CN102022985A - Three dimensional information measuring device and three dimensional information measuring method - Google Patents
Three dimensional information measuring device and three dimensional information measuring method Download PDFInfo
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- CN102022985A CN102022985A CN2010102838956A CN201010283895A CN102022985A CN 102022985 A CN102022985 A CN 102022985A CN 2010102838956 A CN2010102838956 A CN 2010102838956A CN 201010283895 A CN201010283895 A CN 201010283895A CN 102022985 A CN102022985 A CN 102022985A
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Abstract
The invention provides a three dimensional information measuring device and a three dimensional information measuring method, which can be used for metal, chinaware or measuring objects such as vehicles or other parts having strong reflective surfaces such as glossy coatings, and to do the three dimensional information measurement by using the graph light projection technology. The invention comprises a graph light projection equipment (1) capable of projecting the graph light on the objects to be measured indirectly, a reflection plate (2) used for reflecting the graph light projected by the graph light projection equipment (1) on the measured object (A), a camera equipment (3) used for shooting the measured object (A) after the projection to achieve the projected graph. The direction of the optical axis of the lens of the camera equipment (3) is different from the direction of the projection of the graph light after being reflected. The invention also comprises a data processing device (4) used for calculating the three dimensional information of the measured object (A) from the projected graph.
Description
Technical field
The present invention relates to three-dimensional information measurement mechanism and three-dimensional information measuring method that three-dimensional information that metal, pottery, automobile or its parts etc. have the surface of the strong measuring object thing of surface reflections such as gloss application is measured in the noncontact mode.
Background technology
3-d shape measurement is a kind of by using digital camera to carry out the photographing of measuring object thing and carry out Flame Image Process with computing machine, calculates the method for the 3D shape on measuring object thing surface in the noncontact mode.Usually, 3-d shape measurement is divided into not and will will shine the passive-type of measuring on the measuring object thing and shine light, sound wave or electric wave etc. on the measuring object thing and active two kinds of utilizing its information to measure as measuring auxiliary specific light or electric wave etc.
The exemplary process of passive-type is two such images from different viewpoint videographic measurment objects with 2 camera image people, and the principle of application triangulation calculates the stereoscopic vision method of the 3D shape of measuring object thing.By means of the method for measuring three-dimensional shape of stereoscopic vision is the method for only using the camera more than 2 or 2 to measure the 3D shape of measuring object thing, has the advantage of using the 3D shape that simple equipment can Measuring Object.
Yet in such passive-type method, the what is called that must take to extract measurement point and corresponding point from multiple image adds correspondence and had both carried out the measurement point coupling.Therefore, to the object that do not have feature or the part that does not have feature of object, be difficult to carry out corresponding coupling of adding of measurement point, thereby can not carry out 3-d shape measurement.
On the other hand, as active three-dimensional information measuring method, for example the method by means of the figure optical projection described in the patent documentation 1,2 is known.By means of the three-dimensional information measuring method of figure optical projection be with the figure optical projection to the measuring object thing, analysis by its reflective graphics, try to achieve the method for the three-dimensional information of object surface shape, it is characterized in that also can not having the measurement of the measuring object thing of feature.
Fig. 8 is the geometric relationship figure of the ultimate principle of the existing three-dimensional information measuring method by means of the figure optical projection of expression.In Fig. 8, O
pBe the optical center of figure optical projection machine, O
cBe the optical center of observation with camera.Figure optical projection machine and camera only separate certain distance b and are configured.Figure optical projection machine projects to the angle of measuring figure light with β on the measurement point M.On the other hand, observation is observed measurement point M and is taken its image with camera.The observation angle of this moment is defined as α.
The depth coordinate Z of measurement point M in three dimensions world coordinate system (O, X, Y, Z) of this moment can try to achieve by following formula.
α is observation angle (from the visual angle at the measurement point place that observation is seen with camera), and β is projection angle (projecting to direction of light angle on the measuring object thing from figure optical projection machine), and b be from observing with the distance of camera center to figure optical projection machine center.
