dimensional shape information of the measurement object from the image at the time of illumination light source irradiation, and the measurement object from the image at the time of line light irradiation. This is a three-dimensional measuring device characterized in that the three-dimensional measurement information of the object to be measured is calculated from these pieces of information.

  A second invention is characterized in that, in the first invention, the illumination light source is arranged such that outer peripheries of the optical rings on the diffusion plate are substantially adjacent to each other.

  According to a third invention, in the first or second invention, a central wavelength of the light projecting device and the illumination light source is substantially the same, and the imaging unit includes a filter having a transmission wavelength region at the central wavelength. It is characterized by.

  According to a fourth invention, in any one of the first to third inventions, the line light is a line laser light, and the illumination light source is an LED light source.

  A fifth invention is characterized in that, in any one of the first to fourth inventions, the diffusion plate is polyacetal.

  According to a sixth invention, in any one of the first to fifth inventions, the invention further includes a stopper for controlling a rotation angle of the light projecting device.

  A seventh invention is characterized in that, in any one of the first to sixth inventions, a light leakage preventing plate is further provided on substantially the same straight line as the light projecting device and the insertion hole.

  An eighth invention is characterized in that in any one of the first to seventh inventions, there is further provided a screen panel for displaying imaging of the measurement object in real time.

  According to a ninth invention, in any one of the first to eighth inventions, the control unit controls the driving of the light projecting device based on preset information.

  A tenth invention is characterized in that, in any one of the first to ninth inventions, the control section makes the measurement pitch of the object to be measured variable based on preset information.

  An eleventh invention is characterized in that, in any one of the first to tenth inventions, the diffusion plate has a placement reference, and further includes a sensor for detecting a deviation between the measurement object and the placement reference. To do.

  According to a twelfth aspect of the invention, in any one of the first to eleventh aspects, a placement location confirmation mirror is further provided between the diffusion plate and the measurement object insertion hole.

  A thirteenth invention is characterized in that, in any one of the first to twelfth inventions, the object to be measured is a hand or a foot.

  In a fourteenth aspect of the present invention, a first step of irradiating an object to be measured with illumination light from below to capture a planar image, extracting a contour of the object to be measured from the planar image, and calculating a two-dimensional distance, The measurement object is irradiated with line light from above to capture a stereoscopic image, the measurement object image is cut out from the stereoscopic image, the position of the center of gravity is calculated, and the height is calculated. This is a three-dimensional measurement method including a third step of calculating a three-dimensional shape based on the calculation result of the second step.

  In a fifteenth aspect based on the fourteenth aspect, the mounting position is measured when the object to be measured is mounted, and if the measured object is not at the reference position, the voice and / or text / image information is displayed on the screen panel. It has the process of notifying by this.

  According to a sixteenth aspect, in the fourteenth or fifteenth aspect, the object to be measured is a hand or a foot.

  In the present invention, by using the LED light source and the diffusion plate, it is possible to minimize the number of LED light sources that originally have low power consumption, and it is not necessary to use an expensive surface emitting light source. Excellent.

Further, by using the diffusion plate, it is not necessary to take a distance between the light source and the reference surface on which the hand is placed in order to diffuse the light, so that the apparatus configuration can be reduced in size.
Even in an apparatus configuration using laser light, safety is ensured by providing a mechanism for preventing leakage.
Furthermore, the measurement time can be greatly shortened compared with the conventional apparatus.

The best mode for carrying out the present invention will be described with reference to the drawings.
1. Device Configuration First, the basic configuration of a device according to the present invention will be described with reference to FIGS. As shown in FIG. 3, the apparatus according to the present invention includes a display screen / touch panel (6) for performing a guidance announcement to a person to be measured, a CCD camera for imaging (1) (not shown), and an object to be measured. LED light source (37) that illuminates from below, diffuser plate (22), line laser light projector (37) that illuminates the object to be measured from above, and servo motor (8) for driving the projector Is done. Moreover, although not shown in figure, it also has an audio | voice output apparatus (6) which notifies a to-be-measured person the mounting condition of a to-be-measured object.

