JP6968046B2 - 3D measurement system, 3D measurement device, and control program - Google Patents

Description

The present invention relates to a handheld and available medical 3D measuring system, a 3D measuring device, and a control program.

In the medical field, after measuring the three-dimensional shape of the affected area using a three-dimensional measuring device, a therapeutic instrument suitable for the affected area may be manufactured based on the measurement result. Examples of the method for measuring the three-dimensional shape include an optical cutting method, a focusing method, a spatial code method, a phase shift method, a stereo method, a photogrammetry method, and a SLAM method.

Patent Document 1 (Japanese Unexamined Patent Publication No. 2015-083978) provides a handheld scanner for acquiring and / or measuring a 3D geometry of at least a part of the surface of an object by using a focal pattern projection technique. Disclose.

Japanese Unexamined Patent Publication No. 2015-0837978

The handheld scanner disclosed in Patent Document 1 is a device for scanning the surface of an object based on a focusing method of acquiring a three-dimensional shape by periodically changing the focus of the camera. However, Patent Document 1 does not mention changing the measurement accuracy of the three-dimensional shape.

The affected area of the patient includes a region having a simple shape and requiring measurement accuracy and a region having a complicated shape and requiring measurement accuracy. Therefore, it is required to provide a measuring device capable of changing the measurement accuracy between scanning an area requiring high measurement accuracy and scanning an area not requiring high measurement accuracy when measuring the shape of the affected area. Be done.

The present invention has been made to solve this problem, and an object of the present invention is to provide a three-dimensional measuring device, a three-dimensional measuring system, and a control program capable of changing the measurement accuracy.

The handheld and usable three-dimensional measuring device for medical use according to the present invention includes a light collecting unit for capturing light reflected on an object, a lens for passing light captured from the light collecting unit, and a predetermined period. 1 Without changing the change mechanism that changes the focal position of the lens by reciprocating the lens, the detection unit that detects and reads the light that has passed through the lens, and the frame rate at which the detection unit reads the detection result. The measurement accuracy is changed by changing the displacement amount of the focal position per period from the first displacement amount to the second displacement amount smaller than the first displacement amount , and the change mechanism is controlled according to the changed second displacement amount. Includes a control unit.

As a result, it is possible to provide a three-dimensional measuring device capable of changing the measurement accuracy.

It is a schematic diagram which shows the structure of the 3D measurement system which concerns on 1st Embodiment. It is a schematic diagram which shows the XZ cross section of a 3D scanner. It is a figure which shows an example of the functional structure of a 3D measurement system. It is a figure which shows the time-dependent change of the position of a lens. It is a figure for demonstrating the relationship between the measurement accuracy and the displacement amount of a focal position. It is a figure which shows the structure of the change mechanism. It is a schematic diagram which shows the YZ cross section of a drive part. It is a schematic diagram which shows the XZ cross section of a drive part. It is a figure for demonstrating the movement of the drive part when a lens makes a reciprocating linear motion. It is a figure for demonstrating the movement of the drive part when a lens makes a reciprocating linear motion. It is a schematic diagram which shows the internal structure of a 3D scanner. It is a schematic diagram which shows the internal structure of the 1st block provided in 3D scanner. It is a figure which shows the schematic block diagram of the focal variable part provided in the 3D scanner which concerns on 2nd Embodiment. It is a figure which shows the schematic block diagram of the focal variable part provided in the 3D scanner which concerns on 3rd Embodiment.

The present embodiment will be described with reference to the drawings. In the present embodiment, as one exemplary embodiment of the three-dimensional measurement system, a system for measuring the three-dimensional shape of teeth in the oral cavity will be described. The three-dimensional measurement system according to the present embodiment is not limited to the system for measuring the inside of the oral cavity, and can be applied to other three-dimensional measurement systems having the same configuration, for example, other than the inside of the oral cavity. It can also be applied to measurement systems because it acquires the three-dimensional shape inside the outer ear by imaging the inside of the human ear. The measurement system exemplified by the three-dimensional measurement system according to the present embodiment can be applied not only to dentistry but also to medical treatment of all medical departments such as oral surgery, ophthalmology, otolaryngology, radiology, and veterinary medicine. Is. Also, practice includes diagnosis and treatment.

<First Embodiment>
(A. 3D measurement system)
FIG. 1 is a schematic diagram showing the configuration of the three-dimensional measurement system 1 according to the first embodiment. FIG. 2 is a schematic view showing an XZ cross section of the three-dimensional scanner 100. The three-dimensional measurement system 1 includes a three-dimensional scanner 100, a control device 200, a display device 300, and a power supply 400. The three-dimensional measurement system 1 corresponds to one embodiment of the "three-dimensional measurement system".

The three-dimensional scanner 100 corresponds to one embodiment of the "three-dimensional measuring device". The three-dimensional scanner 100 acquires the three-dimensional shape of an object 99 such as a tooth by using the principle of the focusing method.

As shown in FIG. 1, the three-dimensional scanner 100 includes a probe 10 provided with a daylighting unit 12 for capturing light reflected by an object 99, a lens 14 provided inside a housing 77, and an optical sensor 16. , A light source 18, a first drive unit 20, a counter weight 24, a second drive unit 26, a prism 72, and a control unit 30. In addition to these, the three-dimensional scanner 100 reflects light toward the object 99 and the beam splitter that separates the light from the light source 18 to the object 99 and the light from the object 99 to the optical sensor 16. It may include a reflector or the like. In the embodiment described below, for convenience of explanation, the optical axis of the lens 14 is indicated by a virtual straight line l, the axis parallel to the straight line l is the X axis, and the axis perpendicular to the straight line l is the paper surface in FIG. The upward axis is referred to as the Z axis, and the axis perpendicular to each of the X axis and the Z axis is referred to as the Y axis.

The three-dimensional scanner 100 is a hand-held member in which a housing is composed of a probe 10 and a housing 77.

The probe 10 is inserted into the oral cavity and projects light having a pattern emitted from the light source 18 (hereinafter, also simply referred to as a pattern) from the lighting unit 12 toward an object 99 such as a tooth, and the pattern is projected. The reflected light from the object 99 is taken in from the daylighting unit 12, and the taken-in reflected light is guided to the lens 14. That is, the daylighting unit 12 corresponds to one embodiment of the “daylighting unit”.

The probe is removable from the main body. Therefore, as an infection control measure, the surgeon can remove only the probe that may come into contact with the living body from the main body and perform sterilization treatment (for example, treatment in a high temperature and high humidity environment).

The lens 14 corresponds to one embodiment of the "lens". The lens 14 is a member that allows the reflected light from the object 99 taken in from the daylighting unit 12 to pass through the reflecting unit 66 (see FIG. 2) provided in the probe 10.

The optical sensor 16 corresponds to one embodiment of the "detection unit". The optical sensor 16 detects the light that has passed through the lens 14 and reads out the detected light. The optical sensor 16 is typically a CCD image sensor (Charge Coupled Device image sensor) using a photodiode (Photodiode), a CMOS image sensor (Complementary MOS image sensor), or the like.

The light source 18 is provided to secure the amount of light that can be detected by the optical sensor 16, and may be provided separately from the three-dimensional scanner 100. Further, in the present embodiment, a projection pattern generation screen (not shown) is arranged in front of the light source 18 to create a projection pattern and irradiate the object 99 with the pattern light. The reason for using the pattern light is to make it easier to specify the position of the focal point. If the position of the focal point can be specified, the light irradiating the object 99 is not limited to the pattern light.

