JP2000137808A - Method for recognizing three-dimensional object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To define a key point necessary for recognizing the shape of an object with respect to an optional point regardless of the material of the object without coloring nor scratching directly the surface of the object. SOLUTION: Two projectors 3a and 3b irradiate the light beams of different levels of lightness and different colors on the surface of an object 1 whose shape is recognized. Thus, plural points 6a-6n of different levels of lightness and different colors are displayed on the surface of the object 1. Then the optional one of points 6a-6n that specifies the shape of the object 1 is selected and defined as a key point.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for recognizing a three-dimensional object by defining a representative point on the surface of the three-dimensional object.

[0002]

2. Description of the Related Art In order to recognize the shape of a three-dimensional object, a three-dimensional object is used.
Coloring an appropriate position on the surface of a three-dimensional object with a dot, or marking a characteristic part of a three-dimensional object, such as a sharp vertex or a ridge or a point where a ridge crosses, or a flaw on the surface of the object, It defines and recognizes points that have physical characteristics on the surface of.

[0003]

However, there is a problem that if the surface of the object is colored or scratched, the state of the object changes. In addition, when a liquid or the like exists in a part of the object, it is difficult to form a color or a flaw, and a representative point for recognizing the shape of the object cannot be specified.
Furthermore, depending on the material of the object, it is very difficult to color or make a flaw.

In addition, only limited points such as characteristic points of an object are defined as representative points, and it is difficult to define an arbitrary point as a representative point.

The present invention solves the above-mentioned disadvantages, and makes it possible to set a representative point required for recognizing the shape of an object without directly coloring or flawing the surface of the object, regardless of the material of the object. It is an object of the present invention to provide a three-dimensional object recognition method that can be defined for

[0006]

According to the three-dimensional object recognition method of the present invention, when defining a representative point on the surface of a three-dimensional object, a light source is defined at a place defined as a representative on the surface of the object. , A plurality of irradiation points having different lightness or color are formed, and a representative point on the surface of the three-dimensional object is recognized from the formed plurality of irradiation points.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The three-dimensional object recognizing method of the present invention irradiates the surface of an object whose shape is to be recognized with light having different lightness or color from a plurality of, for example, two light projectors, and applies the lightness or color on the surface of the object. Display different points. An arbitrary point for specifying the shape of the object is selected and defined as a representative point from the displayed plurality of points having different brightnesses and colors.

[0008]

FIG. 1 is a block diagram showing an embodiment of the present invention. As shown in the figure, the three-dimensional shape recognition device for recognizing the shape of the three-dimensional object 1 has a light projecting unit 2. The light projecting unit 2 has a plurality of, for example, two sets of light projectors 3a and 3b. The light projectors 3a and 3b are rotatably provided on movable tables 5a and 5b provided movably on the gantry 4, respectively, and irradiate the surface of the object 1 to be recognized with light.
One has a sheet-like filter 32 having many fine holes. The filter 32 has different light transmittance or different color for each of the two sets of light projectors 3a and 3b.

When the light projecting unit 2 configured as described above irradiates the surface of the object 1 with light from the projectors 3a and 3b in order to recognize the shape of the object 1, the object 1 is placed at a predetermined position. After positioning, the movable tables 5a and 5b are moved to
a, 3b are moved to positions where the surface of the object 1 can be irradiated with light, and the light projectors 3a, 3b are rotated, and the light projectors 3a, 3b are rotated.
The optical axis of b is aligned with the object 1. In this state, the projectors 3a,
From 3b, light with different brightness and color is irradiated. This floodlight 3
By irradiating light from a and 3b, a plurality of points 6a to 6n having different lightness and color are displayed on the surface of the object 1 as shown in FIG. An arbitrary point for specifying the shape of the object 1 is selected and defined as a representative point from the displayed plurality of points 6a to 6n having different brightness and color.

In this way, a representative point for recognizing the shape of the object 1 can be easily defined without physically coloring or flawing the surface of the object 1.

[0011]

As described above, the present invention illuminates the surface of an object whose shape is to be recognized with light having different brightness and color, and displays a plurality of points having different brightness and color on the surface of the object. Any point that specifies the shape of the object is selected and defined as a representative point from multiple points with different lightness and color, without physically coloring or flawing the surface of the object. The representative point for recognizing the shape of the object can be easily defined.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing an embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Object 2 Floodlight part 3 Floodlight 4 Mount 5 Movable stand 31 Filter

Claims (1)

[Claims] When defining a representative point on the surface of a three-dimensional object, a light source irradiates light at a location defined as a representative on the surface of the object, and a plurality of illuminations having different lightness or color are provided. A three-dimensional object recognition method, comprising: forming a point; and recognizing a representative point on the surface of the three-dimensional object from the formed plurality of irradiation points.