CN85102933B - Produce the method and apparatus of 3D shape - Google Patents

Abstract

Equal or similar in appearance to the apparatus and method of this 3D shape producing from object with 3D shape, with laser light irradiation to object, with image pickup device picked-up laser spot, and the two-dimensional position of luminous point is by trying to achieve each microspur on the vertical direction of object, thereby produces 3D shape.

Description

Produce the method and apparatus of 3D shape

The invention relates to the method and the device that produce 3D shape or three-dimensional body, for example provide the method and the device of 3-D view from object with 3D shape (as human body etc.).

The use copying machine was once arranged, casting, means such as reverse mould produce the proposal of the 3D shape that is equal to the object with 3D shape.

But these shortcomings of carrying instrument are the limited spaces owing to copying machine, casting etc., and the object that need is formed three-dimensional shape model has certain limitation, so reproducible does not have the 3D shape that complex outline reaches obviously concavo-convex object.In addition, if object is to be made by flexible material, just then its copying needs artistic feeling and height skill.

On 13 volume the 2nd phase 45-49 pages or leaves in " automatic technology " monthly magazine in February, 1981, title is in the literary composition of " utilizing graph technology to duplicate object ", introduce application itv camera machine and absorbed the slit optical imagery of penetrating on an object, thereby the ray space coordinate that provides body surface light to produce, and the possibility of duplicating object.Yet this article is not introduced any concrete equipment that is used to duplicate object.

Fundamental purpose of the present invention provides a kind of method and device, it can produce 3D shape with easy measuring method, and can equate with the 3D shape object or with the 3D shape of certain enlargement factor with high accuracy generation, no matter and the shape of this object whether complexity and material hard.

For realizing above-mentioned purpose of the present invention, beam of laser is mapped on the object of 3D shape, and the optical imagery of such this object that produces of picked-up, so that the two-dimensional position of this optical imagery to be provided, the optics cutting planes that is obtained by laser is used to measure whole object, and 3D shape just can produce based on this optics cutting planes.

Other purpose of the present invention and feature will be along with apparent below in conjunction with the description of accompanying drawing, wherein:

Figure 1A and 1B are respectively facing of the first embodiment of the present invention and side view;

Fig. 2 A and 2B are the synoptic diagram of the measurement of the optical imagery of object in the explanation first embodiment of the invention;

Fig. 3 represents the image views of itv camera machine (two dimensional image capturing apparatus) picked-up;

Fig. 4 represents the state of the picture signal of image shown in Figure 3;

Fig. 5 is the block scheme of the data processing of expression one embodiment of the invention middle section shape manipulation;

Fig. 6 A and 6B are facing of second embodiment of the invention and side view;

Fig. 7 A and 7B are the views of the measurement of the optical imagery of object in the explanation second embodiment of the invention;

Fig. 8 A, 8B and 8C are the synoptic diagram of the picked-up state of one dimension line sensor video camera (image-pickup device) in the expression second embodiment of the invention;

Fig. 9 is the block scheme of the data processing of expression second embodiment of the invention middle section shape manipulation;

Figure 10 A and 10B are respectively facing of third embodiment of the invention and side view;

Shown in Figure 11 is the optics trajectory diagram of PSD video camera picked-up in the third embodiment of the invention;

Figure 12 represents the shooting screen of PSD video camera used in the third embodiment of the invention;

Figure 13 is the generation of a 3D shape and the block scheme of its operation in the expression third embodiment of the invention;

Figure 14 represents the two-dimensional shapes storage chart in the third embodiment of the invention;

Figure 15 represents among the 3rd embodiment two-dimensional shapes to be converted to the principle of three-dimensional structure;

Figure 16 represents two-dimensional shapes is converted to the storage chart of 3D shape as shown in figure 14;

Figure 17 represents to be formed among the 3rd embodiment to produce the principle of the parallel cut of 3D shape;

Figure 18 represents to be used to form the storage chart of parallel cut as shown in figure 17;

Figure 19 is the side view of fourth embodiment of the invention;

Figure 20 represents the screen of * video camera used among the 4th embodiment (two * camera heads);

Figure 21 is illustrated on the plane of delineation shown in Figure 20, the state of its picture signal;

Figure 22 A and 22B are respectively the side-looking and the front view of the fifth embodiment of the present invention;

Figure 23 represents the image of the itv camera machine that uses among the 5th embodiment;

Figure 24 represents the state of the vision signal on the plane of delineation as shown in figure 23;

Figure 25 is the calcspar of the measurement processing section of pair cross-section shape among the 5th embodiment;

Figure 26 is a section intercepting work system synoptic diagram among the 5th embodiment;

Figure 27 is the side view of sixth embodiment of the invention;

Figure 28 A and 28B are respectively the forward sight and the side view of seventh embodiment of the invention;

Figure 29 represents that the seven the execute the image of used itv camera machine in the example;

Figure 30 represents the state of vision signal on as shown in figure 29 the plane of delineation;

Figure 31 A and 31B are respectively the forward sight and the side view of eighth embodiment of the invention;

Figure 32 represents the image of used itv camera machine among the 8th embodiment;

Figure 33 is illustrated in the state of vision signal on shown in figure 32 the plane of delineation;

Below with reference to accompanying drawings the first embodiment of the present invention is laid down a definition.

Figure 1A and 1B are depicted as the partial devices of first embodiment.For simplicity, make object with people's surface model 1 of simplifying.Model 1 is set coordinate, as the reference data of the image-pickup device position of beam irradiation position and optical imagery.Among Figure 1A and the 1B, model 1 bottom centre is true origin G, and among forward sight Figure 1A, X-axis is extended with horizontal direction from initial point G, and Y-axis is extended with vertical direction from initial point, and the vertical center line of model 1 is the Z axle among side-looking Figure 1B.Beam irradiation device 2 penetrate the light beam 2 that width are △ h ', be light source for example with laser instrument, be mapped on the object model 1 with the light of 0.5 mm wide.Width is the light beam 2 ' be radiated on the model of △ h, and is center line and with rotation angle θ scan model by rotating mirror or similar device and optical lens system with the perpendicular line towards the Z axle.The beam plane that will be formed by beam flying is as the X-Y axial plane, with the initial point G(Z of Z axle) be located on the bottom surface of model, with this as the benchmark that this object is measured.

Itv camera machine 3 is two dimensional image capturing apparatus, it be arranged on beam irradiation device 2 below, and leave certain distance.The light beam 2 of beam irradiation device 2 ' with the optical axis of itv camera machine 3 between on X-Y plane, become a fixed angles β by the Z axle, and the visual angle of itv camera machine 3 is α.Beam irradiation device 2 is fixedly mounted on the bar 8 with itv camera machine 3, rack bar 8 can import in the guide pillar 7 by sliding type, rack bar 8 is fixed on the spheric nut 6, and nut 6 is spun on the spherical screw axis 5, screw axis 5 is connected with the step motor (not shown), drive spheric nut 6 by stepper motor steps, so rack bar 8 is to do to rise or descend corresponding to the height of beam diameter △ h.

For the periphery with light beam 2 ' whole object model 1 of irradiation, the itv camera machine of using with the picked-up two dimensional image 3 correspondingly absorbs whole periphery.In this embodiment, four beam irradiation devices 2 and four itv camera machines 3 be arranged in object model 1 around.In this example, these itv camera machines 3 are equidistantly settled from the Z of model 1 axle, and directly make comparisons, and to handling with the corresponding measurement data of optical imagery with the optical imagery that the corresponding light beam by each irradiation unit 2 of identical optical magnification and model 1 constitutes.