The prior art document
Patent documentation
Patent documentation 1: the spy opens the 2006-145405 communique
Patent documentation 2: the spy opens the 2008-249432 communique
Summary of the invention
, be under the situation of the strong object of surface reflection such as metal at the measuring object thing, in case with the figure optical projection to the measuring object thing, then be mapped to observation and forming high-lightness light with the part on the camera by positive and negative, figure light is by very strong reflection.On the contrary, the part beyond the normal reflection, catoptrical strength ratio build-up of luminance light terrifically a little less than, be difficult to the shooting three-dimensional information and measure required reflective graphics.Therefore, under the situation of the strong object of surface reflection, exist because reflective graphics that can't the videographic measurment object, so can not carry out the problem of three-dimensional measurement.
Therefore, the objective of the invention is to, provide a kind of and can be used for execution gloss applications such as metal, pottery, automobile or its parts etc. and cause the strong measuring object thing of surface reflection, also can carry out three-dimensional information measurement mechanism and three-dimensional information measuring method by means of the measurement of the three-dimensional information of figure optical projection.
Three-dimensional information measurement mechanism of the present invention comprises: directly figure illumination is not mapped to the projecting cell that the mode on the measuring object thing is carried out projection; Reflection is by the figure light of projecting cell projection (below, be called " projecting figure light ") and project to reflector element on the measuring object thing; Measuring object thing after the figure light that the unit that is reflected has been reflected (below, be called " reflective graphics the light ") projection is made a video recording and is obtained the optical axis image unit different with the projecting direction of reflective graphics light of reflective graphics light image and its camera lens; And the data processing unit that calculates the three-dimensional information of measuring object thing from the reflective graphics light image.
In addition, three-dimensional information measuring method of the present invention is characterised in that, comprising: directly figure illumination is not mapped to the step that the mode on the measuring object thing is carried out projection; Figure light behind the reflective projection (projecting figure light) and project to step on the measuring object thing; Be configured in camera lens on the projecting direction different directions with reflective graphics light by its optical axis, the measuring object thing after figure light (reflective graphics light) projection that has been reflected is made a video recording and obtain the step of reflective graphics light image; And the step that calculates the three-dimensional information of measuring object thing from the reflective graphics light image.
In the time of on light shining object, two kinds of internal reflection and surface reflections are arranged by the reflection that object produced.In existing three-dimensional measurement, mostly utilized the internal reflection characteristic by means of the figure optical projection.Therefore, in measurement by means of the figure optical projection, though be applicable to the measurement of the measuring object thing that surface reflections such as gypsum or timber are weak, can't measure for the strong measuring object thing of surface reflections such as metal or pottery and but become and to measure, or measurable scope diminish narrow.Therefore, in the present invention, utilize reflector element reflection to make figure light (projecting figure light) after the projection through the reflection unit reflection, and by optical axis be configured in reflect after the projecting direction different directions of figure light (reflective graphics light) on camera lens make a video recording to obtain the reflective graphics light image.
Therefore, be not only certainly much less for the measuring object thing a little less than the surface reflections such as gypsum or timber, even if but be projected to the strong measuring object things of surface reflection such as metal or pottery, be difficult to be made a video recording owing to be projected to the surface reflection composition of the reflective graphics light on the measuring object thing, so can assign to the three-dimensional information of the surface configuration of measuring object thing is measured by shooting internal reflection one-tenth.
In addition, three-dimensional information measurement mechanism of the present invention is characterised in that, projecting cell, reflector element and image unit are configured in the mode that the mean value direction of the normal vector of the optical axis of the camera lens of the projecting direction of the projecting figure light of projecting cell, image unit and reflector element is not parallel to each other.
In addition, three-dimensional information measurement mechanism of the present invention is characterised in that, data processing unit calculates the three-dimensional information of the surface configuration of measuring object thing according to by the depth distance value by the projecting figure of the figure light after the projecting cell projection, the measurement point of calculating by the figure of the reflective graphics light after the reflector element reflection and by the comparison of the reflective graphics light image of image unit shooting.
