JP2000171223A - Three-dimensional input device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain high-precision input data irrelevantly to the precision of projection angle control and to improve convenience. SOLUTION: The three-dimensional input device 1 having a projection system 10 which projects reference light U on a body Q is provided with an image pickup system 20 which picks up images of the body at 1st and 2nd mutually distant positions at the same time. In 1st mode, the angles of photodetection of the light, reflected by respective parts of the body Q, at 1st and 2nd positions are detected and data corresponding to the couple of detected photodetection angles are outputted as position information on the parts. In 2nd mode, the projection angles of the reference light reflected by the parts and the angle of photodetection at the 1st position are detected and data corresponding to the detected projection angles and photodetection angle are outputted as position information on the parts.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional input device for projecting reference light onto an object, scanning the object, and obtaining data for specifying the shape of the object.

[0002]

2. Description of the Related Art A non-contact type three-dimensional input device called a range finder can perform higher-speed measurement than a contact type, and therefore can input data to a CG system or a CAD system, measure a body, and use a robot. It is used for visual recognition.

[0003] As a measurement method suitable for a range finder, a slit light projection method (also called a light cutting method) is known. In this method, an object is optically scanned and a distance image (3
Dimensional image), which is a type of active measurement method for projecting a specific reference beam to photograph an object. The distance image is a set of pixels indicating three-dimensional positions of a plurality of parts on the object. In the slit light projection method, slit light in which a cross section of a projection beam has a linear band shape is used as reference light. At a certain point during the scanning, a part of the object is irradiated, and a bright line that is curved according to the undulation of the irradiated part appears on the imaging surface. Accordingly, a group of data (three-dimensional input data) for specifying the object shape can be obtained by periodically sampling the luminance of each pixel on the imaging surface during scanning.

Conventionally, the incident angle of slit light reflected by an object and incident on the imaging surface is determined based on the position of the bright line in the imaging surface, and the incident angle, the projection angle of the slit light, and the base line length ( The position of the object is calculated from the distance between the projection start point and the light receiving reference point) by triangulation. That is, the position calculation based on the projection direction and the light receiving direction of the reference light has been performed. It should be noted that the position of the object is calculated based on the projection direction and the light receiving direction even when spot light (beam section is point-shaped) is used as the reference light as in the device of JP-A-10-2722.

[0005]

Conventionally, the accuracy of the three-dimensional input data depends on the accuracy of the control of the projection angle of the reference light, so that sufficiently high accuracy of the three-dimensional input data cannot be obtained. There have been problems that expensive components must be used to ensure accuracy, and that it takes time to adjust the mounting posture of the light projecting system. The reason why it is difficult to ensure accuracy is that the light projection system has a movable mechanism for deflecting the reference light, and its operation is easily affected by changes in the use environment such as temperature and humidity.

The present invention realizes three-dimensional input that does not depend on the projection angle information of the reference light, makes it possible to obtain high-precision three-dimensional input data irrespective of the accuracy of the projection angle control. The purpose is to improve convenience through diversification.

[0007]

According to the present invention, an object which is partially illuminated by reference light or environmental light is imaged at two points apart from each other as viewpoints, and the distance between the viewpoints and each viewpoint is determined. A mode in which the position of the object is calculated with high accuracy or data for calculation by the triangulation method from the orientation of the irradiated part on the object (inclination with respect to the straight line connecting the viewpoints), as in the conventional case And a mode for outputting data obtained by calculating the position of the object portion by the triangulation method from the projection angle and the light receiving angle or data for calculation.

In the mode in which the position is calculated without using the projection angle information, it is necessary to record data of the number obtained by multiplying the number of sampling points of the object by the number of viewpoints. Large amount. Therefore, if a mode that uses the projection angle information is selected for an application that does not require high accuracy, the burden of data transmission and recording can be reduced.

According to a first aspect of the present invention, there is provided a light projecting system for projecting reference light toward an object so as to scan the object, and an imaging system for simultaneously imaging the object at first and second positions separated from each other. And a first mode and a second mode that are alternatively selectable are provided. In the first mode, based on imaging data corresponding to each of the first and second positions, For each of the plurality of portions of the object, the light receiving angle at each of the first and second positions of the light reflected by the portion is detected, and data corresponding to the detected set of light receiving angles is obtained for the portion. The position information is output, and in the second mode, each of the plurality of parts of the object is reflected by the part based on the projection control data of the reference light and the imaging data corresponding to the first position. It was detected projection angle and acceptance angle in the first position of the reference light, a three-dimensional input device which outputs data corresponding to projection angle and acceptance angle were detected as positional information of the site.