FIG. 4 is a side view of the apparatus according to the present invention. The CCD camera (1) is equipped with a filter (39), which reduces the noise caused by ambient light by transmitting only light with a wavelength of the center wavelength (eg, 635 nm) ± 10 nm of the irradiated laser light. Yes.
The housing (20) for housing each member is provided with an insertion port (21) for inserting a measurer's hand, and a diffusion plate (22) for placing the hand to be measured is placed inside the housing (20). ) And a wrist stopper (38), which is a convex reference line for the measurement subject to determine the position of the hand, is provided on the diffusion plate (22). The line projector (36) disposed at the upper part of the housing (20) is a known laser light source (for example, LM-6 manufactured by Audio-Technica Co., Ltd.), and is rotationally controlled by a servo motor (8). The

  FIG. 5 is a view of the diffusion plate (22) viewed from above. 25 LED light sources (for example, Lumileds Lighting's HP-WT-MH or Kingbright's L-7676CSEC-H) are arranged to obtain the external shape of the hand being measured. This shows a state in which the light of the light is diffused. As a material of the diffusion plate (22), for example, polyacetal can be considered. This is because it is a crystalline plastic and has high transparency and large light diffusion.

  FIG. 6 is a cross-sectional view of the three-dimensional measuring apparatus according to the present invention, which is an example of a configuration in which a light leakage prevention plate (41) is provided so that line light does not go out of the housing (20). The laser light emitted from the line projector (36) is controlled by the software and stopper so as not to irradiate the outside of the diffuser plate (22). Light leakage can be prevented.

FIG. 7 is a block diagram of the system of the three-dimensional measuring apparatus according to the present invention. The apparatus according to the present invention includes a general-purpose personal computer as a part of its constituent elements, and controls the measurement apparatus. In addition, the measurement data acquired by the measurement apparatus is transferred to the database server via the Internet or LAN, and the CD. Functions such as data linkage using a storage medium such as -RW and provision of a personal data storage medium to the measurement subject can be realized.
The program for controlling the three-dimensional measuring device is a personal data input program for inputting personal information of the person to be measured, and a motor drive command for irradiating laser light regularly, and controls the operation of the measuring device. The imaging program includes an imaging program and an arithmetic program for converting a captured image into shape data, calculating a necessary dimension based on measurement data, and storing the calculation result in a data area.
Further, based on personal data or measurement data additionally input at the time of measurement, it is also possible to accumulate average, maximum, and minimum data within a search or search setting range in addition to the measurement result.

  The measuring device has a registered secret key, and when the collected data is recorded, the electronic signature as a proof collected by the measuring device is added and the data is registered. It is preferable that the database is composed only of measurement data whose signature is confirmed by the corresponding public key.

2. Imaging Method Stereoscopic imaging is performed by a conventionally known “light cutting method” (for example, “Three-dimensional image measurement” by Shoji Iguchi and Kosuke Sato “Sheraido”). In the conventional method, each part of the hand is estimated from the result of extracting the contour line of the hand using the back side image and the three-dimensional measurement result. Specifically, attention is paid to the curvature of the contour of the hand, and the position of the finger is estimated using the fact that the portion where the curvature greatly changes is the tip or root of the finger. Similarly, the base of the hand was also calculated using the curvature. However, in the present invention, three-dimensional measurement is performed using line light, and the contour line is extracted using an image of a shadow when the LED light source is irradiated from the back side of the diffusion plate.

As shown in FIG. 8, the method of photographing one slit light with a camera by the “light cutting method” and obtaining the height from the image is directed to the angle θ ₁ between the line light and the target surface, and the slit light. When the angle θ ₂ formed between the line of sight of the camera and the target surface when irradiated and the distance between the line light irradiation position on the target surface and the line of sight position is L, the height D is obtained by the following equation (1).

Further, in the case of a configuration in which a plurality of line lights are irradiated, the above formula 1 is applied to each line light to obtain the height. It is necessary to determine which line light the light corresponds to. In order to solve this problem, a coding pattern method is used, or constraints on the shape of the hand are used. Here, θ ₁ can be obtained from the rotation angle of the mirror and the line light, and θ ₂ can be obtained from the pixel of the CCD camera. Further, L can be easily obtained by storing in advance the initial position of which pixel of the CCD camera each line light irradiated on the target surface is seen.