In addition, it is characterized in that data processing equipment calculates the depth distance value of measurement point according to the visual angle of the measured figure striped that angle, reflective graphics light are set of the projecting direction angle of the measured figure striped of projecting figure light, reflecting plate.
In addition, three-dimensional information measurement mechanism of the present invention is characterised in that, intensity distributions, look that figure light is automatically regulated self according to shape, color and the reflection behavior of surface of measuring object thing distribute and spatial frequency distribution, make intensity of colour by the image of image unit shooting distribute and become appropriate.
In addition, three-dimensional information measurement mechanism of the present invention is characterised in that the time shutter of camera head, camera speed and white balance are automatically regulated according to the feature of projecting figure light and shape, color and the reflection behavior of surface of measuring object thing.
The invention effect
According to the present invention,, just can be easy to calculate the three-dimensional information of the surface configuration of measuring object thing according to this image of making a video recording only by figure light is projected on the measuring object thing and makes a video recording through reflector element.Thus, be not only the weak measuring object things of surface reflections such as gypsum or timber, even if metal, pottery, automobile or its parts etc. have the strong measuring object things of surface reflection such as gloss application, the three-dimensional information of its surface configuration or size also can realize high precision and high-speed measurement with low cost by simple structure.
Description of drawings
Fig. 1 is the one-piece construction figure of the three-dimensional information measurement mechanism in the embodiments of the present invention.
Fig. 2 is the block diagram of the detailed structure of the three-dimensional information measurement mechanism in the expression present embodiment.
Fig. 3 is that the three-dimensional information of the object surfaces shape of utilizing the three-dimensional information measurement mechanism in the present embodiment is measured the process flow diagram of handling.
Fig. 4 is the figure of the example of employed 4 kinds of projecting figures in the expression present embodiment.
Fig. 5 is the one-piece construction figure of the three-dimensional information measurement mechanism in another embodiment of the present invention.
Fig. 6 is the geometric relationship figure of the ultimate principle of the three-dimensional information measuring method in the expression present embodiment.
Fig. 7 is the geometric relationship figure of the ultimate principle of the three-dimensional information measuring method in the expression present embodiment.
Fig. 8 is the geometric relationship figure of the ultimate principle of the existing three-dimensional information measuring method of utilizing the figure optical projection of expression.
Symbol description
1,1-1,1-2 figure optical projection equipment
2,2-1,2-2 reflecting plate
3,3-1,3-2 camera apparatus
4 data processing units
The 4a interface
5a, 5b transmit cable
10 storage unit
11 projecting figures form the unit
12 figure optical projection unit
13 reflective graphics light image units
14 measuring object thing extracting units
15 measurement pattern detecting units
16 depth distance value computing units
17 three-dimensional information computing units
18 measurement result display units
19 output units
20 man-computer communication unit
Embodiment
Fig. 1 is the one-piece construction figure of the three-dimensional information measurement mechanism in the embodiments of the present invention, and Fig. 2 is the block diagram of the detailed structure of the three-dimensional information measurement mechanism in the expression present embodiment.
In Fig. 1, the three-dimensional information measurement mechanism in the embodiments of the present invention has: as the figure optical projection equipment 1 of the projection arrangement that figure light is carried out projection; Project to the reflecting plate 2 of the reflector element on the measuring object thing A by the figure light (projecting figure light) of figure optical projection equipment 1 projection as reflection; The camera apparatus 3 of the image unit of making a video recording as the measuring object thing A after figure light (reflective graphics light) projection that the plate 2 that is reflected has been reflected; And as data processing unit 4 to the data processing equipment handled by the data of the reflective graphics light image of this camera apparatus 3 shootings.Figure optical projection equipment 1 and data processing unit 4, camera apparatus 3 utilizes transmission cable 5a, the 5b that can transmit each data to be connected respectively with data processing unit 4.