The light from the light source 18 passes through the prism 72 and the lens 14 via a projection pattern screen (not shown) that generates a projection pattern arranged in front of the light source 18, and is reflected by the probe 10. The object 99 is irradiated through the portion 66 (see FIG. 2) and reflected by the object 99. The light reflected by the object 99 passes through the lens 14 again through the reflecting portion 66 and enters the prism 72. The prism 72 changes the traveling direction of the light from the object 99 in the direction in which the optical sensor 16 is located (in this example, the Z-axis direction). The light whose traveling direction is changed by the prism 72 is detected by the optical sensor 16. In the example shown in FIG. 2, the light from the light source 18 and the light reflected by the object 99 and guided to the prism 72 are shown separately, but this is for easy understanding. Actually, the three-dimensional scanner 100 is configured so that both lights are guided coaxially.

The first drive unit 20 corresponds to one embodiment of the "change mechanism" and changes the focal position F by moving the position of the lens 14. Here, the focal position F means a position where the lens is in focus. In the example shown in FIG. 1, the focal position F is the focal position F _a next when the lens 14 is in the position L _a, the lens 14 is the focal position F _b when in the position L _b.

The lens 14 is driven by the first drive unit 20 and reciprocates linearly. When the lens 14 reciprocates linearly in the direction of the straight line l (X-axis direction), the position of the center of gravity of the three-dimensional scanner 100 moves by the mass of the lens 14, and it vibrates in the hand of the user holding the three-dimensional scanner 100. Is transmitted as. In order to cancel the vibration, the three-dimensional scanner 100 further provides a counterweight 24 inside the housing 77. The counterweight 24 is driven by the second drive unit 26 and reciprocates linearly in a direction facing the lens 14. The counterweight 24 corresponds to one embodiment of the "counterweight".

As shown in FIG. 2, the three-dimensional scanner 100 has a first accommodating portion 501 located in front of the three-dimensional scanner 100 and a second accommodating portion 502 located behind the three-dimensional scanner 100 in the housing 77. And are provided. The lens 14 is accommodated in the first accommodating portion 501, and the counterweight 24 is accommodated in the second accommodating portion 502. Further, the three-dimensional scanner 100 has a lens 14 held by the first accommodation unit 501 and a counterweight 24 held by the second accommodation unit 502 between the first accommodation unit 501 and the second accommodation unit 502. A connecting accommodating portion 500 for connecting is provided. The optical sensor 16, the prism 72, and the light source 18 described above are housed in the connection housing unit 500.

The control unit 30 shown in FIG. 1 is an embodiment of the “control unit”. The control unit 30 controls the driving of the entire three-dimensional scanner 100, such as controlling the imaging timing of the optical sensor 16, controlling the first driving unit 20 and the second driving unit 26, and controlling the light source 18. The control unit 30 typically functions as a CPU (Central Processing Unit) as a control center, a ROM (Read Only Memory) for storing programs and control data for operating the CPU, and a work area of the CPU. It consists of a RAM (Random Access Memory) and an input / output interface for maintaining signal consistency between peripheral devices. The control unit 30 may be mounted by a hardware circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array).

Here, since the three-dimensional scanner 100 is a handheld type, it is necessary to accommodate the lens 14, the control unit 30, and the like in a limited area. Therefore, it is preferable that the size of the control unit 30 is as small as possible. For example, when the control unit 30 is realized by one hardware circuit, the control unit 30 can be mounted more compactly than when it is realized by a plurality of parts.

The control device 200 shown in FIG. 1 receives a detection result from the three-dimensional scanner 100, and constructs three-dimensional data of the object 99 based on the detection result. The control device 200 is typically between a CPU as a control center, a ROM that stores programs and control data for operating the CPU, a RAM that functions as a work area of the CPU, and peripheral devices. It consists of an input / output interface for maintaining signal integrity. The control device 200 may be responsible for some or all of the functions of the control unit 30. Further, the control unit 30 may be responsible for a part or all of the functions of the control device 200.

The display device 300 is an embodiment of the "display unit". The display device 300 displays the three-dimensional data of the object 99 constructed by the control device 200. The control device 200 may function as a display unit. For example, the arithmetic unit and the display unit may be realized by one device.

The power supply 400 supplies power to the three-dimensional scanner 100, the control device 200, and the display device 300. The power supply 400 may be provided outside the three-dimensional scanner 100, but may be provided inside the three-dimensional scanner 100, the control device 200, or the display device 300. Further, the power supply 400 may be configured so that power can be supplied to each of the three-dimensional scanner 100, the control device 200, and the display device 300 individually.

When the three-dimensional shape is acquired by using the technique of the focusing method, the pattern light emitted from the light source 18 is projected onto the object 99. When the lens 14 reciprocates linearly along the optical axis of the lens, the focal position of the projection pattern changes. The optical sensor 16 detects the light from the object 99 for each change. The control device 200 described above calculates the shape information of the object 99 based on the position of the lens 14 and the detection result by the optical sensor 16 at that time.

More specifically, by changing the position of the lens 14, the focal position F changes, and a two-dimensional image at each focal position F can be acquired. The detection result of the optical sensor 16 at the focal position F corresponds to the detection result showing the two-dimensional shape of the object 99 at the focal position F. That is, the three-dimensional shape of the object 99 is estimated by superimposing the detection results of the optical sensor 16 for each focal position F.

(B. How to change the measurement accuracy)
When measuring the shape of the object 99 by using the measurement principle of the focusing method as in the three-dimensional scanner 100, there are various methods for changing the measurement accuracy. For example, the method of changing the measurement accuracy includes changing the sensitivity of the optical sensor 16, changing the distance between the focal positions F to be measured, and the like. In the present embodiment, the measurement accuracy is changed by changing the distance between the focal positions F to be measured.

Further, as a method of changing the distance between the focal positions F to be measured, the number of times that the optical sensor 16 detects and reads light (hereinafter, also referred to as “frame rate”) per unit time is changed, and the focal position is changed. It is possible to change the change speed. In the present embodiment, the measurement accuracy is changed by changing the change speed of the focal position while keeping the frame rate constant.

More specifically, a method of changing the measurement accuracy will be described with reference to FIGS. 3 to 5. FIG. 3 is a diagram showing an example of the functional configuration of the three-dimensional measurement system 1. FIG. 4 is a diagram showing a change over time in the position L of the lens 14. FIG. 5 is a diagram for explaining the relationship between the measurement accuracy and the displacement amount of the focal position. In FIG. 3, the configuration of the first drive unit 20 is partially omitted. The configuration of the first drive unit 20 will be described later with reference to FIGS. 6 to 12.

As shown in FIG. 3, the control unit 30 includes a mechanism control unit 32 and an optical sensor control unit 34. The mechanism control unit 32 controls the first drive unit 20. The optical sensor control unit 34 controls the light detection timing by the optical sensor 16. The control unit 30 associates the detection result read by the optical sensor 16 with the lens position L at the timing when the light is detected and sends it to the control device 200.

The mechanism control unit 32 corresponds to one embodiment of the “control unit”. The mechanism control unit 32 controls the first drive unit 20 so that the focal position F keeps changing while keeping the displacement amount ΔF of the focal position F constant for a predetermined period. Further, the mechanism control unit 32 can change the displacement amount ΔF, and controls the first drive unit 20 according to the changed displacement amount ΔF.

The focal position F and the lens position L are in a corresponding relationship with each other, and the first drive unit 20 changes the focal position F by changing the lens position L. Therefore, the mechanism control unit 32 controls the first drive unit 20 so that the displacement amount ΔL of the lens position L in a predetermined period becomes constant, and changes the displacement amount ΔL as the measurement accuracy changes. By doing so, the displacement amount ΔF is changed according to the change in the measurement accuracy while keeping the displacement amount ΔF in the predetermined period constant.