In the three-dimensional input device according to the second aspect of the present invention, the starting point of the projection of the reference light is a position equidistant from both the first and second positions.

In the three-dimensional input device according to the third aspect of the present invention, the starting point of the projection of the reference light is near the second position.

[0012]

FIG. 1 is a functional block diagram of a three-dimensional input device 1 according to a first embodiment.

The three-dimensional input device 1 includes a light projecting system 10 for projecting the slit light U and two imaging systems 20A, 20 having the same configuration.
0B, and two light receiving signal processing units 30A and 30B having the same configuration.

The light projecting system 10 includes a semiconductor laser 12 as a light source, a lens group 13 for beam shaping, and a galvanomirror 14 as beam deflecting means for changing a projection angle.
Consists of The lens group 13 includes a collimator lens and a cylindrical lens. The galvanomirror 14 is provided with a deflection control signal from the light projection control circuit 32 via the D / A converter 33.

Each of the imaging systems 20A and 20B includes a light receiving lens 2
1, a beam splitter 22, an image sensor 24 for obtaining a range image representing the shape of the object Q, a color image sensor 25 for obtaining a two-dimensional image for monitoring, and a lens driving mechanism 26 for enabling zooming and focusing Consists of The beam splitter 22 separates light in the emission wavelength range (for example, center wavelength 670 nm) of the semiconductor laser 12 from visible light. The image sensor 24 and the color image sensor 25 are two-dimensional imaging devices (area sensors). These sensors include CCD sensors, CMs
An OS sensor can be used. Image sensor 2
The output of No. 4 is converted into light receiving data of a predetermined number of bits by the A / D converter 35, and is sequentially transferred to the memory circuit 37. The memory circuit 37 stores data (TA, TB) for specifying light receiving angles θA, θB, which will be described later, according to the value of the light receiving data. The output of the color image sensor 25 is converted into light receiving data by an A / D converter 36, and is sequentially stored by a color image memory 38. Addressing of the memory circuit 37 and the color image memory 38 is performed by the memory control circuit 39.

CPU 31 for controlling the three-dimensional input device 1
Gives an instruction to the control target in a timely manner and both or one of the memory circuits 37 of the light receiving signal processing units 30A and 30B.
An operation is performed to read out the data from and obtain the distance image data. The distance image data is output as appropriate three-dimensional input data to an external device (not shown). At this time, the two-dimensional color image stored in the color image memory 38 of at least one of the light receiving signal processing units 30A and 30B is also output. The external device includes a computer, a display, a storage device, and the like.

In the three-dimensional input device 1, a first mode in which distance image data is obtained by using two pieces of light-receiving angle information without using projection angle information (this is called a high-accuracy mode); And a second mode for obtaining distance image data based on the received light angle information (this is called a normal mode). The CPU 31 detects the designated mode by determining the state of the mode designating section 51. The mode designation unit 51 includes an operation panel, a dip switch provided separately from the operation panel, an interface for remote operation, and the like.

Either one of the two imaging systems 20A and 20B can be used for the calculation in the normal mode. However, in the three-dimensional input device 1, the output of the imaging system 20A arranged at a position far from the light projecting system 10 is used. This is because the base line length L '(see FIG. 10) is longer than in the case where the output of the imaging system 20B close to the light projecting system 10 is used, and the accuracy of triangulation is improved.

FIG. 2 is a schematic diagram of the projection, FIG. 3 is a diagram for explaining the generation procedure of the distance image data in the high-accuracy mode, and FIG. 4 is a diagram showing parallax in imaging.

The three-dimensional input device 1 includes a galvanomirror 14
The slit light U is projected so as to scan the virtual surface VS with a point on the reflection surface as a starting point C. The virtual plane VS corresponds to a cross section orthogonal to the depth direction of a space (a range within an angle of view) in which the image sensor 24 can capture an image. Then, a range of the virtual plane VS corresponding to each pixel g in the image sensor 24 is a three-dimensional input sampling section. In FIG. 2, a starting point C of light projection and a viewpoint (principal point of light reception) A
B are arranged on a straight line. Here, the viewpoints A and B are arranged along the vertical direction, and the slit length direction of the slit light U is the horizontal direction.