Figure optical projection equipment 1 is, to be transformed into figure light by data processing unit 4 formed graph datas, and on the direction that does not have measuring object thing A, the i.e. device that carries out projection in the mode that does not shine directly on the measuring object thing A, perhaps accept the order of data processing equipment 4, not shine directly into mode on the measuring object thing A to the figure light device that carries out projection of regulation.For example, can adopt commercially available simple mechanisms such as liquid crystal projector, DLP (digital light is handled, trade mark) projector, laser projection, LED (semiconductor) projector or film projection machine.
Reflecting plate 2 has the light of making function of reflecting, is to being reflected by the projecting figure light after 1 projection of figure optical projection equipment and projecting to sheet material on the measuring object thing A.The reflectivity of reflecting plate 2 is 20%～95%.Have again, in the present embodiment, adopt plane sheet material, but also can adopt curved sheet material.
That is, figure optical projection equipment 1, reflecting plate 2 and camera apparatus 3 are configured in the mutual uneven mode of mean value direction of the normal vector of the optical axis of the camera lens of the optical axis (projecting direction of projecting figure light) of figure optical projection equipment 1, camera apparatus 3 and reflecting plate 2.Have, the time shutter of camera apparatus 3, camera speed and white balance are automatically regulated according to the feature of projecting figure light and shape, color and the reflection behavior of surface of measuring object thing A again.
To be storages form measurement that unit 11 generates with projecting figure or from the data of the image that camera apparatus 3 transmitted or by the unit of the result's that each unit of aftermentioned calculated data etc. by projecting figure described later to storage unit 10.
It is to generate the unit of the required measurement of three-dimensional measurement with projecting figure that projecting figure forms unit 11.The shape of measuring with projecting figure can adopt striated or circular figure, also can adopt other shape.The color of figure both can be single color, also can the single color of right and wrong, and its intensity distributions both can be uniformly, also can be uneven.Projecting figure formation unit 11 is that size, shape and the surface color according to the measuring object thing distributes and generation has the unit of the measurement of the shape, color and the spatial frequency distribution that are suitable for measuring most with projecting figure.
Figure optical projection unit 12 is on the direction that does not have measuring object thing A, promptly is stored in projection is carried out in the measurement in the storage unit 10 with the light of projecting figure unit in the mode that does not shine directly on the measuring object thing A by 1 pair of figure optical projection equipment.Figure light (projecting figure light) by this figure optical projection equipment 1 projection does not directly project on the measuring object thing A, but projects on the measuring object thing A after plate 2 reflections that are reflected again.That is to say that if there is not reflecting plate 2, projecting figure light just can not shine directly on the measuring object thing A, illumination is mapped on the measuring object thing A as reflective graphics in the reflection that projecting figure light can be by reflecting plate 2.
Reflective graphics light image unit 13 is that the measuring object thing A after figure light (reflective graphics light) projection of having reflected by the plate 2 that is reflected with camera apparatus 3 shooting obtains its image (reflective graphics light image) and sends the unit of storage unit 10 to.
Measuring object thing extracting unit 14 is the unit that extract measuring object thing A in the reflective graphics light image from be stored in storage unit 10.
Measurement pattern detecting unit 15 is the unit that detect the figure be projected to the reflective graphics light on the measuring object thing A that is extracted by measuring object thing extracting unit 14 (below, be called " measurement pattern ").
Depth distance value computing unit 16 is by calculated the unit of the depth distance of measurement point by the analysis meter of measurement pattern detecting unit 15 detected measurement pattern.In more detail, 16 pairs of measurement projecting figures of depth distance value computing unit by the figure light after 12 projections of figure optical projection unit, compare by measurement pattern detecting unit 15 detected measurement pattern and by the reflective graphics light image of reflective graphics light image unit 12 shooting, according to the projecting direction angle of measuring with the measured figure striped of projecting figure (projection angle θ described later), reflecting plate 2 angle (reflecting plate angle φ described later) is set, the visual angle of the measured figure striped of the measurement pattern that is detected (viewing angle α described later) calculates the depth distance value of measurement point.
Three-dimensional information computing unit 17 is unit of the three-dimensional information of the each point on the image of the surface configuration that calculates the measuring object thing A that is extracted by measuring object thing extracting unit 14 of the depth distance value according to the measurement point that is calculated by depth distance value computing unit 16.