Below with reference to Fig. 2 A and 2B, each beam irradiation device 2 of object model 1 and the geometric position of each itv camera machine 3 are laid down a definition.

Among Fig. 2 A, the light beam 2 that sends by beam irradiation device 2 ' get rotation angle θ, the vision area restriction SLM on the Y-axis is in 0 to+Ym scope, and the position Ym/2 of the initial point of model 1 on Y-axis.The range of exposures of being shone the periphery of whole model 1 by the equipment of a beam irradiation device 2 must be in 90 ° of scopes that with the initial point are the center, promptly on Y-axis from YL ₁To YL ₂Scope in.By device 2 light beams that send 2 ' be mapped on the model 1, and on the Z axle with fixed angles β with as the optical axis 3 of the itv camera machine 3 of two dimensional image capturing apparatus ' intersect, its launching position on the Z axle is assumed to Zi, the light beam 2 of the device 2 on shining model 1 ' when being absorbed by itv camera machine 3, optical imagery on model l dependent cross-section just constitutes an optical imagery plane, this optical image plane comprises the sickle formula image of being made up of continuous light beam, as shown in Figure 3.In the optical imagery plane, Zi is passed in line segment 10 expressions, and is parallel to the line image of Y-axis.Point Pi ' shown in Figure 3 represents the image of 1 Pi of light, and this point can be to be mapped to model 1 lip-deep any point.

Suppose among Fig. 2 that the length from a Pi to the perpendicular line that contains itv camera machine plane 3 optical axises and that be parallel to Y-axis is △ li; And in Fig. 3, are Yi ' certainly putting Pi ' to the position of perpendicular line on line segment 10 of line segment 10, the length of its line segment Pi ' Yi ' is △ Zi,

　　　　 △li＝l/n×△Zi

Wherein n is the optical magnification of itv camera machine.

In this case, △ Zi will be obtained by following manner.

As shown in Figure 3, a plane of delineation of itv camera machine is made up of γ (being generally 240-500) bar sweep trace, and they from top to bottom are S ₁, S ₂Sn ... Sr.As shown in Figure 4, the itv camera machine produces the initiating signal V of a plane of delineation _BL, be first horizontal time-base H then _BL, then be corresponding at set time t _aInterscan is at sweep trace S ₁The vision signal H of the deep or light and shading value signal of epigraph _SScanning S ₁After, produce H once more _BLSignal is followed vision signal sequential scanning S again ₂When the sweep trace on Sn found light beam 2 ' optical imagery, it just appeared among the picture signal HS with light beam vision signal BHS significantly.Repetitive sequence scanning arrives Sr, just stops the scanning of a plane of delineation.After the description of finishing Sr, light beam is moved △ h distance to close position in the Z direction by motor.Produce the initiating signal V of the next plane of delineation then earlier _BL, produce the horizontal scanning initiating signal again, begin to carry out the scanning on next new images plane.

Fig. 5 is a calcspar, and expression utilizes an itv camera machine to obtain the control circuit of △ Zi.Among the figure, numeral 3 expression itv camera machines, separation circuit of 31 expressions, its receiving video signals HS, horizontal scanning initiating signal H _BLWith by the light beam 2 of itv camera machine 3 picked-up ' the plane of delineation initiating signal V of optical imagery _BL, vision signal is by H _BLAnd V _BLMiddle separation.20 expressions are in order to calculated level scanning initiating signal H _BLThe counter of number is producing image initiating signal V _BLThe time, counter reset is zero.So; Counter 20 is from transmitting a plane of delineation initiating signal V _BLTo transmitting next V _BLTime within, calculated level scanning initiating signal H _BLNumber.Like this, the number of sweep trace Si just can be predicted by the count value of counter 20.Multiplier 21 multiply by trace interval △ q with the sweep trace Si number that records, and just gets S ₁To the length of Si center line, the position of corresponding diagram 3 middle conductors 10 with numerical value r * △ q/2(plane of delineation) deduct this length, thus can calculate the distance of analyzing spot off-line section 10 on vertical.

On the other hand, be provided with oscillator 23 and produce spacing pulse, it is resultant that its spacing time is divided into the m part by ta sweep time of one scan line, the number of spacing pulse is reset to zero counter 24 calculating by one by the horizontal scanning initiating signal, be the spacing pulse number that counter 24 calculates a certain sweep trace, the horizontal scanning initiating signal H on next sweep trace _BLTill, and this evaluation and branch scanning line length are that the resulting length △ ye of m part multiplies each other.Thus, the horizontal level of any analyzing spot just can be calculated by the output signal of multiplier 26 on the itv camera machine plane of delineation.

Have brightly for vision signal is converted to, be connected separation vessel 31 back with digitizer 25, a digitizer outputting video signal H for " 1 " and dark logic binary code for " 0 " _S, the light beam image that wherein is mapped to object model 1 periphery represents that with " 1 " other parts are then used " 0 " expression.

For the upright position of optical imagery, when digitizer 25 is output as " 1 ", the output of subtracter 22 is stored in the memory circuit 28 by gate circuit 27.For the horizontal level of optical imagery, when circuit 25 is output as " 1 ", the output of multiplier 26 is stored in the memory circuit 30 by gate circuit 29.

Thus, according to Fig. 5, upright position △ Zi and the horizontal level △ Yi of the sweep trace Si of the optical imagery among Fig. 3 on expression one plane of delineation can be determined.When recording a plurality of △ Zi and △ Yi on the one scan line, they all will be confirmed as △ Zi ₁-△ ZiP and △ Yi ₁-△ YiP.

Convert a plane of delineation of itv camera machine to a two dimensional surface that comprises light beam, promptly during X-Y axle system plane, can obtain Xi and Yi from following formula:

Xi＝1/n×△zi×1/sinβ ……（1）

Yi＝（Ym/2-1/n×△yi）+（Xi/L×1/n×△yi） ……（2）

Wherein n is the optical magnification of itv camera machine.

Above-mentioned computing is by execution such as universal microcomputers, the optical imagery track that is a certain cross section of object is by the relation decision of the number of the beam optical image of itv camera machine picked-up, sweep trace and a certain sweep trace moment of living in, thereby calculates the optics section in corresponding certain cross section.

Stepping ground mobile beam 2 ' to be radiated on the whole model 1 up and down, be that beam irradiation device 2 is fixedly mounted on the rack bar 8, the latter is fixed on the spheric nut that is spun on the spherical screw axis 5, thereby by the spherical screw axis 5 of motor (not shown) driven in rotation, rack bar 8 just can along the Z-direction stepping move up and down the distance of beam diameter (width) △ h.

Model 1 top to the distance of each the △ h between the bottom by light beam 2 ' generation optical imagery track.This model is an object in the plane that is made of light beam, promptly in the plane of X-Y axle system.To each beam diameter △ h be created in shape data on the X-Y axle system plane (Xi, Yi).

Will by such obtain for light beam 2 ' shape data (Xi, Yi) the input NC(numerical control) laser cutting machine of each diameter △ h, be that △ h sheet material cuts out the template identical shaped with shape data from a thickness.Stack gradually such template of making, just constitute the 3D shape that has with the same shape of object.

In this example, no matter how complicated body form is, or the surface is softer such as human body or face, can easily produce its 3D shape.