The outline of the three-dimensional input of the object Q in the high-accuracy mode is as follows.

The deflection angle of the galvanomirror 14 is controlled in synchronization with the image pick-up in the frame period by the two image sensors 24. At this time, the two image sensors 24 are driven at the same timing. That is, the object Q is imaged simultaneously from the viewpoints A and B. Then, each pixel of each image sensor 24 is detected at which point in time the projection of the slit light U, which is deflected every moment, is illuminated.

The image sensor 24 of one image pickup system 20A
Pixel g in the iA-th horizontal direction and the jA-th vertical direction in
_iAjANote that pixel g_iAjAPoint P on the line of sight corresponding to
When the slit light U passes through, the output becomes maximum.
At this time, the image sensor 24 of the other imaging system 20B
Focusing on the output, the pixel g corresponding to the line of sight passing through the point P
_iBjBOutput becomes maximum. Here, imaging is performed by the imaging system 20A.
And a second image captured by the imaging system 20B.
Has an epipolar constraint in the vertical direction
Then the pixel g_iAjAFor the horizontal position iA of
Prime g_iBjBIs determined uniquely in the horizontal direction iB. Also,
Prime g_iAjAG for the vertical position jA of_iBjBVertical
The direction position jB is a pixel at the horizontal position iB in the second image.
Pixel g in the column_iAjAAt the same time as the output of
You can tell if you find the pixel that has the maximum output every moment. But
Therefore, each of the image sensors 24 of the imaging systems 20A and 20B
Time (luminance peak time) TA at which the output of the pixel becomes maximum
_iAjA, TB_iBjBIs known, each pixel in the first image is
A corresponding pixel in the second image can be found.

The point when P corresponds to the pixel g _IAjA of the first image, in the presence of a point P on the line specified by the spatial coordinates of the light receiving angle .theta.A _IAjA and the viewpoint A determined by the position of the pixel g _IAjA Become. Similarly, when the point P corresponds to the pixel g _iBjB of the second image, the light receiving angle θB determined by the position of the pixel g _iBjB
The point P exists on a straight line specified by _iBjB and the spatial coordinates of the viewpoint B. That is, the point of intersection of these two straight lines is point P. Therefore, the light receiving angle θA _iBjB ,
Based on θB _iBjB and the distance L between viewpoints, the principle of triangulation is applied to calculate the depth _DiAjA between the base line passing through the viewpoints A and B and the point P, and the viewpoints A and B can be calculated. The relative position with respect to the point P can be specified. Then, if the above processing is performed for each pixel g of the first image, three-dimensional position information of the sampling points of the object Q for the number of pixels can be obtained.

Next, a specific configuration of a circuit for detecting a luminance peak time will be described. Incidentally, unless the following necessary to distinguish the pixel position in which the index represents the pixel position _IAjA, omitted the description of _{iB jB.}

FIG. 5 is a block diagram of a first example of the memory circuit.

The example memory circuit 37 includes two memories 3
71, 376, a comparator 377, and an index generator 378.

The memory 371 receives light receiving data D 35 from the A / D converter 35, and the memory 376 receives a frame number T from the index generator 378. . The comparator 377 compares, for each pixel of the image sensor 24, the received light data D35 of the t-th frame, which is the latest input data, with the received light data D35 previously written in the memory 371. Memory 371, 376
Write is permitted for. In response to this, each memory 37
Reference numeral 1376 stores the latest input data in an overwrite format. If the comparison result is reversed, the previous storage contents are held in the memories 371 and 376. Therefore, when the scanning is completed, the memory 371 stores the maximum value of the light receiving data D35 for each pixel g, and the memory 376 stores the frame number T of the frame having the maximum light receiving data D35 for each pixel. become. Since the imaging of each frame is performed at a fixed period, the frame number T indicates a time during the scanning period (elapsed time from the start of scanning). That is, the memory 3
76 stores the frame number T described above at the time TA _iAjA ,
This is _information that corresponds to TB _iBjB and _specifies the correspondence between the light receiving angles θA _iAjA and θB _iBjB .

According to this example, the luminance peak times TA _iAjA and TB _iBjB can be detected with a relatively simple circuit configuration. However, the resolution of the projection angle detection depends on the imaging cycle of the image sensor 24. The second example in which the resolution is improved is as follows.

FIG. 6 is a block diagram of a second example of the memory circuit.
FIG. 7 is a diagram showing the relationship between the luminance distribution on the imaging surface and the received light data. 6, the elements corresponding to FIG. 5 are denoted by the same reference numerals as in FIG.