Measurement result display unit 18 is the unit that show the three-dimensional information that is calculated by three-dimensional information computing unit 17 by numeric data, CAD design drawing or computerized mapping methods such as (CG).
Man-computer communication unit 20 is to be used to realize the operator of above-mentioned each device and the unit of the message exchange between the three-dimensional information measurement mechanism.
Then, measuring processing with regard to the three-dimensional information of the surface configuration in the present embodiment describes.Fig. 3 utilizes the three-dimensional information of the object surfaces shape of the three-dimensional information measurement mechanism in the present embodiment to measure the process flow diagram of handling.
Figure optical projection unit 12 at first forms the projecting figure (step S101) that initial measurement with pre-prepd shape, intensity distributions, color distribution and spatial frequency distribution characteristic is used.(a)～(d) of Fig. 4 illustrates the example of employed 4 kinds of projecting figures in the present embodiment.Have, the color modulation striated figure of this figure (b) is actually the different striated figure of color of each striped again.Then, figure optical projection unit 12 projecting figure that utilizes figure optical projection equipment 1 that this initial measurement that has formed is used projects to (step S102) on the reflecting plate 2.
Then, reflective graphics light image unit 13 utilizes camera apparatus 3 to make a video recording and projects to the image of the reflective graphics light on the measuring object thing A by reflecting plate 2, is input in the measuring object thing extracting unit 14 (step S104).
The intensity of colour that measuring object thing extracting unit 14 is analyzed the reflective graphics light image of above-mentioned picture being shot by inquiry distributes and judges whether the intensity of colour distribution is appropriate, thereby and then judges whether this reflective graphics light image is the ideal image (the step S105 of Fig. 3) that is adapted to measure.If ideal image then proceeds to the extraction of the measuring object thing A of step S106.If not ideal image, then turn back to step S101, measure parameter correction, repeating step S102～step S105 with projecting figure.Thus, intensity distributions, look that projecting figure light is automatically regulated self according to shape, color and the reflection behavior of surface of measuring object thing distribute and spatial frequency distribution, thereby become appropriate so that the intensity of colour of the reflective graphics light image of being made a video recording distributes.
The ideal image in case make a video recording then adopts the methods of knowing such as background subtraction point-score by measuring object thing extracting unit 14, extracts measuring object thing A (step S106) from the reflective graphics light image of making a video recording.And then, by measurement pattern detecting unit 15, be projected to the striped (step S107) of the figure (measurement pattern) of the reflective graphics light on the measuring object thing A from the measuring object thing A image detection that this extracted.
Then, utilize depth distance value computing unit 16, the measurement of the striped of detected measurement pattern and the original figure light striped with projecting figure is compared, calculate depth distance value (step S108) from camera apparatus 3 to measurement point.And then, calculate the three-dimensional information (step S109) of each measurement point on the image of surface configuration of the measuring object thing A that is extracted according to the coordinate of each measurement point and the depth distance value of being calculated.
Herein, the computing method with regard to the depth distance value describe.Fig. 6 is the geometric relationship figure of the ultimate principle of the three-dimensional information measuring method in the expression present embodiment.Have again, reflecting plate 2 according to the optical center O that links figure optical projection equipment 1
pOptical center O with camera apparatus 3
cThe parallel mode of straight line (below, be called " optical center line ") set.Figure optical projection equipment 1 projects to the angle of measuring figure light with β on the reflecting plate 2, and the reflective graphics light after reflecting plate 2 reflections is projected on the measuring object thing A.The image of camera apparatus 3 videographic measurment object A is from the lip-deep measurement point M of this image observation measuring object thing A.The observation angle of this moment is decided to be α.
Depth coordinate figure Z in the three dimensions world coordinate system of measurement point M (O, X, Y, Z) tries to achieve by following formula (2).
Herein, α is the observation angle (from the visual angle at measurement point place that camera see) identical with formula (1), and β is projection angle (projecting to direction of light angle on the reflecting plate 2 from figure optical projection equipment 1), and b is the optical center O from camera apparatus 3
cOptical center O to figure optical projection equipment 1
pDistance, h is the distance between optical center line and the reflecting plate 2.