In the present embodiment, do the template identical shaped, also can utilize thickness to become the sheet material of a certain ratio easily to amplify with beam diameter or dwindle object, obtain synthetic 3D shape with object though adopt with the sheet material of beam diameter same thickness.Equally also can or dwindle the original-shape data according to the certain ratio amplification.In the present embodiment, though adopted 4 beam irradiation devices and 4 itv camera machines, and shown in Figure 1B, provide the rotating disk 9 of rotatable 90 degree, by a beam irradiation device object is shone with this, with corresponding itv camera machine pickup image.

6-9 does a description to second embodiment of the invention below with reference to accompanying drawings.

In first embodiment, beam irradiation device is used for scanning in a fixed angle, and the itv camera machine is as the image-pickup device of two dimensional image.On the other hand, in a second embodiment, it is moving that light beam 12a ' is parallel to y-axis shift, and image-pickup device uses an one dimension line sensing video camera that is used for the one dimension image capture.

Shown in Fig. 6 A and 6B, numeral 12 expression beam irradiation devices are used to launch light beam 12a ', and this light beam 12a ' is different with first embodiment, only carries out parallel sweep, and not fixed angle scanning.Beam irradiation device 12 is to be fixedly mounted on the rack bar 18 that can move along X-axis and Y direction, diameter is the light beam 2 ' 12 project Y-Z axle system plane by device of △ h, and at rack bar 18 when the Y direction is rotated, object model 1 is by the light beam irradiates of parallel sweep, rack bar 18 can move spherical nut 6 and spherical screw axis 5 is realized by the step motor (not shown) along moving of Y-axis, as the position detector on the 19 expression Y-axis of the mobile digital on the Z-direction among first embodiment.

An one dimension line sensing video camera 13 is installed on the position that is lower than beam irradiation device 12 on the rack bar 18, and parallel with the Z axle, thereby makes its optical axis become the β angle with the X-Y axial plane, and the detection side is to parallel with the X-Z axial plane.

In this embodiment, also be equipped with 4 groups of rack bars 18, it is around the whole peripheral shape of Z axle continuous detecting object 1, this only to wherein one group explained.

Fig. 7 A and 7B are forward sights and survey view that they represent the geometric position of beam irradiation device 12 and one dimension line sensing video camera 13 respectively.Among Fig. 7 B, Zi is the optical axis of line sensing video camera 13 and the intersection point of Z axle.

Shown in Fig. 8 A, one dimension line sensing video camera 13 is made up of optical lens 50 and one dimension line sensor 51.Shown in Fig. 8 B, one dimension line sensor 51 comprises that the common E of miniature optical sensor 40(of arrangement E number in line is 128,256,512,1024 ... 4096).

Supposition now by beam irradiation device 12 emitted light beams 12 ' with the intersection point on mould shape 1 surface be Pi.When a Pi is passed 12 picked-ups of sensing video camera by one dimension, be focused at the image Pi ' that manifests on the one dimension line sensor 51 on e the element of video camera, and be focused on E/2 element corresponding to a Zi image Zi '.Supposing in Fig. 8 A, is △ li by a Pi to the vertical line length on optical axis 13 that comprises line sensing video camera and the plane parallel with Y-axis, and the length of each element on the online direction is △ q in one dimension line sensor 51, and satisfies following relationship:

△li＝1/n×[（E/2-e）×△q] ……（3）

N is the optical magnification of line sensing video camera.

In addition, each the component number e that focuses on the one dimension line sensor 51 of Pi ' is thereon obtained by following manner.

Shown in Fig. 8 B, each element of one dimension line sensor 51 provides the electric charge △ that is equivalent to light income (light intensity * time of reception) q.

In the figure, numeral 41 expression switches are used for and will be stored in each element electric charge-electric charge-electric pressure converter 42 couplings.Be the switching signal CHS of response from control circuit 43, these switches serve as to begin to move successively from first at interval with the △ t time, have only a switch to be in opening in a flash at certain.

Fig. 8 C represents the waveform of output voltage, and it is transformed into voltage by charge voltage converter 42 with the electric charge of each sensing element and produces.

On e the element of light beam image Jiao in first to E sensing element the time, the output level of this sensor element is higher than the output level of other element.

Fig. 9 represents a circuit that is used to detect one dimension line output element number, wherein numeral 44 is represented the counter of compute switch signals, it is sunset before control circuit 43 first switching signals of output, be reset to zero by the switch starting signal STB that sends from control circuit 43, and calculate from the switching signal number of control circuit 43 outputs, till next STB signal is provided.So switch number of the switch that the output of counter 44 indication is just being transferred at present.

Digitizer 45 is used for converting the output voltage of charge voltage converter 42 to bright be " 1 " and dark two logic value for " 0 "; And will be subjected to the surface portion (some Pi) of the model 1 of light beam irradiates to export " 1 ", and other parts are output as " 0 ".

Gate circuit 46 is used for when the output of digitizer 45 is " 1 " (bright), provides to export and the output of counter 44 is stored in the memory circuit 48.

As mentioned above, rack bar 18 can move along Y, Z-direction, and it detects with two position detectors in each axial position at that time.When the output of digital circuit 45 is " 1 " (bright), the output of another gate circuit 47 output Y-axis position detectors, and this signal input is stored in the storage circuit 49, this operation and the output of counter 44 is stored in the storage circuit 48 is carried out synchronously.When mobile rack 18, aforesaid operations can beam diameter △ h be spacing in Fig. 7 A 0 repeat to the Ym point.

Meanwhile, can obtain by following formula from putting the vertical line that Pi done to the Z axle along X-direction:

xi＝△li×1/sinβ ……（4）

Can get by equation (3):

xi＝1/n×[（E/2-e）×Δq]×1/sinβ ……[5]

At this moment, the Pi Y-axis coordinate of ordering is corresponding to the numerical value of Y-axis position detector.The computing of equation (5) is waited by electronic circuit such as microcomputer to be carried out, thereby a cross sectional shape parallel with the X-Y plane of subject 1 is provided.

As first embodiment, template is based on resulting like this shape and makes, and produces 3D shape by piling up these templates.And second embodiment also can produce because of using one dimension line sensing video camera to reduce the valuable effect of total system expense except the advantage with first embodiment.

But its a part of accompanying drawing 10A of the explanation referential expression of third embodiment of the invention and 10B carry out.

Among the figure, numeral 2 is the laser generators that produce laser beam, and 60 is tilting mirrors, with order the X-Y axial plane of the laser beam flying model 1 that produced around the R of X-axis.Laser beam is to comprise the scope (P of the whole parts of subject 1 on its vertical direction (Z axle) _{ψ 1}-P _{ψ n}) angle ψ scan.The 61st, the position probing video camera for example can be the image-pickup device of two-dimentional light spot detector (PSD), a principal point Q of its camera lens, be located on the X-Y axial plane by initial point G and with X-axis form on the line segment of angle theta a bit on.The optical axis of this video camera is be extended down to the line segment GQ that Q orders by initial point G consistent.The laser beam optical imagery that shines model 1 is by 61 picked-ups of PSD video camera.Therefore supposition is in Figure 10 A and Figure 10 B, when the scan angle of laser beam and X-axis formation is ψ i(i=1-n) time, luminous point is P _{ψ i}; From luminous point P _{ψ i}Intersection point to line segment GQ is S, and the vertical line intersection point from the principal point Q of PSD video camera 61 to X-axis is Q.Then, the luminous point P that is absorbed by PSD video camera 61 _{ψ i}Image path P ' _{ψ i}The result as shown in figure 11.This track is the cross sectional shape on the X-Z axial plane of model 1.Among Figure 11, some S ' and Po ' are obtained by above-mentioned S point and the Po point of PSD video camera picked-up respectively.Line X ', Y ' and Z ' correspond respectively to X, Y and Z axle.