Therefore, by obtaining the initial positions θ ₁ and θ ₂ in advance by initial setting, it is possible to obtain the height simply by examining which pixel of the camera the line light is seen at the time of measurement.

  A hand placed on the diffuser so that the palm side is in contact takes a two-dimensional image when irradiating LED light from the back side of the diffuser, a three-dimensional image is taken when irradiating line light, and these images are processed by image processing. Then, the three-dimensional dimensions are measured and a three-dimensional dimension is measured, and a glove paper pattern is created based on the measurement result, or a database for manufacturing the glove paper pattern is stored.

  According to the present invention, it can be applied to obtain three-dimensional shape data of a hand or a necessary length for producing a glove, for example, by an easy order. Therefore, a hand shape image can also be taken, and a hand part necessary for glove manufacture can be measured easily and accurately. These measurement data can be accumulated to contribute to the creation of basic data that quantitatively indicates, for example, the shape of an adult male hand. Since normal camera imaging has few features for distinguishing the boundary between the forearm and wrist, an announcement is made to have the hand placed at the reference position before imaging.

3. Image Processing Next, an image processing method will be described with reference to FIGS.
《Planar image processing》
The types of measurement dimensions based on the measurement using the planar image include the length of each finger, the length of the hand, etc., and the position of the image where each point captured by measuring A and B in FIG. The position of each pixel can be converted into the XY coordinate system, and the processing of the plane image is performed after converting the position of each pixel into plane data converted into the XY absolute coordinate system. It should be noted that more points may be provided for lens aberration correction. In addition, when capturing a stereoscopic image, the line light is reflected on the diffuser plate to prevent the measurement from being obstructed during stereoscopic measurement. It is preferable to perform a masking operation.

《Stereoscopic image processing》
In capturing a three-dimensional image, the dimensions A and B on FIG. 10 are measured in advance as in the case of a planar image, and the position of the pixel where each captured point is copied from the reference point to the XYZ absolute coordinate system. Make sure that position conversion is possible. Further, as in the case of capturing a planar image, more points may be provided for correcting the aberration of the lens.

《Image composition and three-dimensional measurement》
As shown in FIG. 11, the planar image and the three-dimensional image that have been subjected to the above processing are data-linked through the following steps.
(i) Initial setting: Place some points on the board and check in advance which pixel of the CCD camera it is.
(ii) Corresponding to pixel position: From (i), it is possible to specify at which position of each pixel of image pickup at the time of line light irradiation the point visible at each pixel of image pickup at the time of LED light irradiation is specified.
(iii) Specify / select measurement position / location with LED light irradiation image
(iv) Measure 2.5 dimensions (each 2D position and its height) by calculation with imaging at the time of line light irradiation.
(v) Consistency between the coordinate value at the time of line light irradiation and the coordinate value at the time of LED light source irradiation is obtained by correction according to (i) and (ii).
(vi) From the height at the measurement position of (iii), a contour of a three-dimensional cross section is drawn to obtain a necessary dimension. Therefore, since both the stereoscopic data measured from the stereoscopic image and the planar shape data measured from the planar image are in the XY or XYZ absolute coordinate system from the reference point, the data can be simply combined.

  The outline of a cross section having a necessary three-dimensional shape dimension is extracted from the feature points set by the processing of the planar image, and the outer peripheral dimension is measured. The figure shows the circumference that connects the point on the wrist side divided into three parts between the base of the little finger and the wrist, and the point that bisected the outer base of the index finger and the base of the thumb in the hand size. Display long measurements. Note that the shadow on the palm side where the line light does not strike is dealt with by using an elliptical approximation.

4). Measurement Method Next, a method for measuring the three-dimensional shape of the hand using the three-dimensional measurement apparatus of the present invention will be described with reference to the flowchart of FIG.
First, as shown in FIG. 13, notes regarding the position where the hand is placed are displayed on the screen as characters and illustrations, and at the same time, a voice announcement flows (STEP 1). The person to be measured places the palm as the object to be measured on the diffusion plate (STEP 2). At this time, as shown in FIG. 14, the state of the hand on the diffusion plate is displayed on the screen in real time, and the measurement subject can confirm whether or not the position of the hand is correct (STEP 3). The person to be measured (or the third party who performs the operation) determines whether the hand is in the correct position (STEP 4), and corrects the position of the hand that is the object to be measured if the position is inappropriate (STEP 4) STEP5). When the hand placement position is correct, the signal input device controls the line light generator and the servo motor to capture a three-dimensional image while irradiating the line light from above (STEP 6). At this time, the rotation pitch of the servo motor is set in advance, the portion requiring accuracy (for example, the back of the hand) has a fine pitch (for example, 0.288 °), and the portion not requiring accuracy (for example, the finger portion) is rough. Line light is irradiated at a pitch (for example, 0.720 °), and 80 images of 80 line lights in total are acquired.