In the present embodiment, the mechanism control unit 32 controls the first drive unit 20 so that the change with time of the position L of the lens 14 draws a sinusoidal curve as shown in FIG. In FIG. 4, the horizontal axis represents time and the vertical axis represents the position L of the lens 14. Further, in FIG. 4, the graph shown by the solid line shows the time course of the position L when the _{displacement amount ΔL of the position L of the lens 14 is set to L m1.} The graph shown by the broken line shows the time course of the position L when the displacement amount ΔL of the position L of the lens 14 is set to _{L m2} which is smaller than _{L m1.}

As shown in FIG. 3, the mechanism control unit 32, the lens 14 is first driver for reciprocating linear motion in a predetermined period around the initial position L ₀ (0.1 second cycle in FIG. 4) 20 is controlled. As the lens 14 _{reciprocates linearly around the initial position L 0} , the focal position F also linearly fluctuates back and forth around the position F _{0 (see FIG. 3) corresponding to the initial position L 0.}

When the measurement accuracy is changed, the moving speed of the position L of the lens 14 changes by changing the displacement amount ΔL without changing the cycle of the reciprocating linear motion. As a result, the change speed of the focal position changes. That is, the measurement speed is changed by making the time from the initial position L ₀ of the lens 14 to returning to the initial position L _{0 again and changing the displacement amount ΔL.} In other words, the time until coming back to the position F ₀ again from the position F ₀ is a constant regardless of the change of the displacement amount ΔF due to a change in measurement accuracy.

Next, the reason why the measurement accuracy changes by changing the displacement amount ΔF without changing the frame rate and the cycle of the reciprocating linear motion will be described with reference to FIG.

5, the focal position F of the read timing T _n of the optical sensor 16 reads detect light represents the focal position F (n). The focal position F when the displacement ΔL of the position L of the lens in a predetermined period is set to L _m represents a focus position F _m. The position L of the lens in the read timing T _n when the displacement amount ΔL positions L of the lens in a predetermined period is set to L _m represents the position L _{m (n).}

As shown in FIG. _5, when _{L m1} is larger than _{L m @ 2,} the difference between the focus position F (n) at the timing _{T n,} the readout timing _{T n} for the next read timing _{T n + 1} focal position in F (n + 1) When the displacement amount ΔL is L _m1 and the displacement amount ΔL is L _m2 , the relationship of the equation (1) is established.

The difference between the focal position F (n) and the focal position F (n + 1) corresponds to the width at which the object 99 is sliced, and the smaller the difference, the higher the accuracy.

That is, the control unit 30 can change the measurement accuracy by controlling the first drive unit 20 so as to change the displacement amount ΔL per unit time of the focal position F without changing the frame rate.

Here, in the present embodiment, as a method of changing the change speed of the focal position, a method of changing the displacement amount of the focal position without changing the cycle of the reciprocating linear motion is selected. More specifically, as a method of reducing the change speed of the focal position and improving the measurement accuracy, it can be realized by lengthening the cycle of the reciprocating linear motion and extending the time required to measure one point. ..

However, in the three-dimensional scanner 100 according to the present embodiment based on the focusing method, the positional relationship between the object 99 and the optical sensor 16 does not change while measuring one point. It is assumed. Therefore, as in the case of the three-dimensional scanner 100 of the present embodiment, when the time required to measure one point becomes long when the measuring device is held by hand and the measurement is performed, the measurement result is affected by the camera shake. There is a risk that the accuracy will decrease.

In the present embodiment, as shown in FIG. 4, by not changing the cycle of the reciprocating linear motion before and after changing the measurement accuracy, the time required to measure one point is not changed. The measurement accuracy can be changed. As a result, the measurement accuracy can be changed without changing the influence of camera shake before and after changing the measurement accuracy.

Although it is possible to change the measurement accuracy by changing the frame rate, since it is necessary to mount the high-spec optical sensor 16 on the 3D scanner 100, a method of changing the focal position change speed is adopted. This makes it possible to produce the three-dimensional scanner 100 at low cost.

(C. Opportunity to change measurement accuracy)
The measurement of the object 99 is performed, for example, when creating a prosthesis to be packed in a tooth or when confirming the fit when the created prosthesis is packed in a tooth. At this time, there is a part where high-precision measurement is required for the production of a highly accurate prosthesis and the accurate inspection of the prosthesis. Specifically, it is the part that becomes the boundary between the prosthesis and the tooth, and is the part called the finish line on the abutment tooth. High-precision measurement may not be required for other parts.

In the present embodiment, the measurement accuracy can be changed by an operation by the user. Specifically, as shown in FIG. 3, the three-dimensional scanner 100 further includes an adjusting unit 40. Although not shown, the adjusting unit 40 is provided in the housing 77 and accepts a user's operation. For example, the adjusting unit 40 is realized by providing a button, a rotary switch, a slide type switch, or the like in the three-dimensional scanner 100 or in the control device 200.

The adjusting unit 40 may be provided with another device capable of communicating with the three-dimensional scanner 100. For example, the adjusting unit 40 may be realized by an input device connected to the control device 200. Further, when the display device 300 functions as a touch panel, the adjustment unit 40 may be realized by the touch panel. Further, the adjusting unit 40 may be provided in the three-dimensional scanner 100 and also in another device capable of communicating with the three-dimensional scanner 100.

In the present embodiment, the measurement accuracy is changed by the operation by the user. The measurement accuracy may be changed based on the information obtained by measuring the object 99. For example, the measurement accuracy may be changed based on the detection result from the optical sensor 16. Specifically, the tooth, which is the object 99, has a portion having a complicated shape and a portion having a relatively simple shape with few irregularities. The control unit 30 may extract a feature amount indicating the degree of complexity of the shape of the measurement location from the detection result from the optical sensor 16 and change the measurement accuracy based on the extracted feature amount.

Further, as described above, when measuring the shape of a tooth, there is a place where the measurement is particularly accurate. The control unit 30 extracts from the detection result from the optical sensor 16 a feature amount indicating whether or not the measurement is particularly accurate (for example, the portion that becomes the boundary between the prosthesis which is the finish line and the tooth). , The measurement accuracy may be changed based on the extracted feature amount. Although an example in which the control unit 30 changes the measurement accuracy based on the detection result from the optical sensor 16 has been described, it can be changed by another device communicably connected to the three-dimensional scanner 100 such as the control device 200. You may.

Further, the three-dimensional measurement system 1 has both a function of changing the measurement accuracy triggered by the user's operation like the adjustment unit 40 and a function of changing the measurement accuracy based on the detection result from the optical sensor 16. You may.

(D. Functional configuration of control device)
As shown in FIG. 3, the control device 200 includes a calculation unit 220 and a determination unit 240. The calculation unit 220 corresponds to one embodiment of the "calculation unit". The determination unit 240 corresponds to one embodiment of the "determination unit".

The calculation unit 220 receives the detection result from the three-dimensional scanner 100, and constructs the three-dimensional data of the object 99 based on the detection result. The determination unit 240 is a function provided in view of the fact that the required user's skill increases as the measurement accuracy increases.

In the present embodiment, the user moves the three-dimensional scanner 100 along the dentition to acquire the three-dimensional shape of the teeth in the oral cavity. Specifically, when the user moves the three-dimensional scanner 100 along the dentition in the XY plane and the YY plane of FIG. 1, the arithmetic unit 220 acquires the measurement results of a plurality of positions adjacent to each other. Then, by synthesizing the measurement results of the locations adjacent to each other, a wide range of measurement results are acquired and the measurement results are output to the display device 300.

When synthesizing a plurality of measurement results, the calculation unit 220 synthesizes the measurement results based on the measurement results of the overlapping portions of the measurement results of the positions adjacent to each other. That is, in the present embodiment, the user can obtain a wide range of measurement results by gradually moving the three-dimensional scanner 100 while providing overlapping portions.