From Figure 11 as seen, calculating luminous point P _{ψ i}X-axis and the coordinate X of Z axle _{ψ i}And Z _{ψ i}The time, because of X _{ψ i}Equal line segment GP _{ψ i}And Z _{ψ i}Equal PoP again _{ψ i}So they can draw from following formula:

X-axis coordinate X _{ψ i}=GP _{ψ i}

……（6）

Wherein: K is the optical magnification of PSD video camera.

G ' P ' o represents (among Figure 11) G ' some distance of ordering to P ' O on the PSD plane of delineation.

Z axle bed mark:

(7)

Wherein: b is the distance of principal point to PSD image capture plane,

P ' oP ' _{ψ i}For P ' o point on the PSD plane of delineation to P ' _{ψ i}The length (Figure 11) of point.

To illustrate below at the PSD of PSD gamma camera 61 plane of delineation glazing dot image P _{ψ i}The computing method of position.When luminous point incides that certain is some on the PSD image capture plane, during for example W point, at photocurrent of this W point generation, this photocurrent flows to the electrode A of position at four edges, PSD image capture plane ₁, A ₂, B ₁, B ₂, and this current's intensity and the distance from the W point to each electrode are inversely proportional to.Suppose that as shown in figure 12 the transverse axis by image capture planar central point is a axle, the longitudinal axis is the b axle, flows to A ₁, A ₂, B ₁And B ₂The electric current of each electrode is $I_{A_1}$ 、 $I_{A_2}$ 、 ${\mathrm{<figure-callout\; id="1"\; label="I\; B"\; filenames="85102933\_DRIMG10.png,85102933\_DRIMG11.png"\; state="\{\{state\}\}">I</figure-callout>}}_{B_{}}$ With ${\mathrm{<figure-callout\; id="2"\; label="I\; B"\; filenames="85102933\_DRIMG10.png,85102933\_DRIMG11.png"\; state="\{\{state\}\}">I</figure-callout>}}_{B_{}}$ , a axle and b shaft position that W is ordered can be obtained by following formula:

By the distance (Wa) of W point to a axle

$\mathrm{Wa=}\frac{I_{A_1}{\mathrm{-I}}_{A_2}}{I_{A_1}{+}_{}{I}_{A_2}}\times \frac{{\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="85102933\_DRIMG10.png,85102933\_DRIMG11.png"\; state="\{\{state\}\}">l</figure-callout>}}_1}{2}\mathrm{(8)}$

By the distance (Wb) of W point to the b axle

$\mathrm{Wb=}\frac{I_{B_1}{\mathrm{-I}}_{B_2}}{{\mathrm{<figure-callout\; id="1"\; label="I\; B"\; filenames="85102933\_DRIMG10.png,85102933\_DRIMG11.png"\; state="\{\{state\}\}">I</figure-callout>}}_{B_{}}{\mathrm{+<figure-callout\; id="2"\; label="I\; B"\; filenames="85102933\_DRIMG10.png,85102933\_DRIMG11.png"\; state="\{\{state\}\}">I</figure-callout>}}_{B_{}}}\times \frac{{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="85102933\_DRIMG10.png,85102933\_DRIMG11.png"\; state="\{\{state\}\}">l</figure-callout>}}_2}{2}\mathrm{(9)}$

Wherein: l ₁=electrode A ₁To electrode A ₂Between distance,

l ₂=electrode B ₁To electrode B ₂Between distance.

And, P ' _{ψ i}The position, that is G ' P ' o, P ' o ' P _{ψ i}Be to calculate by following formula in this manner, make a axle and b axle on the image capture plane of PSD video camera 61, determine as shown in Figure 12, thereby make them correspond respectively to the image X ' and the Z ' of X-axis and Z axle.

Especially, pass through the summit P of rotating mirror 60 by laser beam from model 1 _{ψ 1}Scan bottom P _{ψ n}, impinge upon P _{ψ 1}To P _{ψ n}The optical imagery of the laser beam on every is absorbed by the PSD video camera, just can get the X of each position by the calculating to above-mentioned equation (6), (7), (8) and (9) _{ψ i}, Z _{ψ i}

With the P that measures successively _{ψ i}To P _{ψ n}Coordinate (the X of each point correspondence _{ψ i}, Z _{ψ i}) combination, a two-dimensional shapes corresponding to the semicircular tee section on the X-Z axial plane of model 1 being shot just is provided.Two-dimensional shapes is by a series of position P that obtain _{ψ 1}To P _{ψ n}Coordinate (X _{ψ i}, Z _{ψ i}) form, it can be stored in the storer, as the data that produce below the 3D shape of description.

So far, done explanation to obtaining apparatus and method with respect to the two-dimensional shapes of the X-Z axial plane of model 1.Yet, in order to give the 3D shape of depanning shape 1, must obtain the two-dimensional shapes of whole model, need rotational model for this reason, specifically model 1 moves with respect to the position of X-Z axial plane.Shown in Figure 10 A, move and to be to use motor 62 that turntable 65 is turned an angle to realize.Motor 62 is fixed on the fixed bearing device 64, and fulcrum arrangement is to be fixed on fixing object, as ground.Then, carry out above-mentioned scanning and obtain two-dimensional shapes, obtain a two-dimensional shapes corresponding to one of model 1 new semi-circular cross-section by laser beam.Will be corresponding to the two-dimensional shapes (X in each cross section _{ψ i}, Z _{ψ i}) deposit storer in, just obtain the two dimensional image of whole model thus, also deposit it in storer.Detect the rotational angle of turntables 65 then by the rotary encoder 63 that links together with motor 62, and the output of this rotary encoder is stored with the two-dimensional shapes corresponding to model 1 each cross section.

Figure 13 is illustrated in the circuit block diagram that obtains the three dimensions shape on the basis of above-mentioned acquired two-dimensional space shape.This square circuit graph structure and operation thereof will be described below.

The model of numeral 1 expression object among the figure, numeral 2 expression laser beam generators, numeral 60 expression tilting mirrors, numeral 61 expression PSD video cameras.

The device that produces the three dimensions shape of model 1 comprises: light spot position counting circuit 71,72 is used to measure the position of each luminous point that is absorbed by PSD video camera 61; Laser beam flying control circuit 73 is used for the tilting mirror 60 of gated sweep laser beam; Motor driving controling circuit is used to control and makes model 1 turn to the motor 62 of a certain angle; And A/D converter 75,76; Microcomputer 78,79,80,81; Tape puncher 82, this perforator can carry out processing, computing, storage and the output of data.

The following describes the work of said apparatus, for the purpose of simplified illustration, only illustrate that laser beam is that the anglec of rotation at model 1 is to carry out the radiation situation first time under 0 ° the situation.The output of tilting mirror 60 response laser beam scan control circuits 73 is from the top P of model 1 _{ψ i}To its bottom P _{ψ n}Carry out laser radiation.

