JP2000137808A - Method for recognizing three-dimensional object - Google Patents
Method for recognizing three-dimensional objectInfo
- Publication number
- JP2000137808A JP2000137808A JP10311668A JP31166898A JP2000137808A JP 2000137808 A JP2000137808 A JP 2000137808A JP 10311668 A JP10311668 A JP 10311668A JP 31166898 A JP31166898 A JP 31166898A JP 2000137808 A JP2000137808 A JP 2000137808A
- Authority
- JP
- Japan
- Prior art keywords
- shape
- recognizing
- dimensional object
- points
- light
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Image Processing (AREA)
- Image Analysis (AREA)
Abstract
Description
【0001】[0001]
【従来の技術】この発明は3次元物体の表面上の代表点
を定義して3次元物体を認識する3次元物体認識方法に
関するものである。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】[0002]
【従来の技術】3次元物体の形状を認識するために、3
次元物体の表面の適当な位置に点で着色したり、3次元
物体の特徴的な個所、例えば尖った頂点や稜線あるいは
稜線の交差した個所、又は物体の表面に疵を付けたりし
て、物体の表面に物理的に特徴を持った点を定義して認
識するようにしている。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】[0003]
【発明が解決しようとする課題】しかしながら物体の表
面に着色したり疵を付けると、物体の状態が変化してし
まうという問題がある。また、物体の一部に液体等が存
在する場合には、色や疵を付けることが困難であり、物
体の形状を認識するための代表点を特定できなくなる。
さらに、物体の材質によっては、着色したり疵を付ける
ことが非常に困難になる。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.
【0004】また、物体がもともっている特徴的な点の
ように限られた点だけが代表点として定義され、任意の
点を代表点として定義することは困難であった。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.
【0005】この発明はかかる短所を改善し、物体の表
面に直接着色したり疵を付けたりしないで、物体の形状
を認識するために必要な代表点を物体の材質等に関係な
く任意の点に対して定義することができる3次元物体認
識方法を提供することを目的とするものである。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】[0006]
【課題を解決するための手段】この発明に係る3次元物
体認識方法は、3次元物体の表面上の代表的な点を定義
するときに、物体の表面上の代表と定義する個所に、光
源から光を照射して、明度又は色の異なる複数の照射点
を形成し、形成した複数の照射点から3次元物体の表面
上の代表点を認識することを特徴とする。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】[0007]
【発明の実施の形態】この発明の3次元物体認識方法
は、形状を認識する物体の表面に複数例えば2個の投光
器から明度や色の異なる光を照射し、物体の表面に明度
や色の異なる複数の点を表示する。この表示された明度
や色の異なる複数の点から、物体の形状を特定する任意
の点を代表点として選択して定義する。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】[0008]
【実施例】図1はこの発明の一実施例を示す構成図であ
る。図に示すように、3次元の物体1の形状を認識する
ための3次元形状認識装置には投光部2を有する。投光
部2には複数、例えば2組の投光器3a,3bを有す
る。投光器3a,3bはそれぞれ架台4に移動自在に設
けられた可動台5a,5bに回動自在に設けられ、認識
する物体1の表面に光を照射するものであり、出射口3
1に多数の細かい孔があいたシート状のフィルタ32を
有する。フィルタ32は2組の投光器3a,3b毎に光
の透過率が異なったり色が異なっている。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.
【0009】上記のように構成された投光部2で、物体
1の形状を認識するために、投光器3a,3bから物体
1の表面に光を照射するときは、物体1を所定の位置に
位置決めして、可動台5a,5bを移動して投光器3
a,3bをそれぞれ物体1の表面に光を照射できる位置
に移動して投光器3a,3bを回動し、投光器3a,3
bの光軸を物体1に合わせる。この状態で投光器3a,
3bから明度や色の異なる光を照射する。この投光器3
a,3bからの光の照射により、図1に示すように、物
体1の表面には明度や色の異なる複数の点6a〜6nが
表示される。この表示された明度や色の異なる複数の点
6a〜6nから、物体1の形状を特定する任意の点を代
表点として選択して定義する。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.
【0010】このようにして、物体1の表面に物理的に
着色したり疵を付けることなしに、物体1の形状を認識
する代表点を簡単に定義することができる。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】[0011]
【発明の効果】この発明は以上説明したように、形状を
認識する物体の表面に明度や色の異なる光を照射し、物
体の表面に明度や色の異なる複数の点を表示し、表示さ
れた明度や色の異なる複数の点から、物体の形状を特定
する任意の点を代表点として選択して定義するようにし
たから、物体の表面に物理的に着色したり疵を付けるこ
となしに、物体の形状を認識する代表点を簡単に定義す
ることができる。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.
【図1】この発明の実施例を示す構成図である。FIG. 1 is a configuration diagram showing an embodiment of the present invention.
1 物体 2 投光部 3 投光器 4 架台 5 可動台 31 フィルタ DESCRIPTION OF SYMBOLS 1 Object 2 Floodlight part 3 Floodlight 4 Mount 5 Movable stand 31 Filter
Claims (1)
するときに、物体の表面上の代表と定義する個所に、光
源から光を照射して、明度又は色の異なる複数の照射点
を形成し、形成した複数の照射点から3次元物体の表面
上の代表点を認識することを特徴とする3次元物体認識
方法。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.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP10311668A JP2000137808A (en) | 1998-11-02 | 1998-11-02 | Method for recognizing three-dimensional object |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP10311668A JP2000137808A (en) | 1998-11-02 | 1998-11-02 | Method for recognizing three-dimensional object |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2000137808A true JP2000137808A (en) | 2000-05-16 |
Family
ID=18020053
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP10311668A Pending JP2000137808A (en) | 1998-11-02 | 1998-11-02 | Method for recognizing three-dimensional object |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP2000137808A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014226984A (en) * | 2013-05-20 | 2014-12-08 | 西川ゴム工業株式会社 | Protector with sensor and molding method of terminal part thereof |
-
1998
- 1998-11-02 JP JP10311668A patent/JP2000137808A/en active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014226984A (en) * | 2013-05-20 | 2014-12-08 | 西川ゴム工業株式会社 | Protector with sensor and molding method of terminal part thereof |
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