  After obtaining the stereoscopic image, the illumination light source arranged under the diffusion plate is turned on to capture a planar image (STEP 7). First, the contour of the hand is calculated from the captured planar image. Specifically, a hand contour line (region) is extracted by subtracting an image with a hand from an image captured without a hand and binarizing the resulting image. The estimation method of the finger part is the curvature of the contour line as before, the boundary between the forearm and wrist, the starting point on the thumb side of the hand enclosure, the starting point on the thumb side of the hand enclosure, and the boundary between the forearm and wrist: stopper The end on the wrist side of the part that is in close contact with. Based on these calculation results, a two-dimensional distance between the estimated parts is calculated (STEP 8).

  Next, in order to remove the reflection component of the line light generated on the diffusing plate other than the hand region, a process of cutting out only the hand region image from the previous 80 images is performed. When the line light image of only the hand region is obtained, the line light is extracted from the line light image to obtain the position of the center of gravity. Specifically, after performing the second-order difference process that is sensitive to the horizontal component, the weighted average of the luminance values in the vertical direction is performed on the component obtained by the binarization process to obtain the barycentric position. Further, the viewing angle of the camera is obtained from the obtained position of the center of gravity, and the height direction is obtained by substituting it into the equation (1) (STEP 9). In addition, the order of STEP7-9 may be performed in the order of 7-8-6-9, and may be performed in the order of 7-6-8-9.

As a result of the above processing, height measurement, position estimation of each part, and two-dimensional distance between the estimated parts are obtained. Therefore, for a three-dimensional shape value such as a hand enclosure, the outer dimension of the contour of the three-dimensional cross section is obtained from the measured height and the position of each part (STEP 10). Finally, the obtained measurement results and images are displayed, and the measurement data is stored in the external storage device, whereby one person's shape measurement is completed (STEP 11).
According to the present invention, measurement can be performed in about 20 to 30 seconds for imaging and about 25 to 30 seconds for calculation.

In addition, although the said description specialized in the description regarding the three-dimensional measurement of a hand, it cannot be overemphasized that a three-dimensional measurement can be performed also about a leg | foot with the completely same method.
Examples of the present invention will be described below, but the present invention is not limited to the following examples.

FIG. 15 is a block diagram of an apparatus according to the first embodiment. In FIG. 15, (13) uses a high-brightness LED arranged in a matrix as a light source, and a cylindrical lens (14) and a convex lens (15) as a path. LED slit light projector (18) that is arranged and generates slit light (16) at a set interval near the back of the hand, (17) is a reflector that refracts the slit light from the projector toward the back of the hand (8) is a mirror driving motor for generating a portion where slit light cannot be received when the reflecting mirror is fixed.
A reference line is drawn on the diffuser plate (22), and the left and right optical sensors (5) send a signal to the CPU when there is a deviation in the position of the measurement subject's hand. The user is prompted to correct the position based on the image / character information displayed on the screen panel.

The LED slit light projector (18), which is arranged in the upper part of the housing (20) and irradiates multiple slit lights (16) on the upper part of the back of the hand, is more direct from the high-brightness LEDs arranged in a matrix The cylindrical lens (14) and the convex lens (15) are diffused in one direction so as to form a plurality of parallel lines near the back of the hand, which is the object to be inspected, and converged in the direction crossing it. Is reflected by a reflecting mirror (17) attached to the motor (8) on the light path, and can be measured over the entire hand by the control of the motor (8).
According to the LED slit projector (18), the four slit lights (16) made of LEDs are turned downward by the reflecting mirror (17) and irradiated to the hand. Since the slit light (16) is moved in the left-right direction in FIG. 15 by rotating the reflecting mirror (17), it is possible to irradiate the entire hand with the slit light (16), and the rotating reflecting mirror By using (17), it becomes possible to arrange the LED light source (13), cylindrical lens (14), convex lens (15), reflector (17), CCD camera (1) at almost the same height. The optical system for measurement can be configured compactly.