The memory circuit 37b of the second example includes a memory 37
1 plus 4 memories 372, 37 of the same size
3, 374, and 375, and each of the memories 372 to 3 is provided with a total of four 1-frame delay memories 379a to 379d.
The configuration is such that 75 data inputs are sequentially delayed one frame at a time with respect to the memory 371. That is,
In the memory circuit 37b, five consecutive frames of light receiving data D35 for each pixel g are simultaneously stored. The comparator 377 has a third memory 3 whose input is delayed by two frames.
Compare the 73 inputs and outputs. The input data value of the memory 373 is the output data value (the previously written data value)
If larger, the memory 371 to 375 and the memory 3
76 writes are allowed.

At the end of each scan, the memory 3
Reference numeral 73 stores the maximum value of the light receiving data D35 for each pixel g. Also, the memories 371, 372, 374,
With 375, the received light data D35 of two frames before, one before, one after, and two after the frame where the received light data D35 is maximum are stored. And
The memory 376 stores the number T of the frame in which the light receiving data D35 is maximum for each pixel g.

Here, as shown in FIG. 7A, it is assumed that the width of the slit light image formed on the image pickup surface is 5 pixels and the luminance distribution is a single-peak mountain-like shape. At this time, paying attention to one pixel g, light reception data of a change according to the luminance distribution is obtained as shown in FIG. 7B. Therefore, the memory 37
The center of gravity is calculated based on the light receiving data D35 for five frames stored in the memory cells 1 to 375, so that the time T can be calculated in finer increments than the frame period (that is, the pixel pitch).
A and TB can be calculated. In the example of FIG. 7B, the time TA (TB) is between the t-th sampling time and the (t + 1) -th sampling time.

According to the second example, the resolution is improved.
There is a problem that desired accuracy cannot be obtained depending on the luminance distribution. That is, in actual imaging, some noise is added to the image formation due to characteristics of the optical system and the like. For this reason,
A plurality of peaks are generated in the luminance distribution, or the luminance distribution is flat and the peaks are unclear. If the luminance distribution deviates greatly from the ideal shape, the reliability of the center-of-gravity calculation decreases.

The influence of such noise is caused by the calculation of the center of gravity based on the luminance distribution in a sufficiently long period, not in a short period in which the frame in which the maximum luminance value is obtained and several frames before and after the frame. By doing so, it can be reduced. This is realized in the following third example.

FIG. 8 is a block diagram of a third example of the memory circuit.
FIG. 9 is a conceptual diagram of the center of gravity according to FIG.

The memory circuit 37c of the third example includes a memory 37
10, constant light data storage unit 3720, subtraction unit 3730,
The first adder 3740, the second adder 3750, and the divider 3760 calculate the center of gravity (time center of gravity) for each pixel g based on the light reception data D35 for the number of frames.

The memory 3710 stores received light data D35 of a predetermined number k of frames obtained by scanning the object Q. The light receiving data values of a frame of T th pixel g (T = 1 to k) is expressed as x _T. Stationary light data storage unit 3720
Stores steady light data representing the amount of unnecessary incident light other than the slit light U. The steady light data is calculated based on the received light data D35 when the slit light U is not incident.
The value s may be a predetermined fixed value, or may be obtained in real time using the received light data D35. In the case of a fixed value, for example, “5”, “6”, or “10” when the light reception data D35 is 8 bits (256 gradations). Subtraction unit 3730 subtracts the value s of the stationary light data from the value x _T of the light reception data D35 read from the memory 3710. Here, the value of the output data from the subtraction unit 3730 is set to X _T again. First adder 3740
, For the k received light data D35 for each pixel g, performs multiplication of each value X _T and the frame number T corresponding thereto, and outputs the sum of the resulting product. Second adder 3
750 is a value X _T of k light receiving data D35 for each pixel g.
Output the sum of The division unit 3760 includes the first addition unit 37
The output value of 40 is divided by the output value of second adder 3750, and the obtained center of gravity is output as time TA (or TB).

FIG. 10 is a diagram for explaining the procedure for generating range image data in the normal mode.