In addition, Fig. 7 is the geometric relationship figure of the ultimate principle of the three-dimensional information measuring method in the expression present embodiment, and reflecting plate 2 links the optical center O of figure optical projection equipment 1 relatively
pOptical center O with camera apparatus 3
cStraight line (optical center line) hold the angle of φ.Figure optical projection equipment 1 projects to the angle of measuring figure light with β on the reflecting plate 2, and the reflective graphics light after reflecting plate 2 reflections is projected on the measuring object thing A.The image of camera apparatus 3 videographic measurment object A is from the lip-deep measurement point M of this image observation measuring object thing A.The observation angle of this moment is set at α.
The depth coordinate figure Z of measurement point M in three dimensions world coordinate system (O, X, Y, Z) tries to achieve by following formula (3).
Herein, α is the observation angle (from the visual angle at measurement point place that camera see) identical with formula (1), θ is projection angle (projecting to direction of light angle on the reflecting plate 2 from figure optical projection equipment 1), φ is the angle (reflecting plate angle) between reflecting plate 2 and the optical center line, and b is the optical center O from camera apparatus 3
cOptical center O to figure optical projection equipment 1
pDistance, h is the distance between optical center line and the reflecting plate 2.
At last, can utilize measurement result display unit 18, with all measurement results be transformed to according to CAD design configuration or CG, three-dimensional CG show the perhaps numeric data of various forms.In addition, can be saved in the external recording mediums such as the nonvolatile memory that is connected with data processing unit 5 or hard disk unit by output unit 19.In addition, also can pass through output unit 19, export (step S110) as text or map file by other output units such as printers.
Have again, in the present embodiment, as shown in Figure 1, only utilized a camera apparatus 3 and a figure optical projection equipment 1 to make up the three-dimensional information measurement mechanism, but as shown in Figure 5, also can utilize many camera apparatus 3-1,3-2 ... simultaneously from the integral body of different angle videographic measurment object A.At this moment, figure optical projection equipment 1-1,1-2 ... and reflecting plate 2-1,2-2 ... also need corresponding to prepare many.
As mentioned above, according to the three-dimensional information measurement mechanism in the present embodiment, make from figure optical projection equipment 1 not directly with the figure optical projection of projection when directly measuring object thing A not being shone, but, projecting figure light is projected on the measuring object thing A indirectly as reflective graphics light by using reflecting plate 2.Then, under this state, make a video recording and measure the three-dimensional information of the surface configuration of measuring object thing A according to the image that this is made a video recording with camera apparatus 3, even so measuring object thing A strong to surface reflection, also can be only shooting by common mode, just can be easily from this institute make a video recording to image measure the three-dimensional information of the surface configuration of measuring object thing A.
Therefore, because in this three-dimensional information measurement mechanism, place reflecting plate 2 so simple structures and realize owing to can only utilize to resemble to be provided with, so can carry out the three-dimensional information measurement of surface configuration at a high speed with low cost.In addition, in this three-dimensional information measurement mechanism,, can make up the measuring system of human body not being had the harm cleaning owing to do not use laser instrument.And then, owing to only carry out the figure optical projection one time, so also applicable to the measurement of non-static object.
In addition, in the present embodiment, from the figure of figure optical projection equipment 1 projection visible light only, and the reflecting plate 2 that is adopted is 20%～95% at the reflectivity of this visible light.Have again, except visible light, also can be from figure optical projection equipment 1 projection infrared ray or ultraviolet, and project on the measuring object thing A after utilizing reflecting plate 2 with its reflection, and then make a video recording by the camera apparatus 3 that is suitable for various light.
Industrial utilizability
Three-dimensional information measurement mechanism of the present invention and the conduct of three-dimensional information measuring method are with the three-dimensional shape on the surface of non-contact mode measuring measuring object thing, calculate its size, area and volume etc., damage or testing fixture and the method for the blemish such as depression are useful. Particularly, the present invention is suitable as the apparatus and method of carrying out shape measure and quality management for the strong measuring object thing of surface reflection to the metallic article such as automobile or its parts, family's electrical article, chinaware article or other glossiness goods etc.