In addition, the reflector driving motor (8) to be indexed, the reflecting mirror driving unit that drives the motor, the input device that outputs the reflecting mirror angle signal to the reflecting mirror driving unit, and the angle of the reflecting mirror (17) A mirror drive unit that outputs a reflector angle signal according to the light source, and lighting control of the LED of the LED slit light projector (18) based on the reflector angle signal from the reflector drive unit, and a three-dimensional image is captured . The LED light source (37) is alternatively controlled to be turned on with the LED slit projector (18), and a planar image is taken. In addition, a band-pass filter (not shown) that allows only the light of the LED slit light projector (18) and LED light source (37) to pass through is installed in front of the CCD camera (1), and is affected by external light. Therefore, stable imaging can be performed. In this device, an orange high-brightness LED is used, and a red transmission filter is used on the front of the CCD camera (1), but if a high-brightness infrared LED and an infrared light filter are used as a bandpass filter, Furthermore, it is less susceptible to the influence of external light.
In addition, although the present Example shows the structural example using the light projector using a reflecting mirror, it is good also as a system which drives a light projector directly with a motor (8).

The present embodiment is a three-dimensional measurement apparatus having a configuration in which a mirror for confirming the placement location of an object to be measured is provided.
As shown in FIG. 16, a mounting location confirmation mirror (4) is provided at a position lower than the diffusion plate (3) in front of the diffusion plate (3) (inspected person side). 3) The inspector or the person to be inspected can visually recognize the portion protruding from the diffusion plate (3) of the hand of the person to be inspected placed on the top.
The examinee who placed his / her hand on the diffuser (3) moves his / her hand back and forth while looking at the image projected on the placement location confirmation mirror (4), so that the boundary between the palm and wrist is visible. Thus, the palm can be placed at an accurate position of the diffusion plate.
In addition, it is preferable that the mounting location confirmation mirror (4) is provided with the front inclined low so that an image can be easily seen.

According to the present invention, as shown in FIG. 17, an easy order system is constructed in which a user measures the size of a hand with a measuring instrument in a store, transmits measurement data via the Internet, and manufactures a product based on the measurement data. Is possible.
Further, the present invention can be applied not only to three-dimensional measurement of hands or feet, but also to any object to be measured that requires three-dimensional measurement. Other application scenes of the present invention include replicating machine parts that have already been discontinued, creation of prosthetic hands and orthopedic legs in orthopedics, and collection of original data of computer graphics.

It is the schematic of the conventional hand three-dimensional measurement apparatus. It is explanatory drawing of the leakage prevention means of a laser beam. It is the schematic of a three-dimensional measuring device of a hand. It is detail drawing of the three-dimensional measurement apparatus of a hand. It is drawing which looked at the diffusion plate from the upper part. It is explanatory drawing of the leakage prevention board of a line light. It is a block diagram of Example 1 of a solid measurement device of a hand. It is explanatory drawing of a light cutting method. It is processing explanatory drawing of a plane image. It is processing explanatory drawing of a stereo image. It is explanatory drawing of the composition method of an image. It is a processing procedure in three-dimensional measurement. It is an example of the announcement screen before arranging a hand. It is an example of the announcement screen after arrange | positioning a hand. 1 is a configuration diagram of an apparatus according to Embodiment 1. FIG. FIG. 6 is a configuration diagram of an apparatus according to a second embodiment. It is an application model of an easy order system using the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 CCD camera for image pick-up 4 Mirror for mounting location confirmation 5 Optical sensor 6 Sound part 7 Screen panel 8 Positioning motor
11 CPU
12 memory
13 Light source
14 Cylindrical lens
15 Convex lens
16 Slit light
17 Reflector
18 Slit light projector
20 enclosure
21 Insertion hole
22 Diffuser
36 line light projector
37 LED light source
38 Wrist stopper
41 Light leakage prevention plate
100 monochrome CCD camera
101 lines
102 Linear slider
103 Lighting panel
104 Control device
105 PC