61 picked-ups of PSD video camera are from P _{ψ 1}To P _{ψ n}The luminous point at place, and produce the photoelectric current corresponding with each luminous point $I_{A_1}$ , $I_{A_2}$ ， ${\mathrm{<figure-callout\; id="1"\; label="I\; B"\; filenames="85102933\_DRIMG10.png,85102933\_DRIMG11.png"\; state="\{\{state\}\}">I</figure-callout>}}_{B_{}}$ With ${\mathrm{<figure-callout\; id="2"\; label="I\; B"\; filenames="85102933\_DRIMG10.png,85102933\_DRIMG11.png"\; state="\{\{state\}\}">I</figure-callout>}}_{B_{}}$ , they are imported into respectively in the light spot position counting circuit 71,72.Circuit 71 is according to electric current $I_{A_1}$ With $I_{A_2}$ Produce and the corresponding aanalogvoltage of G ' P ' o, circuit 72 is then according to electric current

With

Produce and P ' oP ' _{ψ i}Corresponding aanalogvoltage.These aanalogvoltages are imported in the microcomputer 77 convert digital value to through A/D converter 75,76 after.

Above-mentioned equation (6), (7) be with change in the microcomputer 77 with G ' P ' o and P ' oP ' _{ψ i}Corresponding digital value is carried out computing, with Building X mark and Building Z mark, the i.e. (X that obtains luminous point P _{ψ i}, Z _{ψ i}).This value (X _{ψ i}, Z _{ψ i}) and the rotation angle (being 0 ° now) of the turntable 65 measured by rotary encoder 63 deposit storer 78 together in.Therefore at the top P of the luminous point p that scans by laser beam from model 1 _{ψ i}Move to bottom P _{ψ n}The time each regular time (in this set time, laser beam is continuous), repeat above-mentioned data-generating process, so, when the corner of universal stage 65 is 0 when spending, marks with respect to the Building X mark of the two-dimensional shapes (the PSD video camera can be seen) of the nearly semicircular cross-section of the X-Z axial plane of model 1 and Building Z and just to be deposited in the storer 78.

Then, by giving 74 1 drive signals of motor-drive circuit, make universal stage 65 rotate that fixing angle △ α=360 °/m(m represents a scope, is continuous at this scope inner laser bundle) by drive motor 62 by microcomputer 77.By the rotary encoder 63 that links to each other with motor 62 corner △ α is input in the microcomputer 77.

Motor 62 rotates universal stage 65, after thus model 1 being rotated an angle △ α, carry out obtaining of above-mentioned 2-D data, so just can obtain the Building X mark and the Building Z mark of the two-dimensional space shape in the new cross section corresponding with the X-Z axial plane of model 1, these coordinates are deposited in storer 78.Thereafter, after with model 1 rotational fixation angle △ α, repeat aforesaid operations successively, obtain the Building X mark and the Building Z mark in each cross section.

An example of the store status of storer 78 is described with reference to Figure 14.Among the figure, memory address is represented the luminous point P by laser beam flying _{ψ 1}To P _{ψ n}The position, the anglec of rotation of rotary encoder 63, Building X mark and Building Y mark and memory address correspondingly deposit storer in.

By the two-dimensional shapes of above-mentioned model 1 measure the two-dimensional space shape that is obtained be with to the shown corresponding shape in cross section of each fixed angle △ α around model 1 center, so the stack of these two-dimensional space shapes can not provide the three dimensions that equates with model 1 shape.So, be stored in the X-Z coordinate (X in the storer 78 _{ψ 1}, Z _{ψ i}) data must be transformed into rotational angle be 0 the degree on the parallel corresponding two-dimensional shapes in cross section in cross section.

The conversion of data is that the cross section when being 0 ° with the anglec of rotation is that benchmark carries out, and these cross sections by chance are corresponding to X-Y plane.In the anglec of rotation is j ∧ α (j=0,1,2,3 ... n) time, as shown in figure 15, luminous point P _{ψ i}Building X mark X _{ψ i}(j △ α), Building Y mark y _{ψ i}(j △ α) and Building Z mark Z _{ψ i}(j △ α) can obtain from following formula:

Luminous point P _{ψ i}Three-dimensional coordinate (X _{ψ i}, Y _{ψ i}, Z _{ψ i}) be stored in the storer 79, Figure 16 shows an example of the storing mode of storer 79.

All needs in each cross section are used for producing the coordinate of luminous point of the 3D shape of model 1 and can obtain through aforesaid operations.Thereafter, as shown in figure 17, for the ease of obtaining 3D shape, Y divides Y-axis with fixing branch apart from interval (△ Y), for each Building Y target scope that is comprised in each interval, it is stored in the coordinate data Y of the 3D shape in the storer 79 accordingly _{ψ i}(j △ α) classified by following equation:

K·△Y≤Y _ψi（j△α）＜（K+1）△Y …（11）

K=0 or be integer ± 1 wherein, ± 2, ± 3 ...

Sorting result is stored in the storer 80 in mode shown in Figure 180.Or rather, in Building Y mark certain limit, all Y of △ Y of K △ Y≤Y＜(K+1) for example _{ψ i}(j △ α) takes out from storer 77, and according to its corresponding X of their grouped data _{ψ i}(j △ α) and Z _{ψ i}(j △ α) sequentially is stored in the storer 80 together.Therefore, be stored in each in the storer 80 apart from the X of △ Y of K △ Y≤Y＜(K+1) _{ψ i}(j △ α) and Z(j △ α) coordinate, expression thickness is the cross sectional shape of △ Y, and the plane parallel of the X-Z axle of this cross section and model 1.

By the way, in above said classification, in the △ Y of the same interval of Building Y target K △ Y≤Y＜(K+1), has identical Building X mark X _{ψ i}(j △ α) and different Building Z mark Z _{ψ i}(j △ α) in this case, can adopt these Z _{ψ i}The mean value of (j △ α), this way also can be applied to Building X mark X _{ψ i}On (j △ α).

The all Building X mark X that in the △ Y of mark interval, Building Y, classified _{ψ i}(j △ α) is and all Z _{ψ i}(j △ α) is stored in the storer 81 X together _{ψ i}(j △ α) is to be aligned to negative maximal value from positive maximal value.Similarly, Building Z mark Z _{ψ i}(j △ α) can also above-mentioned mode arrange.

Thus, X is marked in the Building X that is stored in the storer 81 _{ψ i}(j △ α) and Building Z mark Z _{ψ i}(j △ α) is to be aligned to negative maximal value by positive maximal value.The content of microcomputer 77 readout memories 81, and NC is with 83 can make with paper-tape punch 82.Digital control (NC) is with 83 can utilize paper-tape reader (not shown) to be input into (figure does not show) in the NC scraps of paper cutter earlier, and then thickness is △ Y the scraps of paper are cut into a template, and this template equals to be parallel to the cross section of the X-Z axial plane of model haply.By the scraps of paper that NC scraps of paper cutter is cut into, when its thickness dwindled with the ratio of marking for the Building X and the Building Z mark equates or enlarges, template was also with respect to model 1 scaled or amplification.

Pile up the template that obtains in order to last method, just can be certain dwindle or magnification ratio provides the 3D shape of a model 1.Pile up for the ease of this,, for example the information of many reference bore is input in the NC band, thereby each corresponding template with these holes is provided information.Thus, when piling up template, make that corresponding hole is aligned with each other and bonds them together securely on the template, just can easily produce 3D shape.

In this embodiment, set forth the situation that NC scraps of paper cutters is made 3D shape, but relevant cross section with the X-Z axial plane of model 1, can be connected to X-Y by the output with microcomputer 77 depicts for figure device or register, thereby can be when the cutting scraps of paper, cut according to the shape that is marked, also can produce 3D shape in this way.