In the present embodiment, the three-dimensional scanner 100 is measured without moving the three-dimensional scanner 100 with respect to the object 99 in the measurement range (in-plane direction of measurement) in the X-axis direction and the Y-axis direction of FIG. The measurement range in the Z-axis direction (measurement depth direction) in FIG. 1 corresponds to a range in which the focal position F can be changed. When the measurement accuracy is increased, the displacement amount ΔF of the focal position F becomes smaller. Therefore, if the measurement accuracy is increased, the measurement range in the measurement depth direction becomes narrower. When the object 99 is measured by the three-dimensional scanner 100, the user can use the object 99 and the three-dimensional scanner 100 during the measurement period required to measure the measurement range (measurement depth direction) in the Z-axis direction. It is necessary to keep the relative distance within the measurement range in the measurement depth direction. Therefore, when the measurement range in the depth direction of measurement becomes narrow, the relative distance between the object 99 and the three-dimensional scanner 100 must be more accurately maintained within a certain range. Therefore, as the measurement accuracy increases, the required user skill increases.

The determination unit 240 is a function provided in view of the fact that the required skill of the user increases as the measurement accuracy increases, and when measuring one location and then measuring the next location, the determination unit 240 is provided. , Determine whether the measurement method is correct or not based on the inclusion of the measured points. The determination unit 240 outputs the determination result to the display device 300.

For example, the determination unit 240 measures one location based on the measurement result of the calculation unit 220, and then when measuring the next location, the determination unit 240 is based on the measurement result of the next location calculated by the calculation unit 220. , The degree of agreement with the measured result is calculated, and it is determined whether or not the degree of agreement exceeds a predetermined threshold value. The fact that the degree of coincidence is equal to or less than a predetermined threshold means that the relative distance between the object 99 and the three-dimensional scanner 100 is not within a certain range and is unstable, and the probability of measurement failure increases.

The determination unit 240 may be provided in the three-dimensional scanner 100. For example, the three-dimensional scanner 100 is provided with a sensor capable of measuring a change in the relative positional relationship between the three-dimensional scanner 100 and the object 99, and the determination unit is provided with a relative position based on the measurement result from the sensor. The rate of change of the relationship may be calculated, and the degree of inclusion of the measured portion may be determined based on the rate of change. The determination unit determines whether or not the measured portion includes a predetermined threshold value or more based on whether or not the change speed exceeds a threshold value predetermined for each measurement accuracy.

The display device 300 displays the three-dimensional data of the object 99 based on the measurement result from the calculation unit 220. Further, the display device 300 instructs the user to move the three-dimensional scanner 100 so as to include the measured portion when a part of the measured portion is not included. For example, when the display device 300 measures a certain place without including a part of the measured place, the three-dimensional data representing the measurement result of the place is different from the other three-dimensional data. Display in a different manner. As a result, the user slightly returns the position of the three-dimensional scanner 100 and performs measurement again so as to include a part of the measured portion.

The determination unit 240 is intended to instruct the user to move the three-dimensional scanner 100 so as to include the measured portion by outputting the determination result to the display device 300. An indicator may be provided on the housing 77, and the user may be instructed to move the three-dimensional scanner 100 so as to include the measured portion by changing the display of the indicator.

Further, the measurement accuracy may be changed based on the result of the determination unit 240. For example, if the measured portion is less likely to be included and the relative distance between the object 99 and the 3D scanner 100 is not within a certain range and is unstable, the measurement accuracy is lowered so that the object 99 and the object 99 are included. If the relative distance to the three-dimensional scanner 100 is within a certain range and is stable, the measurement accuracy may be improved. Further, when the relative distance between the object 99 and the three-dimensional scanner 100 is not within a certain range and is unstable, the measurement accuracy is lowered and the user is notified that the measurement accuracy is lowered. May be good.

Although not shown, various configurations included in the control unit 30 are realized by the CPU executing a program stored in the ROM corresponding to the storage unit included in the control unit 30. For example, the function of the mechanism control unit 32 is realized by the CPU executing the program stored in the ROM. Specifically, the program for realizing the function related to the mechanism control unit 32 is the first step of accepting the change of the displacement amount ΔF of the focal position F in the three-dimensional scanner 100, and the changed displacement received in the first step. The second step of controlling the first drive unit 20 according to the amount is executed.

The program does not need to be stored in the ROM, but is stored in the control device 200, the server that can directly or indirectly communicate with the 3D scanner 100, or the external memory that can be directly connected to the 3D scanner 100. You may be. Further, the program is distributed in a state of being stored in the storage medium.

(E. Configuration of change mechanism)
With reference to FIG. 6, the configuration of the change mechanism including the first drive unit 20 shown in FIG. 1 will be described. The first drive unit 20 reciprocates and linearly moves the lens 14 in the optical axis direction (straight line l direction in FIG. 6) of the lens 14. FIG. 6 is a diagram showing the configuration of the change mechanism.

In the present embodiment, the change mechanism includes a counter weight 24, a second drive unit 26 for reciprocating linear motion of the counter weight 24, and a lens 14 in addition to the first drive unit 20 for reciprocating linear motion of the lens 14. It is realized by a support portion 14a that supports the counter weight 24 so as to make a reciprocating linear motion, and a support portion 24a that supports the counter weight 24 so as to make a reciprocating linear motion.

The lens 14 is supported by a support portion 14a parallel to the straight line l so as to make a reciprocating linear motion in the direction of the straight line l. Although not shown, the support portion 14a is fixed by the housing 77. Further, the lens 14 is connected to the magnetic circuit configuration 23 of the first drive unit 20. The first drive unit 20 constitutes a linear motor that reciprocates and linearly moves the lens 14 in the direction of the straight line l by the magnetic circuit configuration 23.

When the lens 14 reciprocates linearly in the direction of the straight line l (X-axis direction), the position of the center of gravity of the three-dimensional scanner 100 moves by the mass of the lens 14, and the user holding the three-dimensional scanner 100 vibrates. It is transmitted. The counterweight 24 is a weight having the same mass as the lens 14 provided inside the housing 77 in order to cancel this vibration.

The counter weight 24 is provided on a straight line l in the linear motion direction of the lens 14, and although not shown, the optical path between the object 99 and the lens 14 and between the lens 14 and the optical sensor 16 are provided. It is provided on the back surface side of the optical sensor 16 in the X-axis direction so as not to block the optical path.

The counterweight 24 is supported by a support portion 24a parallel to the straight line l so as to make a linear motion in the direction of the straight line l. In the present embodiment, the support portion 24a is a member different from the support portion 14a. Further, the counterweight 24 is connected to the magnetic circuit configuration 27 of the second drive unit 26. The second drive unit 26 constitutes a linear motor that reciprocates and linearly moves the counterweight 24 in the direction of the straight line l by the magnetic circuit configuration 27. In the following, the first drive unit 20 and the second drive unit 26 are collectively referred to simply as a “drive unit”.

The mechanism control unit 32 controls each of the first drive unit 20 and the second drive unit 26. In the present embodiment, the first drive unit 20 and the second drive unit 26 are controlled by a common mechanism control unit 32, but the first drive unit 20 and the second drive unit 26 are different control units. It may be controlled by each.

When the lens 14 reciprocates linearly in the direction of the straight line l by the first drive unit 20, the counter weight 24 reciprocates linearly in the direction facing the lens 14 by the same distance as the lens 14 by the second drive unit 26. For example, when the lens 14 moves 10 mm on the straight line l in the direction approaching the object 99, the counterweight 24 moves 10 mm on the straight line l in the direction away from the object 99. Further, when the lens 14 moves 15 mm on the straight line l in the direction away from the object 99, the counterweight 24 moves 15 mm on the straight line l in the direction approaching the object 99.

As described above, in the change mechanism according to the present embodiment, the counter weight 24 reciprocates linearly by the same distance as the lens 14 in the direction facing the lens 14, so that the third order caused by the reciprocating linear motion of the lens 14 occurs. The bias of the center of gravity of the original scanner 100 can be offset. As a result, the counterweight 24 can cancel the vibration caused by the reciprocating linear motion of the lens 14.