In the normal mode, the deflection angle of the galvanomirror 14 is controlled in synchronization with the frame period image pick-up by the image sensor 24 of one image pickup system 20A. Then, similarly to the high-accuracy mode, it detects at which point in time each of the pixels of the image sensor 24 is illuminated by the projection of the slit light U that is deflected. Focusing on the iA-th horizontal pixel and the jA-th vertical pixel g _iAjA of the image sensor 24, the output becomes maximum when the slit light U passes through a point P on the line of sight corresponding to the pixel g _{iA jA} . Pixel g
The projection angle (swing angle) _{θC at} the time when the output of _iAjA becomes maximum can be calculated from the elapsed time (number of frames) from the start of deflection to the time and the unit deflection angle (step angle). When the point P on the object Q corresponding to pixel g _IAjA of the first image, there is a point P on the line specified by the spatial coordinates of the light receiving angle .theta.A _IAjA and the viewpoint A determined by the position of the pixel _g iAjA. Point P is the projection angle θC
It exists on a plane specified by _iAjA and the spatial coordinates of the starting point C. The point of intersection of this plane and the straight line is point P. Therefore, the light receiving angle θA _iBjB and the projection angle θ
Based on C _iAjA and the base line length L ′, the distance D ′ _iAjA between the base line passing through the viewpoint A and the point P can be calculated by applying the principle of triangulation, and the viewpoint A and the point P can be calculated. Relative position can be specified. Then, if the above processing is performed for each pixel g of the first image, three-dimensional position information of the sampling points of the object Q for the number of pixels can be obtained.
Also in the normal mode, by using the circuit of FIG. 6 or FIG. 8 and performing the center of gravity calculation based on the obtained data, the resolution of the three-dimensional input can be increased.

FIG. 11 is a flowchart showing the general operation of the three-dimensional input device 1.

Semiconductor laser 12 and galvanometer mirror 14
Is turned on to start scanning (# 1). The received light data obtained by the imaging at the viewpoints A and B is recorded, and the projection angle data indicating the projection angle in each frame is recorded (#
2). When the scanning is completed (# 3), an output process corresponding to the mode is performed as follows. The output here means data transmission to an external device or recording (data accumulation) in a memory in the device. In the case of the high-accuracy mode, the distance data D is calculated and output using the light receiving data of the viewpoints A and B (# 4 to # 6). At this time, light reception data of both viewpoints A and B are also output as necessary. In normal mode,
The distance data D 'is calculated and output using the light receiving data of the viewpoint A and the projection angle data (# 4, # 7, # 8). It also outputs light reception data and projection angle data as needed.

FIG. 12 is a diagram showing an example of setting the positional relationship between light emission and light reception.

In the arrangement of the light projecting system 10 and the light receiving system 20, the starting point C of the light projecting and the main points (viewpoints) A of the light receiving are not necessarily required.
It is not necessary to adopt a configuration as shown in FIG. 12A or 12B in which B is aligned. For example, the configuration of FIG. 12C in which three points A, B, and C are arranged in an L shape when viewed from the object side, or the configuration of FIG. 12D in which the three points A, B, and C are arranged in a T shape may be adopted. In particular, if the starting point C is arranged between the viewpoint A and the viewpoint B as shown in FIG. 12B or 12D, occlusion caused by the difference between the viewpoints A and B and the starting point C can be reduced. it can. In this case, the distance d between the starting point C of the light projection and each of the viewpoints A and B
Are preferably equal. In order to increase the measurement accuracy in both the high-accuracy mode and the normal mode, the configuration shown in FIG. 12C in which the distance between the viewpoints A and B is large and the distance between the starting point C of light projection and the viewpoint A is large. .

FIG. 13 is a functional block diagram of the three-dimensional input device 2 according to the second embodiment. In FIG. 13, the functions of the components denoted by the same reference numerals as those in FIG. 1 are the same as those of the above-described three-dimensional input device 1.

In the second embodiment, spot light V having a beam cross section is projected instead of slit light, and imaging is performed using a one-dimensional image sensor (line sensor) 27.

The three-dimensional input device 2 includes a light projecting system 10b, a light receiving system 20b including two imaging systems 20Ab and 20Bb having the same configuration, and two light receiving signal processing units 30A having the same configuration.
b, 30Bb, and is controlled by the CPU 31b. The light projecting system 10b includes a semiconductor laser 12, a collimator lens 13b, and a galvanomirror 14b.