Claims (11)

A reference table having a translucent diffuser plate on which the palm side is placed, an illumination light source disposed below the reference table, a light projecting device for irradiating the reference beam from above, and an upper part of the reference table A three-dimensional measuring device for a hand for manufacturing a glove comprising an imaging means arranged in a body and a body having a hand insertion hole,
The reference table has a wrist locking member that defines the boundary between the forearm and the wrist,
First means for irradiating line light multiple times while changing the irradiation angle from the light projecting device and acquiring a plurality of line light images including each finger and back part of the hand by the imaging means;
Second means for irradiating illumination light from an illumination light source and obtaining a plane shadow image of a hand by an imaging means;
Third means for calculating two-dimensional shape information of the hand including contour line information and finger part position estimation information based on the planar shadow image;
A fourth means for calculating contour information of the cross section of the hand for each line light image;
A fifth means for calculating a boundary between the forearm and the wrist based on the position of the wrist locking member;
A three-dimensional measurement apparatus for a hand, comprising: sixth means for calculating three-dimensional measurement information of the hand from the two-dimensional shape information and each of the outline information.   The three-dimensional hand of claim 1, wherein the reference table is a diffusion plate having a reference point, and includes means for converting the planar shadow image and each line light image into an absolute coordinate system based on the reference point. Measuring device.   The three-dimensional measuring apparatus for a hand according to claim 1 or 2, wherein the illumination light source includes a plurality of LED light sources arranged so that outer peripheries of halos on the reference table are substantially adjacent to each other.   4. The three-dimensional measuring apparatus according to claim 1, wherein the first means irradiates the line light with a rough pitch to the finger part and a fine pitch to the other part. .   The fourth means cuts out only the image of the hand region from the line light image, extracts the line light from the image of the hand region, obtains the position of the center of gravity, and obtains the line-of-sight angle of the imaging means from the position of the center of gravity. The three-dimensional measuring apparatus according to claim 1, wherein height information is calculated for each line light image by a light cutting method. A method for performing three-dimensional measurement of a hand for manufacturing a glove by placing a palm side on a reference table having a translucent diffuser plate and imaging by an imaging means disposed above the reference table,
The reference table has a wrist locking member that defines the boundary between the forearm and the wrist,
Line light including each finger and back part of the hand by the imaging means by irradiating the hand placed on the reference table a plurality of times with the line light from the light projecting device arranged above the reference table while changing the irradiation angle A first step of acquiring a plurality of images;
A second step of irradiating illumination light from an illumination light source disposed below the reference table and acquiring a plane shadow image of the hand by the imaging means;
A third step of calculating two-dimensional shape information of the hand including contour line information and finger part position estimation information based on the planar shadow image;
A fourth step of calculating the contour information of the cross section of the hand for each line light image;
A fifth step of calculating a boundary between the forearm and the wrist based on the position of the wrist locking member;
A three-dimensional measurement method for a hand comprising a sixth step of calculating three-dimensional measurement information from the two-dimensional shape information and each contour information. The reference table is a diffusion plate having a reference point,
In the first step, each line light image is converted into an absolute coordinate system based on the reference point ,
The three-dimensional measurement method for a hand according to claim 6, wherein, in the second step, the planar shadow image is converted into an absolute coordinate system based on the reference point .   The three-dimensional measurement method for a hand according to claim 6 or 7, wherein the illumination light source includes a plurality of LED light sources arranged so that outer circumferences of halos on the reference table are substantially adjacent to each other.   9. The three-dimensional measurement method according to claim 6, wherein in the first step, the line light is irradiated with a rough pitch to the finger portion and a fine pitch to the other portion.   In the fourth step, only the image of the hand region is cut out from the line light image, the line light is extracted from the image of the hand region, the centroid position is obtained, and the line-of-sight angle of the imaging unit is obtained from the centroid position. 10. The three-dimensional measurement method according to claim 6, wherein height information is calculated for each line light image by a light cutting method.   A glove manufacturing method comprising manufacturing a glove using a glove pattern created based on a three-dimensional dimension of a hand obtained by the three-dimensional measurement method according to claim 6.