The fourth embodiment of the present invention 19 is narrated with reference to the accompanying drawings.Figure 1A relatively, visible the 4th embodiment of 1B and Figure 19 is different from first embodiment, difference be the 4th embodiment be with a slit illumination penetrate device 90 generation slit light 90 ', its width is △ h(such as 0.5mm), and without laser beam.Itv camera machine 3 is contained on the guidance device 8a, and itv camera machine 3 can slide in predetermined radius R scope in the above, its optical axis that can change by the itv camera machine is proposed in passing with the formed optical axis angle 1 of X-Y axial plane that passes the Z axle, and the 8a guidance device also is applicable to the embodiment of the invention described above).Except that above said do not exist together, the fourth embodiment of the invention (as shown in figure 19) and first embodiment (shown in Figure 1A and 1B) are duplicate.

The optical imagery that itv camera machine 3 is absorbed 20 is illustrated with reference to the accompanying drawings.Since use slit light 90 ', the optical imagery of model 1 constitutes a kind of sickle formula image.Picture signal state in itv camera machine 3 as shown in figure 21.As shown in figure 20, when sweeping the optical imagery of touching line Sn and falciform and intersect, just produce high level picture signal as shown in figure 21.The optical cross section of the particular cross section that obtains by the dress rolling mark that obtains to be correlated with, through as the data processing of the acquisition cross sectional shape as shown in Figure 5 of explanation first embodiment obtain.And the dress rolling mark is to obtain by the processing to picture signal.

22A with reference to the accompanying drawings, 22B is illustrated the fifth embodiment of the present invention, and accompanying drawing 22A and 22B are the side view and the front views of present embodiment device.The characteristics of this embodiment are to penetrate device 90 with a slit illumination multi beam slit light 90a is provided, thereby shorten the irradiation time to object 1.

It is by a plurality of light sources that slit illumination is penetrated device 90, and for example 10 laser instruments, an and optical system constitute.Optical system can be columniform lens or concave mirror.Irradiator irradiates multi beam (as 10 bundles) slit light 90 on model 1 _{α 1}-90 _{α 10}, each slit optical width is △ h(such as 0.5mm), illumination angle is θ, 90 _{α 1}-90 _{α 10}In, every narrow seam light is from drawing corresponding to oneself light source center, and the vertical line that becomes 90 ° of right angles with model 1 center line (is the Z axle at this) is as center line, and these center lines are parallel to each other when shining, and the same distance (as 30mm) of being separated by.

Itv camera machine 3 is being to place from slit illumination to penetrate device 90 a distance when the two-dimensional shapes intake device, thereby makes on the optical axis direction model 1 of video camera, and with slit light 90 _{α 1}-90 _{α 10}Form predetermined angle (for example with slit light 90 _{α 5}Become the β angle).In addition, effective visual angle of supposing itv camera machine 3 is α, is G by the lens principal point of video camera to the perpendicular line of Z axle and the intersection point of Z axle, and the line that intersects vertically with X-axis and Z axle is a Y-axis, and the G point is the initial point of each axes of coordinates.

Slit illumination penetrates device 90 and itv camera machine 3 is fixedly mounted on the support 4, and support 4 can be done directed the slip on a guide posts, and support 4 is mounted on the spheric nut 6 that is spun on ball screw 5.The stepper motor (not shown) that is connected in ball screw 5 moves up and down with slit optical width △ h stepper drive spheric nut 6.Thereby slit light also is stepping directive model.

In order to make slit light 90 shine the whole periphery of model 1, and the picked-up synthesis of optical image, need to settle a plurality of slit illumination penetrate device 90 and corresponding itv camera machine 3, so that surround whole model 1.

In this case, when each itv camera machine is when equating to the distance as the Z axle of model 1 center line, and when its optical magnification also equates, just can simplify with the operation that obtains the NC data according to measurement result, this is can directly compare because of the optical imagery corresponding to the slit light that is absorbed by corresponding itv camera machine 3, but this is not a requisite necessary condition, for example: only with the previous accurately shape in a certain cross section of the object of measurement, when the data that this shape data is produced with the above-mentioned cross section of said each itv camera machine 3 picked-up are compared, equally also can detect the measurement data of each video camera.

Figure 23 represents that they are radiated on the model 1 by slit light 90 α and form by the optical imagery of itv camera machine 3 picked-ups.Itv camera machine 3 parallels and arranges with the plane that is made of X-axis and Z axle (being the X-Z plane) with its scan-line direction, by itv camera machine 3 picked-up when being radiated at the optical image of slit light 90 α on the model 1, just form the light image of 10 arch slits, as shown in figure 23, P ' i point in the slit light image is the image that Pi is ordered among Figure 22 A and the 22B, also corresponding to exposing to model 1 surperficial any point of going up in the slit light.Coordinate Y and Z are corresponding to X among Figure 22 A and the 22B and Z axle.Attach and say S among Figure 23 ₁-S _i-S _rBe the sweep trace of itv camera machine 3, Ka is a threshold value, is used for signal digitalizedly with what receive, becomes bright (height) and dark (low) two kinds of different values.

For the image as shown in figure 23 by itv camera machine 3 picked-up obtains the optical cross section, just need indicate that Pi orders about X-axis, the coordinate of Y-axis and Z axle.As shown in figure 23, itv camera machine 3 plane of delineation is from the picture signal of itv camera machine 3 by (normally 250-500 bar) scanning on r bar sweep trace.These sweep traces are S by the scanning sequence of picture signal from left to right ₁, S ₂, S ₃-Si-Sr.

Absorb the optical imagery of model 1 when itv camera machine 3 after, output output signal as shown in figure 24, its way of output is first output image plane commencing signal V _BL(to call vertical synchronizing signal in the following text) then exports the first horizontal scanning commencing signal (to call horizontal-drive signal in the following text), once more, in a set time ta at sweep trace S _iLast scanning after scanning is finished for the first time, is exported the second horizontal-drive signal H according to the bright dark picture signal of optical imagery _BL, and at sweep trace S ₂Last scan image signal.In the same way repeat scanning to picture signal until sweep trace Sr, thereby finish a plane of delineation thereafter.

Figure 25 represents the control circuit calcspar, this circuit be utilize itv camera machine 3 obtain luminous point Pi among Figure 23 about X-axis, the coordinate of Y-axis and Z axle (Xi, Yi, Zi).Among Figure 25, the 3rd, the itv camera machine, the 109th, synchronizing separator circuit, wherein the picture signal corresponding to the optical imagery of model 1 is S, it is and horizontal-drive signal H _BLAnd vertical synchronizing signal V _BLInput simultaneously, but be separated with them.The optical imagery of model 1 is by slit light 90 α irradiation, and obtain by the picked-up of itv camera machine.

101 is counter, has counting input end (IN), the horizontal-drive signal H that sends with synchronizing separator circuit 109 _BLBe coupled, counter 101 has a zero setting input end (RESET) in addition, with vertical synchronizing signal V _BLCoupling, counter 101 is by vertical synchronizing signal V _BLZero setting, vertical synchronizing signal produced before plane of delineation of scanning, by rolling counters forward horizontal-drive signal H _BLNumber, each signal H wherein _BLBe at sweep trace S ₁Produce before beginning on each bar of-Sr to scan.The count value of counter 101 is represented the number of sweep trace, scans these sweep traces by the ITV gamma camera.And generation vision signal.

102 expression oscillatory circuits, it exports pulse continuously every a time interval ta/m, and ta/m is resulting by branches such as m needed time of sweep trace of scanning.The pulse that oscillatory circuit 102 produces is by a rolling counters forward, and this counter is by horizontal-drive signal H _BL Zero setting.Counter 103 is to these step-by-step countings, until the horizontal-drive signal H that produces next bar sweep trace _BLThe time till.Obtain the analyzing spot on the plane of delineation of itv camera machine like this.Umber of pulse by counter 103 countings is stored in the memory circuit 107 by a gate circuit.