Claims (7)
1. three-dimensional information measurement mechanism, comprising:
Projecting cell carries out projection in the mode that directly figure illumination is not mapped on the measuring object thing;
Reflector element, reflection is by the figure light of above-mentioned projecting cell projection i.e. " projecting figure light " and project on the above-mentioned measuring object thing;
Image unit is made a video recording and is obtained the reflective graphics light image the above-mentioned measuring object thing after i.e. " reflective graphics light " projection of figure light of having been reflected by above-mentioned reflector element, and the optical axis of its camera lens is different with the projecting direction of above-mentioned reflective graphics light; And
Data processing unit calculates the three-dimensional information of above-mentioned measuring object thing from above-mentioned reflective graphics light image.
2. three-dimensional information measurement mechanism as claimed in claim 1, wherein,
Above-mentioned projecting cell, reflector element and image unit are configured in the following manner, and promptly the mode that is not parallel to each other of the mean value direction of the normal vector of the optical axis of the camera lens of the projecting direction of the above-mentioned projecting figure light of above-mentioned projecting cell, above-mentioned image unit and above-mentioned reflector element is configured.
3. three-dimensional information measurement mechanism as claimed in claim 1 or 2, wherein,
Above-mentioned data processing unit calculates the three-dimensional information of the surface configuration of above-mentioned measuring object thing according to by the depth distance value by the projecting figure of the figure light after the above-mentioned projecting cell projection, the measurement point of calculating by the figure of the reflective graphics light after the above-mentioned reflector element reflection and by the comparison of the reflective graphics light image of above-mentioned image unit shooting.
4. three-dimensional information measurement mechanism as claimed in claim 3, wherein,
Above-mentioned data processing unit calculates the depth distance value of above-mentioned measurement point according to the visual angle of the measured figure striped that angle, above-mentioned reflective graphics light are set of the projecting direction angle of the measured figure striped of above-mentioned projecting figure light, said reflection plate.
5. as each the described three-dimensional information measurement mechanism in the claim 1 to 4, wherein,
Above-mentioned figure light is automatically regulated intensity distributions, look according to shape, color and the reflection behavior of surface of measuring object thing and is distributed and spatial frequency distribution, makes the intensity of colour of the image of being made a video recording by above-mentioned image unit distribute and becomes appropriate.
6. as each the described three-dimensional information measurement mechanism in the claim 1 to 5, wherein,
The time shutter of above-mentioned image unit, camera speed and white balance are automatically regulated according to the feature of above-mentioned projecting figure light and shape, color and the reflection behavior of surface of above-mentioned measuring object thing.
7. three-dimensional information measuring method comprises:
Directly figure illumination is not mapped to the step that the mode on the measuring object thing is carried out projection;
Reflect the figure light i.e. " projecting figure light " and project to step on the above-mentioned measuring object thing after the above-mentioned projection;
To by the above-mentioned measuring object thing after i.e. " reflective graphics light " projection of the above-mentioned figure light that has reflected, by with the projecting direction different directions of above-mentioned reflective graphics light on the camera lens of configuration optical axis make a video recording and obtain the step of reflective graphics light image; And
Calculate the step of the three-dimensional information of above-mentioned measuring object thing from above-mentioned reflective graphics light image.
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| JP2009216505A JP5633719B2 (en) | 2009-09-18 | 2009-09-18 | 3D information measuring apparatus and 3D information measuring method |
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| JP2021158393A (en) * | 2018-06-22 | 2021-10-07 | ソニーグループ株式会社 | Information processing device, information processing method, and program |
| CN114670199B (en) * | 2022-03-29 | 2023-05-23 | 深圳市智流形机器人技术有限公司 | Identification positioning device, system and real-time tracking system |
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| CN102022985B (en) | 2015-02-11 |
| JP2011064617A (en) | 2011-03-31 |
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