(F. Configuration of drive unit)
The configuration of the drive unit will be described with reference to FIGS. 7 to 10. FIG. 7 is a schematic view showing a YZ cross section of the drive unit. FIG. 8 is a schematic view showing an XZ cross section of the drive unit. FIG. 9 is a diagram for explaining the movement of the drive unit when the lens reciprocates linearly. FIG. 9A shows a schematic view of an XZ cross section of the drive unit when the lens 14 linearly moves in one direction in the drive unit. FIG. 9B shows a schematic view of the XZ cross section of the drive unit when the lens 14 linearly moves in the other direction in the drive unit. In the examples shown in FIGS. 7 to 9, the configuration of the first drive unit 20 among the drive units will be described, but the configuration of the second drive unit 26 is also the same as that of the first drive unit 20. That is, in the case of the second drive unit 26, the lens 14 is replaced with the counterweight 24 in the examples shown in FIGS. 7 to 9, but the other configurations are the same as those of the first drive unit 20.

As shown in FIGS. 7 to 9, the first drive unit 20 is a member for reciprocating a linear motion of the lens 14 around the lens 14 so that a substantially circular lens 14 can be provided in the central portion. Is arranged and has a long hollow shape along a straight line l which is a linear motion direction. As described above, since the lens 14 having a substantially circular shape is provided in the central portion of the first drive unit 20, light can be passed through the central portion of the first drive unit 20.

Specifically, as shown in FIG. 7, in the first drive unit 20, the outer peripheral portion of the lens 14 is composed of a support portion 14a composed of a rail 57a and a block 56a, and a rail 57b and a block 56b. A support portion 14a is provided. In this way, the plurality of support portions 14a are arranged at different positions on the outer peripheral side of the lens 14.

More specifically, the plurality of support portions 14a are parallel to each other at positions parallel to the linear motion direction of the lens 14 and with the optical axis (straight line l) passing through the center of the lens 14 as the rotation axis. Is located in. For example, in FIG. 7, when each of the plurality of support portions 14a is rotated 180 degrees with the straight line l as the rotation axis, the support portion 14a is arranged at the position of the support portion 14a and the support portion 14a is arranged at the position of the support portion 14a. Will be done. Although not shown, the plurality of support portions 24a are also arranged at the same positions. That is, the plurality of support portions 24a are arranged parallel to each other at positions parallel to the linear motion direction of the counter weight 24 and with the axis (straight line l) passing through the center of the counter weight 24 as the rotation axis. ing.

The block 56a of the support portion 14a supports the lens 14 and is fitted to the rail 57a, and moves in a linear direction along the rail 57a to cause the lens 14 to reciprocate and linearly move. The block 56b of the support portion 14a supports the lens 14 at a position different from that of the block 56a and is fitted to the rail 57b. By moving in a linear direction along the rail 57b, the lens 14 is reciprocated and linearly moved. .. The support portion 14a corresponds to the support portion 14a described with reference to FIG.

The block 56a and the block 56b may be coated with a viscous lubricant such as grease between the rail 57a and the connection surface of the rail 57b, respectively, or may be provided with rolling bearings such as balls and rollers. good. In this case, a viscous lubricant such as grease corresponds to one embodiment of the "damper".

Further, as shown in FIG. 8, a spring 55a and a spring 55b are provided along the outer periphery of the lens 14 so as to surround the outer periphery of the lens 14 so as not to block the optical path in the central portion of the lens 14. The spring 55a and the spring 55b correspond to one embodiment of the "elastic member". A coil spring or the like is applied to the spring 55a and the spring 55b. The elastic member is not limited to a spring, and any member such as rubber may be applied as long as it deforms when a force is applied but returns to its original state when the force is removed.

One end of each of the spring 55a and the spring 55b is in contact with the lens 14, and the other end is fixed in the housing 77. Further, the spring 55a and the spring 55b are held in the housing 77 so that the spring 55a and the spring 55b are allowed to be deformed in the X direction and are not easily deformed in the YZ direction. The springs 55a and 55b arranged in this way apply an elastic force to the lens 14 in the linear motion direction. The diameters of the springs 55a and 55b may be substantially the same as the diameter of the lens 14 so that the lens 14 can be sandwiched and fixed by the two springs.

On the outside of the spring 55a and the spring 55b (the side away from the center of the lens 14 in the Z direction), a magnetic circuit configuration 23a for reciprocating the lens 14 in the direction of the straight line l is provided. The magnetic circuit configuration 23a includes a magnet 53a composed of N pole and S pole, and a coil 52a arranged on the outside of the magnet 53a (the side away from the center of the lens 14 in the Z direction).

The magnet 53a is a mover that can move in the direction of the straight line l, and when the magnet 53a reciprocates linearly in the X direction along the straight line l, the lens 14 can also reciprocate in the X direction along the straight line l. Is. The coil 52a is a stator.

A yoke 51a is provided on the outer side of the coil 52a (the side away from the center of the lens 14 in the Z direction). The yoke 51a is a stator like the coil 52a.

On the opposite side of the magnetic circuit configuration 23a via the lens 14, a magnetic circuit configuration 23b for reciprocating the lens 14 in the direction of the straight line l is provided. The magnetic circuit configuration 23b includes a magnet 53b composed of N pole and S pole, and a coil 52b arranged on the outside of the magnet 53b (the side away from the center of the lens 14 in the Z direction).

The magnet 53b is a mover that can move in the direction of the straight line l, and when the magnet 53b reciprocates linearly in the X direction along the straight line l, the lens 14 can also reciprocate in the X direction along the straight line l. Is. The coil 52b is a stator.

A yoke 51b is provided on the outer side of the coil 52b. The yoke 51b is a stator like the coil 52b. Further, the yoke 51a and the yoke 51b, which are stators, are appropriately fixed to the housing 77 of the three-dimensional scanner 100.

In the first drive unit 20 having such a configuration, the lens 14 reciprocates linearly when a force is applied to the lens 14 in the direction of the straight line l by the magnetic circuit configuration 23a and the magnetic circuit configuration 23b.

For example, in the magnetic circuit configuration 23a and the magnetic circuit configuration 23b, when the magnet 53a and the magnet 53b composed of the N pole and the S pole are arranged in the positional relationship as shown in FIG. 8, a magnetic field in the direction of the arrow as shown by the dotted line is generated. In this case, the current as shown in FIG. 8 (the current in the direction from the front to the back of the paper along the Y axis is "x", and the current in the direction from the back to the front of the paper along the Y axis is ". When) is passed through each of the coil 52a and the coil 52b, an electromagnetic force (F) is generated in the X-axis direction as shown by the solid arrow according to Fleming's left-hand rule. When the electromagnetic force (F) generated in this way acts on the magnets 53a and 53b, which are movers, the magnets 53a and 53b move in the direction opposite to the electromagnetic force (F). Hereinafter, a configuration related to the movement of an object in the device, such as a spring 55a, 55b, a magnet 53a, 53b, a lens 14, a coil 52a, 52b, and a damper containing a viscous lubricant such as grease, is referred to as a "movement system". It is called.

The lens 14 vibrates in the direction of the straight line l due to the response of the motion system such as the inertial force of the lens 14, the electromagnetic force (F), the elastic force of the springs 55a and 55b, and the viscous force of the damper. FIG. 9A is a schematic view showing an XX cross section of the drive unit when the lens linearly moves in one direction in the drive unit according to the present embodiment. FIG. 9B is a schematic view showing an XX cross section of the drive unit when the lens linearly moves in the other direction in the drive unit according to the present embodiment. As shown in FIGS. 9A and 9B, the mechanism control unit 32 reciprocates and linearly moves the lens 14 in the direction of the straight line l by using this vibration. That is, the mechanism control unit 32 controls the first drive unit 20 at regular intervals according to the natural frequency of the kinetic system to pass a current through the magnetic circuit configuration 23a and the magnetic circuit configuration 23b, thereby causing a resonance phenomenon due to the kinetic system. Can be used to reciprocate the lens 14 in the direction of the straight line l.