The picture signal of itv camera machine 3 in synchronizing separator circuit 109 from vertical synchronizing signal V _BLAnd horizontal-drive signal H _BLIn separate.A prearranged signal level of digitizer 108 usefulness Ka(Figure 23) conduct is with reference to level, this picture signal is converted to a digital signal (to call digitized signal in the following text) with bright " 1 " and dark " 0 " two values, therefore the bright slit optical imagery of the peripheral surface of model 1 is partly used " 1 " expression, and other parts are represented with " 0 ".This digitized signal is added to each conversion and control end N of gate circuit 104 and 105, and gate circuit 104 and 105 has only when digitized signal and just closes when " 1 ", thereby respectively the content of counter 101,103 is deposited in memory circuitry 106,107.Therefore, when absorbing the optical imagery of model 1, the position (content of counter 103) of number of sweep trace (content of counter 101) and a certain sweep trace can be stored.Suppose that now the content in the memory circuit 106 is △ Yi, and the content in the memory circuit 107 is △ Zi.And under possible situation, have a plurality of △ Yi and △ Zi and supply with a sweep trace, so all these △ Yi-△ YiP and △ Zi-△ ZiP are stored in memory circuit 106 and 107.Owing to may have the luminous point of a plurality of slit optical imagerys on a sweep trace, therefore the discriminating to △ Yi information and △ Zi information is and slit light 90 _{α 1}-90 _{α 10}The lighting instruction synchronised, lighting instruction adds to slit illumination injection device 90 by microcomputer 110 subsequently.Referring to Figure 22 A, △ Yi and △ Zi value have been arranged after, Building X that the Pi that just available following method obtains model 1 is ordered mark and Building Y mark (Xi, Yi).

Among Figure 22 A and the 22B, the Pi point is the intersection point of AQ line segment and line segment Z=ZL, and Xi is provided by following formula:

Wherein: GQ: the distance between expression G point and Q point,

L: the distance of the central point of expression Z axle and itv camera machine camera lens.

ZL: expression slit light 90a ₂To the distance between the X-axis.

GQ can be tried to achieve by following formula in formula (14):

GQ＝Ltan（α+γ-α/m·ΔZi） ……（15）

Wherein: α: the visual angle of itv camera machine

γ: the angle that is constituted by the bottom sight line and the X-axis of itv camera machine

M: sample time

Yi is tried to achieve by following formula:

Yi＝（L-Xi）tan（α/2-α/γ·△yi） ……（16）

Wherein: γ: the sweep trace sum on plane of delineation.

Xi: reach the value that (15) provide by formula (14).

The computing of formula (14), (15) and (16) is carried out by microcomputer 110, and operation result is stored in the storer 111.

As all Xs relevant and Building Y mark (Xi with a plane of delineation of itv camera machine 3, Yi) all calculated, and after its result of calculation also is stored, support 4 shown in Figure 22 A is by the width △ h length stepper drive of stepper motor (not shown) with slit light, so that carry out above-mentioned same processing.And this support 4 is to move with slit light interval △ h.

The measurement mechanism that comprises an itv camera machine is described above.When the 3 D stereo of the whole periphery that will carry out model 1 was measured, a plurality of itv camera machines 3 were laid by equidistant from the Z of model 1 axle, and are connected with the mating part of measurement mechanism, thereby obtain corresponding △ Yi and △ Zi information.△ Yi relevant with each video camera and the corresponding data of △ Zi are imported into that (Xi Yi), and is stored in result of calculation in the storer 111 to calculate corresponding coordinate in the microcomputer 110.Carry out the three-dimensional measurement of the whole periphery of model 1 like this.Then, a plurality of itv camera machines just produce a plurality of planes of delineation, and a plurality of plane of delineation causes having between each plane of delineation and the contiguous plane of delineation part of overlapping.But, these parts that overlap can be removed by the image capture scope of adjusting each itv camera machine in advance, for example have n itv camera machine with isogonism be disposed on model 1 around the time, the arbitrarily adjustment in respect to the scope of Z axle that is the center that the image capture scope can be optical axis with each itv camera machine 3 at ± 360/2n.In addition, in the present embodiment, in order to simplify procedures, all itv camera machines all are moved on the position of the same level that is positioned at the Z axle.

To illustrate that below (Xi Yi) produces or the method situation of the 3D shape of reconstructed model 1 for luminous point according to the model 1 that obtains like this.

Now suppose a plurality of itv camera machines 3 ₁-3 _nSweep trace be respectively 1Si-nSi, and the slit light belt 90a relevant with sweep trace 1Si ₁-90a ₁₀Coordinate be stored in the storer 111, be (Xi90a ₁, Yi90a ₁) 1Si-(Xi90a ₁₀, Yi90a ₁₀) 1Si.In this embodiment, as shown in figure 26,10 NC laser cutters 150 ₁-150 ₁₀Be used for the sheet cutting.This cutter constitutes a work system, and this work system is subjected to controlling from the NC instruction that the microcomputer 110 that is connected on these cutters sends.After sheet material that a thickness is △ h is set, at each laser cutter 150 ₁-150 ₁₀In, above-mentioned coordinate instruction (Xi90a ₁, Yi90a ₁) 1S ₁-(Xi90a ₁₀, Yi90a ₁₀) 1S ₁Also import respectively in each cutter, and begin to cut sheet material.Then, coordinate instruction (Xi90a ₁, Yi90a ₁) 1S ₂-(Xi90a ₁₀, Yi90a ₁₀) 1S ₂Also import laser cutter 150 respectively ₁-150 ₁₀, carry out corresponding cutting work.Such operation is repeatedly carried out, until having carried out coordinate instruction (Xi90a ₁₀, Yi90a ₁₀) 1S _rTill.When relevant itv camera machine 3 ₁NC cutting work finish after, according to coordinate instruction (Xi90a ₁, Yi90a ₁) 2S ₁-(Xi90a ₁₀, Yi90a ₁₀) 2Sr and the NC that carries out cutting work also is itv camera machine 3 ₂Performed.Similarly cutting work is repeatedly carried out, until relevant itv camera machine 3 _nTill operation is finished.So each thickness on first measuring point is the template of △ h, all have and each slit optical plane 90a ₁-90a ₁₀The relevant identical shape of model cross sectional shape.Then carry out the processing of second measuring position, like this, repeat such handling procedure, provide and the corresponding template of all cross sectional shapes about model through the scheduled measurement number of times.

The template that forms is like this piled up along the order of measuring, for example fix, just reconstructed model easily with bonding agent.

According to this embodiment, can realize a kind of operation processing program of high speed, this is because one group of multi beam slit light is used to the Z axle of irradiation model, thereby this slit can be moved with a short distance, the time that the while slit illumination is penetrated also can reduce.In addition, the sweep trace of itv camera machine is to be arranged in one perpendicular to carrying out on the direction of the irradiated plane of slit light, therefore when with the comparison of X, Y direction, the resolving power on the vertical direction just can double or more than one times, thereby has improved the degree of accuracy of the model measurement on the Z direction.