In this way, the first drive unit 20 functions as a resonance drive motor that reciprocates the lens 14 in the direction of the straight line l by passing a current through the coil 52a and the coil 52b according to the natural frequency of the kinetic system. Can be done. Here, when the lens 14 is reciprocated and linearly moved by a mechanical configuration in which a mechanical component such as a cam is connected to the motor, the motor must be continuously driven while the lens 14 is being moved. On the other hand, if the resonance phenomenon of the motion system is used as in the present embodiment, the lens 14 can be reciprocated linearly by simply passing a current through the magnetic circuit configuration 23a and the magnetic circuit configuration 23b at regular intervals. Therefore, when the magnetic circuit configuration as in the present embodiment is used, the power consumption can be suppressed and the efficiency is high. Further, in the case of the cam mechanism, contact noise may be generated by the cam mechanism, or contact powder may be generated from the cam surface due to deterioration of the cam mechanism portion. These can also be solved by using.

As described above, when the lens 14 reciprocates linearly in the direction of the straight line l by the first drive unit 20, the counter weight 24 is moved by the second drive unit 26 in the direction facing the lens 14 by the same distance as the lens 14. Reciprocating linear motion. The lens 14 makes a reciprocating linear motion on the straight line l, whereas the counter weight 24 makes a reciprocating linear motion on the straight line l in a direction opposite to the linear motion direction of the lens 14 in order to cancel the deviation of the center of gravity. As a result, even if the user holds the three-dimensional scanner 100 in his / her hand and uses it, he / she does not feel the vibration.

For example, FIG. 10 is a diagram for explaining the movement of the drive unit when the lens moves linearly. FIG. 10A shows the positional relationship between the lens and the counterweight when they linearly move in a direction away from each other. FIG. 10B shows the positional relationship between the lens and the counterweight when they linearly move in a direction approaching each other. As shown in FIG. 10B, when the lens 14 is moved away from the object 99, the mechanism control unit 32 moves the counterweight 24 in the direction closer to the object 99.

As described above, in the three-dimensional scanner 100, the mechanism control unit 32 independently causes the first drive unit 20 for reciprocating linear motion of the lens 14 and the second drive unit 26 for reciprocating linear motion of the counter weight 24. By controlling, the lens 14 can change the focal position of the projection pattern with respect to the object 99, and the counter weight 24 can cancel the vibration caused by the reciprocating linear motion of the lens 14.

Further, as shown in FIGS. 7 and 8, in the first drive unit 20, each member of the magnetic circuit configuration 23a and the magnetic circuit configuration are configured from the direction perpendicular to the direction of the straight line l with the substantially circular lens 14 as the center. Each member of 23b is provided at a symmetrical position. Further, the support portion 14a is arranged so as to sandwich the lens 14 at a symmetrical position from the direction perpendicular to the direction of the straight line l with the substantially circular lens 14 as the center.

As described above, in the three-dimensional scanner 100, each configuration of the first drive unit 20 is symmetrically arranged and the support portion 14a is also symmetrically arranged so as to sandwich the lens 14 to be moved. There is.

As described above, the three-dimensional scanner 100 according to the present embodiment minimizes residual vibration by arranging a plurality of support portions 14a for reciprocating linear motion of the lens 14 at different positions on the outer peripheral side of the lens 14. It is configured to suppress. In order to further suppress residual vibration, it is required to support the lens 14 while keeping the plurality of support portions 14a as parallel as possible, but when assembling the three-dimensional scanner 100 while keeping the plurality of support portions 14a as parallel as possible. Inevitably, there may be an assembly error due to variations in the manufacturing of parts. If an assembly error occurs, it becomes difficult to accurately move the object in a reciprocating linear motion. The above can be said not only for the assembly between the lens 14 and the support portion 14a, but also for the assembly between the counterweight 24 and the support portion 24a.

Therefore, in the three-dimensional scanner 100 according to the present embodiment, the assembly between the lens 14 and the support portion 14a and the assembly between the counterweight 24 and the support portion 24a are devised. Such a device will be described below with reference to FIGS. 11 to 12 while exemplifying the assembly between the lens 14 and the support portion 14a. In FIGS. 11 to 12, similarly to the above-mentioned example, the axis parallel to the straight line l, which is the linear motion direction of the lens 14 and the counter weight 24, is the X axis, and the axis perpendicular to the straight line l is upward on the paper surface. The axis is referred to as the Z axis, and the axis perpendicular to each of the X axis and the Z axis is referred to as the Y axis. Further, in the examples shown in FIGS. 11 to 12, the assembly between the lens 14 and the support portion 14a will be described, but the same applies to the assembly between the counterweight 24 and the support portion 24a.

FIG. 11 is a schematic diagram showing the internal structure of the three-dimensional scanner 100. As shown in FIG. 11, the three-dimensional scanner 100 includes a first block 801 located in front of the three-dimensional scanner 100, a second block 802 located behind the three-dimensional scanner 100, and a first block 801 and a first block 801. It is provided with a connecting portion 800 located between the two blocks 802.

Inside the three-dimensional scanner 100, the lens 14 is arranged on the inner peripheral side, and the first drive unit 20 is arranged in a cylindrical shape on the outer peripheral side of the lens 14, and the lens 14 and the first drive unit 20 are arranged. The first block 801 is configured by putting together. That is, the first block 801 has a cylindrical shape, and holds the lens 14 in the space further inside each configuration in the first drive unit 20 provided inside the first block 801. The first block 801 is housed in a first housing section 501 located in front of the housing 77 of the three-dimensional scanner 100.

Inside the three-dimensional scanner 100, the counterweight 24 is arranged on the inner peripheral side, and the second drive unit 26 is arranged in a cylindrical shape on the outer peripheral side of the counterweight 24. The counterweight 24 and the second drive are arranged in a cylindrical shape. The second block 802 is configured by putting together the parts 26. That is, the second block 802 has a cylindrical shape, and holds the counterweight 24 in the space further inside each configuration in the second drive unit 26 provided inside the second block 802. The second block 802 is housed in a second housing section 502 located behind the housing 77 of the three-dimensional scanner 100.

The connecting portion 800 connects the first block 801 and the second block 802. The connecting portion 800 is fixedly held inside the three-dimensional scanner 100 in a state in which each configuration for reciprocating linear motion is movable. Specifically, the connecting portion 800 is in a state in which each configuration for reciprocating linear motion of the lens 14 held by the first accommodating portion 501 and the counterweight 24 held by the second accommodating portion 502 is movable. It is connected together with. Further, the connecting portion 800 holds the light source 18, the lens 14, the optical sensor 71, the prism 72, and the like described above in the space provided inside the connecting portion 800. The connecting portion 800 is accommodated in the connecting accommodating portion 500 located between the first accommodating portion 501 and the second accommodating portion 502.

FIG. 12 is a schematic diagram showing the internal structure of the first block 801 included in the three-dimensional scanner 100. As shown in FIG. 12, the first block 801 houses and holds a magnetic circuit configuration 23a including a yoke 51a, a coil 52a, and a magnet 53a. Further, the first block 801 includes a fixing portion 190 for fixing the lens 14 so as to surround the outer periphery of the lens 14. The spring 55a is in contact with one end of the lens 14 fixed by the fixing portion 190, and the spring 55b is in contact with the other end of the lens 14.

The lens 14 is supported by the support portion 14a via the support portion 180 and the holding portion 160 so as to be reciprocally linearly movable together with the fixing portion 190. Specifically, the support portion 180 is screwed to a part of the fixing portion 190 that fixes the lens 14. A holding portion 160 is screwed to a part of the block 56b that moves on the rail 57b. The support portion 180 and the holding portion 160 are fitted to each other.

(G. Action / Effect)
As described above, the three-dimensional measurement system 1 according to the present embodiment includes a grippable housing (probe 10 and housing 77) having a lighting unit 12, a lens 14, a first drive unit 20, and an optical sensor. 16 and a mechanism control unit 32 are included. Further, the mechanism control unit 32 changes the measurement accuracy by changing the change amount ΔF of the focal position F in a predetermined period without changing the frame rate.

Therefore, the measurement accuracy can be improved without increasing the specifications of the optical sensor 16, and the measurement accuracy can be improved without changing the influence of camera shake before and after changing the measurement accuracy.

Further, the first drive unit 20 according to the present embodiment changes the focal position F by moving the position of the lens 14. Therefore, the focal position F can be changed without using a variable focus lens such as a liquid lens, and the three-dimensional measurement system 1 can be manufactured at low cost. In addition, the focal position can be changed more stably than that of a varifocal lens, and it is easy to control.

Further, the first drive unit 20 according to the present embodiment changes the focal position F by making a reciprocating linear motion in the optical axis direction of the lens 14. Therefore, it is easy to calculate the relationship between the position of the lens 14 and the focal position F, and the processing load of the control unit 30 or the control device 200 can be reduced.

Further, the change mechanism according to the present embodiment includes a counter weight 24, a second drive unit 26 that linearly moves the counter weight 24, a lens 14, and a counter, in addition to the first drive unit 20 that linearly moves the lens 14. Includes support portions 14a, 24a that support the weight 24 so that it moves linearly. Further, the mechanism control unit 32 controls the first drive unit 20 and the second drive unit 26 so that the lens 13 and the counterweight 24 move linearly by the same distance in the opposite directions.

As a result, the counterweight 24 can cancel the vibration caused by the linear motion of the lens 14. Further, in the three-dimensional scanner 100 according to the present embodiment, the lens 14 and the counterweight 24 can be independently linearly moved by their respective drive units. Therefore, mechanical wear is less likely to occur even if the lens 14 and the counterweight 24 are continuously driven for a long time, as compared with a configuration in which the lens 14 and the counterweight 24 are both linearly moved by the translation stage with the same motor. Therefore, it is possible to extend the life of the device that realizes the linear motion of the lens 14 and the counterweight 24.

Further, in the present embodiment, by adopting a configuration in which the lens 14 and the counterweight 24 are independently linearly moved by the respective drive units, the magnetic circuit configuration is changed to the respective drive units of the lens 14 and the counterweight 24. Can be adopted for. That is, in the present embodiment, the first drive unit 20 has a magnetic circuit configuration 23 including magnets 53a and 53b and coils 52a and 52b, and the lens 14 is subjected to a force in a linear motion direction due to the magnetic circuit configuration 23. It moves linearly when an electromagnetic force (F)) is applied. Similarly, the second drive unit 26 has a magnetic circuit configuration 27 including a magnet and a coil (both not shown), and the counter weight 24 has a force in a linear motion direction (electromagnetic force (electromagnetic force (electromagnetic force)) due to the magnetic circuit configuration 27. Given F)), it moves linearly.

As a result, the influence of mechanical wear can be reduced as compared with a configuration in which the direction of the force is changed in the linear motion direction of the lens 14 or the counterweight 24 by using a mechanical component such as a cam, and further, the effect of mechanical wear can be reduced. The size and weight of the original scanner 100 as a whole can be reduced. Further, it is more durable and easier to maintain by adopting a device configuration using only a magnetic circuit than by adopting mechanical parts.

Further, in the present embodiment, the first driving unit 20 includes springs 55a to 55d that apply an elastic force in the linear motion direction of the lens 14. Similarly, the second drive unit 26 includes a spring (not shown) that applies an elastic force in the linear motion direction of the counterweight 24. As a result, the lens 14 or the counter weight 24 is vibrated by utilizing the resonance phenomenon due to the response of the motion system consisting of the inertial force of the lens 14, the elastic force of the springs 55a to 55d, and the viscous force of the damper, so that power consumption is consumed. It can be suppressed and is efficient.

Further, in the present embodiment, the first drive unit 20 includes a damper made of a viscous lubricant such as grease on the connecting surface between each of the blocks 56a and 56b and each of the rails 57a and 57b. Similarly, the second drive unit 26 includes the above-mentioned damper (not shown). As a result, it is possible to attenuate the gravity applied from the outside to the motor system including the first drive unit 20 and the motor system including the second drive unit 26, vibration by the operator, and the like.

Further, in the present embodiment, the first drive unit 20 has a member arranged at a position where the moments applied to the fitting portion between the rail 57a and the block 56a and the fitting portion between the rail 57b and the block 56b cancel each other out. There is. Similarly, in the second drive unit 26, the member is arranged at a position where the moments applied to the fitting portion (not shown) of the rail and the block cancel each other out. As a result, the moment of force is not applied to the support portion 14a of the lens 14 or the support portion 24a of the counterweight 24 as much as possible, so that the residual vibration can be suppressed as much as possible.

Further, in the present embodiment, the member of the first drive unit 20 is arranged at a position where the lens 14 is sandwiched from the direction perpendicular to the direction of the straight line l. Similarly, in the second drive unit 26, a member is arranged at a position sandwiching the counterweight 24 from a direction perpendicular to the direction of the straight line l. As a result, the size of the entire three-dimensional scanner 100 can be reduced, and light having a pattern in the center of the lens 14 can be passed through.

Further, in the present embodiment, the support portion 14a that supports the lens 14 is a member different from the support portion 24a that supports the counterweight 24. As a result, the degree of freedom in design is improved, so that the members can be appropriately arranged even in a limited space such as the three-dimensional scanner 100.

Further, in the present embodiment, the three-dimensional measurement system 1 further includes an adjustment unit 40 for adjusting the measurement accuracy, in other words, an adjustment unit 40 for adjusting the displacement amount ΔF of the focal position F. Thereby, the measurement accuracy can be adjusted according to the measurement site. As described above, if the measurement accuracy is improved, the measurement range in the depth direction of the measurement becomes narrower, and there is a problem that the measurement time becomes longer. Therefore, the measurement time can be shortened by providing the adjusting unit 40.

Further, in the present embodiment, the three-dimensional measurement system 1 further includes a control device 200 having a calculation unit 220 and a display device 300. As a result, the user can perform measurement while checking the measurement result displayed on the display device 300.

Further, in the present embodiment, when the three-dimensional measurement system 1 measures one point and then measures the next point, whether or not the measurement method is correct based on the inclusion of the measured points. The determination unit 240 for determining the above is further provided. In other words, when measuring the second region after measuring the first region, the determination unit 240 determines whether or not the measurement method is correct based on the degree of overlap between the first region and the second region. As described above, as the measurement accuracy increases, the required skill of the user increases, but by providing the determination unit 240, the skill required by the user is supplemented.

<Second embodiment>
In the first embodiment, the lens 14 and the counterweight 24 are different from each other from the viewpoint that the position L of the lens 14 and the counterweight 24 can be moved in association with each other and the displacement amount ΔL can be easily changed. , 24a, and each is controlled by a different drive unit. The lens 14 and the counterweight 24 may be supported by one support unit and controlled by one drive unit. Further, from the viewpoint of the life of the device, the drive unit has a magnetic circuit configuration, but a mechanical motor may be used. In the second embodiment, there is one support and a mechanical motor drives the lens and counterweight.

FIG. 13 is a diagram showing a schematic configuration diagram of a focus variable unit 50 included in the three-dimensional scanner 100a according to the second embodiment. The three-dimensional scanner 100a includes a focus variable unit 50 instead of the change mechanism including the first drive unit 20, as compared with the three-dimensional scanner 100 according to the first embodiment. The variable focus unit 50 corresponds to one embodiment of the "change mechanism".

The variable focus unit 50 includes a counterweight 52, a support unit 54, and a drive unit 56. The counterweight 52 has the same function as the counterweight 24 included in the three-dimensional scanner 100 according to the first embodiment. More specifically, the counter weight 52 is provided to cancel the deviation of the center of gravity of the three-dimensional scanner 100 due to the reciprocating linear motion of the lens 14, and is the same distance as the lens 14 in the direction facing the lens 14. Only reciprocating linear motion.