In addition, for simplifying procedures, though video cameras all in the present embodiment all move on about the same level of Z axle, but this is not indispensable necessary condition, for example, can pass through a scrambler, the height of each itv camera machine of measuring for example is added on the microcomputer, then (Xi Yi) accords with same height to the data that provided of each itv camera machine.The sheet thickness that amplifies or dwindle by the NC cutter cuts is N △ h or is △ h/N, so only needs that (Xi Yi) takes advantage of N or 1/N to get final product, and so just can do the amplification of virtually any size or dwindles the shape of this model with data.

Figure 27 is the side view of the sixth embodiment of the present invention, wherein itv camera machine 3 is fixed, it is transportable that laser irradiation device 2 is only arranged, and when mobile device 2, then the formed angle beta of optical axis and X-Y axle system plane by itv camera machine 3 also produces change.Therefore, when constituting optical cross-section since laser irradiation device move cause the change of β just need be proofreaied and correct.

Figure 28 A and 28B are the front view and the side view of the seventh embodiment of the present invention, wherein replace laser irradiation device with an incandescent lamp 120.Among this embodiment, provide a outer cover 121, and the bright and dark-part 122 of model 1 and 123 obtains picture signal as shown in Figure 4 by 3 picked-ups of itv camera machine around model 1.The Video signal processing mode is identical with the first embodiment of the present invention, so that obtain an optical cross-section.

At last, Figure 31 A and 31B are the side view and the front view of the eighth embodiment of the present invention, and wherein itv camera machine 3 is positioned in directly over the model 1, promptly on the Z axle.In this embodiment, absorbed by itv camera machine 3 by the image of the model 1 that the slit illumination injection device shone, thereby produced an optical imagery 130 shown in figure 32.With these optical imagery 130 corresponding picture signals as shown in figure 33, and this picture signal is subjected to as data processing identical among first embodiment, thereby an optical cross-section is provided.

Claims (35)

1, one is used for may further comprise the steps: a branch of light is projected on the described object from the method for the object generation 3D shape with 3D shape; Absorb optical imagery from described object; According to the described object of institute's photographic/optical copying image; It is characterized by this method comprises the steps:

One light beam irradiates that will be positioned at predetermined plane and have a predetermined thickness is on described object surfaces;

With the described optical imagery of image-pickup device picked-up from described body surface reflection, intersect with a predetermined angular on the plane that the optical axis of described image-pickup device and described light beam form;

Cross sectional shape according to the data computation of the optical imagery that the is absorbed described object on the described plane that described light beam constitutes;

According to described image-pickup device repeatedly moving described light beam corresponding to the distance of the described thickness of described light beam and with direction perpendicular to the plane that contains described light beam, thereby obtain each the adjacent sections shape and the final whole length that on described moving direction, covers described object of described object successively;

With a sheet material make obtain the template of cross sectional shape to some extent, the size of described template and the thickness of described material are proportional; And

Pile up described template to produce the duplicate of described object with proper order and direction.

2, the method for the described generation 3D shape of claim 1 is characterized in that described light beam is a laser slit light.

3, the method for the described generation 3D shape of claim 1 is characterized in that described light beam is a laser beam.

4, a device that is used for producing from the object with 3D shape 3D shape comprises: the device that is used for a light beam is projected described object; Be used to absorb the device of the optical imagery of described object; With the device that is used for duplicating described object according to the optical imagery that is absorbed; It is characterized in that:

Be used for one be positioned at predetermined plane and have predetermined thickness and the light beam irradiates of shape to the irradiation unit of described object surfaces,

Be used to absorb the optical imagery capturing apparatus by the optical imagery of described object reflection, intersect with a predetermined angular on the optical axis of described device and the plane of described light beam;

The calculation element that is used for the shape in the described object cross section of data computation on described illumination beam plane that obtain according to described optical imagery capturing apparatus; And

Be used for according to described optical imagery capturing apparatus with one corresponding to the distance of described light beam thickness and to repeat to move the mobile device of described irradiation unit perpendicular to the direction that contains described beam plane, to obtain the shape of the above each adjacent sections of object of described moving direction;

Wherein also be provided for having the device that is obtained the template of described cross sectional shape and be used to described template to mark with correct order and direction by described calculation element from sheet material formation, the size of described template and the thickness of described sheet material are proportional,

Thereby by piling up the three-dimensional reproduction product that described template produces the described object of a whole real or bi-directional scaling size.

5, the described device that is used to produce 3D shape of claim 4 is characterized in that described irradiation unit is the device that is used for shoot laser slit light.

6, the described device that is used to produce 3D shape of claim 4 is characterized in that described irradiation unit is the device that is used for outgoing laser beam light.

7, the described device that is used to produce 3D shape of claim 4, it is characterized in that described optical imagery capturing apparatus is an itv camera machine, it is a two dimensional image capturing apparatus, and described calculation element is the calculating of time that line number and a certain sweep trace according to sweep trace on described itv camera machine experienced carrying out cross sectional shape.

8, the described device that is used to produce 3D shape of claim 4, it is characterized in that described optical imagery capturing apparatus is an one dimension line sensing video camera, it is an one dimension image-pickup device, and described calculation element is the device that detects described one dimension line sensing video camera output pixel.

9, the described device that is used to produce 3D shape of claim 4, it is characterized in that described optical imagery capturing apparatus is dark (PSD) sensor of luminous point inspection, it is a two dimensional image capturing apparatus, and described calculation element is the device that detects the quantity of electric charge in the luminous point detecting sensor.

10, the described device that is used to produce 3D shape of claim 4 is characterized in that being provided with a plurality of described irradiation units, and these devices shine multi beam light on the described object.

11, the described device that is used to produce 3D shape of claim 4 is characterized in that described optical imagery capturing apparatus can change the image capture position of described object.

12, the described device that is used to produce 3D shape of claim 4 is characterized in that described optical imagery capturing apparatus fixes.

13, the described device that is used to produce 3D shape of claim 4 is characterized in that described irradiation unit is an incandescent lamp.

14, the described device that is used to produce 3D shape of claim 4, it is characterized in that described optical imagery capturing apparatus be installed in described object directly over, and perpendicular to radiation direction that described irradiation unit shone.

15, the described device that is used to produce 3D shape of claim 7 is characterized in that the line number of described sweep trace and described a certain sweep trace duration calculate from horizontal time-base and commencing signal.

16, one is used for comprising: the device that is used for a light beam is projected described object from the device of the object generation 3D shape with 3D shape; Be used to absorb the device of the optical imagery of described object; With the device that is used for duplicating described object according to the optical imagery that is absorbed; It is characterized in that comprising:

Device with the described object of predetermined angular stepping ground rotation;

One can comprise beam flying the beam irradiation device on the beam flying plane of described object turning axle with formation on described object;

One is fixed on from described beam irradiation device a distance and the turning axle of its optical axis and the device of the described object of described rotation intersects and crossing and be used to absorb the two dimensional image capturing apparatus of the luminous point of the described light beam that is radiated at described object with a predetermined angular with the beam flying plane;

Be used to calculate by described optical imagery capturing apparatus to the position of the described luminous point of described each position picked-up of stepping rotation device with the cross sectional shape of the described object on each plane that obtains to be parallel to described beam flying plane;

And be provided for constituting each described template of calculating cross sectional shape with certain proportion by sheet material, the thickness of described sheet material and the size of described template are proportional;

Thereby by piling up the three-dimensional reproduction product that described template produces the described object of a whole real or bi-directional scaling size.

17, the described device that is used for producing from the 3D shape object 3D shape of claim 16 is characterized in that being provided with on the described whirligig rotary encoder that is used to detect the anglec of rotation.

Images