The counterweight 52 and the lens 14 are supported in the housing 77 by one support portion 54, and are supported by a support portion 54 parallel to the straight line l so as to make a reciprocating linear motion in the direction of the straight line l. .. That is, in the first embodiment, the counter weight 24 and the lens 14 are supported by different support portions 14a and 24a so as to make a reciprocating linear motion in the direction of the straight line l, but in the second embodiment. In the embodiment, the counter weight 52 and the lens 14 are supported by a support portion 54 common to each other so as to make a reciprocating linear motion in the direction of the straight line l.

The drive unit 56 is a drive motor that reciprocates and linearly moves the counterweight 52 and the lens 14 in the direction of the straight line l, and the displacement amount ΔL can be changed by changing the drive.

As described above, the three-dimensional scanner 100a has one support portion, and the lens and the counterweight are moved by the mechanical motor, so that the number of parts can be reduced. If the vibration of the three-dimensional scanner due to the drive of the lens can be reduced, the counterweight may not be provided. For example, the change mechanism includes the first drive unit 20 and the support according to the first embodiment. It may be composed of the part 14a.

<Third embodiment>
FIG. 14 is a diagram showing a schematic configuration diagram of a focus variable unit 60 included in the three-dimensional scanner 100b according to the third embodiment. Compared with the three-dimensional scanner 100 according to the first embodiment, the three-dimensional scanner 100b includes a focus variable unit 60 instead of a change mechanism including the first drive unit 20, and a liquid lens 70 instead of the lens 14. To prepare for. The variable focus unit 60 corresponds to one embodiment of the "change mechanism". The liquid lens 70 corresponds to one embodiment of the "liquid lens".

In the first embodiment, the focal position is changed by mechanically moving the lens position, but in the third embodiment, the variable focus lens does not mechanically move the lens position. The focal position is changed by using the liquid lens 70.

The liquid lens 70 is, for example, a method in which an electrode is provided on the side surface of a container containing an aqueous solution and oil, and a voltage is applied to the electrode to change the shape of the interface between the aqueous solution and the oil to change the focal position. Is adopted. In FIG. 14, the liquid lens 70 is schematically shown as one biconvex lens, and detailed structures such as an aqueous solution and oil are omitted. The liquid lens 70 has a hysteresis characteristic in which the focal position differs depending on whether the applied voltage value is increased or decreased.

The focus variable unit 60 is a device that applies a voltage to the liquid lens 70, and includes a mechanism capable of changing the applied voltage. The focal variable unit 60 changes the focal position of the liquid lens 70 by changing the voltage applied to the liquid lens 70.

As described above, the lens of the three-dimensional scanner 100b according to the third embodiment is the liquid lens 70, and the change mechanism for changing the focal position F is a focal point having a mechanism for changing the voltage applied to the liquid lens 70. The variable portion 60. Therefore, compared to the mechanism that changes the focal position F by changing the position of the lens, it is not necessary to provide a mechanical mechanism (drive motor, etc.) in the 3D scanner, and the structure for changing the focal position is compact. can do.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims, not the above description, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 Three-dimensional measurement system, 10 probes, 12 light collectors, 14 lenses, 14a, 24a, 54 supports, 16 optical sensors, 18 light sources, 50, 60 focus variable parts, 20 first drive parts, 23, 23a, 23b, 27 Magnetic circuit configuration, 24, 52 counter weight, 26 2nd drive unit, 30 control unit, 32 mechanism control unit, 34 optical sensor control unit, 40 adjustment unit, 51a, 51b yoke, 52a, 52b coil, 53a, 53b magnet , 55a, 55b, 55c, 55d spring, 56 drive unit, 56a, 56b block, 57a, 57b rail, 70 liquid lens, 99 object, 100, 100a, 100b three-dimensional scanner, 200 controller, 220 arithmetic unit, 240 Judgment unit, 300 display device, 400 power supply, 500 connected housing unit, 501 first housing unit, 502 second housing unit, 800 connecting unit, 801 first block, 802 second block.

Claims (13)

It is a three-dimensional measurement system for medical use.
A grippable housing with a daylighting section to capture the light reflected by the object,
A lens that allows light taken in from the daylighting unit to pass through,
A change mechanism that changes the focal position of the lens by reciprocating the lens at a predetermined cycle.
A detector that detects and reads out the light that has passed through the lens,
The displacement amount of the focal position per cycle is smaller than the first displacement amount from the first displacement amount without changing the number of detections per unit time for the light passing through the lens to be detected by the detection unit. A three-dimensional measurement system including a control unit that changes the measurement accuracy by changing to a two- displacement amount and controls the change mechanism according to the changed second displacement amount. The three-dimensional measurement system according to claim 1, wherein the change mechanism is a mechanism for moving the position of the lens. The three-dimensional measurement system according to claim 2, wherein the change mechanism is a mechanism for linearly moving the lens in the optical axis direction of the lens. The change mechanism is
The first drive unit that causes the lens to move linearly,
A counterweight provided on a straight line in the linear motion direction of the lens and having the same mass as the lens,
A second drive unit that linearly moves the counterweight,
Includes a support that supports the lens and the counterweight so that they move linearly.
The three-dimensional measurement according to claim 3, wherein the control unit controls the first drive unit and the second drive unit so that the lens and the counterweight move linearly by the same distance in opposite directions. system. At least one of the first drive unit and the second drive unit has a magnetic circuit configuration including a magnet, a coil, and a yoke.
The three-dimensional measurement system according to claim 4, wherein the lens or the counter weight moves linearly when a force in a linear motion direction is applied by the magnetic circuit configuration. The three-dimensional according to claim 4 or 5, wherein at least one of the first drive unit and the second drive unit includes an elastic member that applies an elastic force in the linear motion direction of the lens or the counter weight. Measurement system. The three-dimensional measurement system according to claim 6, wherein at least one of the first drive unit and the second drive unit includes a damper. The lens is a liquid lens
The three-dimensional measurement system according to claim 1, wherein the change mechanism is a mechanism for changing the voltage applied to the liquid lens. The three-dimensional measurement system according to any one of claims 1 to 8, further comprising an adjusting unit for adjusting the displacement amount of the focal position changed by the changing mechanism. An arithmetic unit that constructs three-dimensional data based on a plurality of detection results read by the detection unit, and
The three-dimensional measurement system according to any one of claims 1 to 9, further comprising a display unit for displaying the three-dimensional data constructed by the calculation unit. After measuring the first region, when measuring the second region, a determination unit for determining whether or not the measurement method is correct based on the degree of superimposition of the measured portions of the second region and the first region. The three-dimensional measurement system according to any one of claims 1 to 10, further comprising. It is a handheld and usable 3D measuring device for medical use.
A daylighting unit for capturing the light reflected by the object,
A lens that allows light taken in from the daylighting unit to pass through,
A change mechanism that changes the focal position of the lens by reciprocating the lens at a predetermined cycle.
A detector that detects and reads out the light that has passed through the lens,
The displacement amount of the focal position per cycle is smaller than the first displacement amount from the first displacement amount without changing the number of detections per unit time for the light passing through the lens to be detected by the detection unit. A three-dimensional measuring device including a control unit that changes the measurement accuracy by changing to a two-displacement amount and controls the change mechanism according to the changed second displacement amount. The focal position of the lens is changed by reciprocating the lens with a lighting unit for capturing the light reflected by the object, a lens passing the light captured from the lighting unit, and the lens at a predetermined cycle. A control program executed by a handheld and available medical three-dimensional measuring device including a change mechanism and a detection unit that detects and reads out light that has passed through the lens.
The first displacement amount of the displacement amount of the focal position per cycle is smaller than the first displacement amount without changing the number of detections of the light passing through the lens per unit time detected by the detection unit. 2 The first step to accept the change to the displacement amount and
A control program including a second step of controlling the change mechanism according to the second displacement amount after the change received in the first step.

Images