Each of the imaging systems 20Ab and 20Bb includes a light receiving lens 21, a lens driving mechanism 26, an infrared cut filter F
1. Bandpass filter F2, filter switching mechanism 2
8, and an image sensor 27 that is used for both three-dimensional input and monitor shooting. The image sensor 27 is a three-line CCD sensor having a pixel row corresponding to each color of RGB. In case of monitor shooting, infrared cut filter F1
Is used. In the case of three-dimensional input, a bandpass filter F2 that transmits light in a laser wavelength range is used, and only the output of the R pixel row of the image sensor 27 is used as light reception information.

In the case of using the spot light V, the time TA, T
By detecting B, the position of point P on object Q can be calculated. Since the principle is the same as that of the case using the slit light U, the description is omitted here.

FIG. 14 is a diagram showing an example of a device configuration for realizing omnidirectional input or omnidirectional input by rotation.

The three-dimensional input device 3 shown in FIG. 14A includes an optical system 40 for projecting light and capturing an image, and a turntable 45 for rotating with an object Q mounted thereon, and realizes a omnidirectional input. The optical system 40 is configured to perform three-dimensional input and color imaging with one image sensor by switching filters. When the turntable 45 scans the object Q from a certain direction to find the center of gravity, the turntable 45 rotates by a predetermined angle. By repeating the scanning by the optical system 40 and the rotation of the turntable 45 N times, it is possible to perform a three-dimensional input over the maximum 360 ° angle range of the outer peripheral surface of the object Q. The optical system 40 is provided with a memory capable of storing data N times. Since the direction component is obtained in the form of n × θ because of the data of the scan of the third time, three-dimensional position data in the space of the object to be measured can be obtained. In addition,
The object Q may be stationary and the optical system 40 may rotate around the object Q.

In the three-dimensional input device 4 shown in FIG. 14B, an optical system 41 is mounted on a turntable 46. If the three-dimensional input device 4 is used, the same operation as the three-dimensional input device 3 enables omnidirectional three-dimensional input of the inner wall surface of an object having a cavity.

In the above embodiment, an example has been described in which distance data is calculated by detecting the luminance peak time of each pixel on the imaging surface, that is, the centroid (temporal centroid) of the temporal luminance distribution for each pixel. However, the present invention is not limited to this. It is also possible to calculate the distance data by detecting the position of the pixel having the highest luminance in each frame, that is, the centroid (spatial centroid) of the spatial luminance distribution at each sampling time.
The angle at which the same point on the object Q is viewed from the viewpoints A and B may be obtained by stereo vision using a color or monochrome texture image instead of scanning by deflection of the reference light.

[0054]

According to the first to third aspects of the present invention,
A three-dimensional input that does not depend on the projection angle information of the reference light is realized, so that highly accurate three-dimensional input data can be obtained regardless of the accuracy of the projection angle control. It can be used properly depending on the application.

[Brief description of the drawings]

FIG. 1 is a functional block diagram of a three-dimensional input device according to a first embodiment.

FIG. 2 is a schematic diagram of projection.

FIG. 3 is a diagram for explaining a method of generating distance image data in a high-accuracy mode.

FIG. 4 is a diagram illustrating parallax in imaging.

FIG. 5 is a block diagram of a first example of a memory circuit.

FIG. 6 is a block diagram of a second example of the memory circuit.

FIG. 7 is a diagram illustrating a relationship between a luminance distribution on an imaging surface and received light data.

FIG. 8 is a block diagram of a third example of the memory circuit.

9 is a conceptual diagram of the center of gravity according to FIG.

FIG. 10 is a diagram for explaining a method of generating distance image data in a normal mode.

FIG. 11 is a flowchart illustrating a schematic operation of the three-dimensional input device.

FIG. 12 is a diagram illustrating a setting example of a positional relationship between light projection and light reception.

FIG. 13 is a functional block diagram of a three-dimensional input device 2 according to a second embodiment.

FIG. 14 is a diagram showing an example of a device configuration for realizing omnidirectional input or omnidirectional input by rotation.

[Description of Signs] 1 to 4 3D input device A viewpoint (first position) B viewpoint (second position) P point (part on object) U, V Reference light TA, TB time (pass through sampling section) ΘA, θB Reception angle 10 Projection system 20 Imaging system D, D 'Distance data (position information) D35 Reception data (imaging data)

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2F065 AA04 AA31 DD03 FF04 FF09 GG06 HH04 HH05 JJ03 JJ16 JJ23 JJ26 LL08 LL10 LL13 LL37 QQ02 QQ03 QQ23 QQ24 QQ25 QQ26 QQ29

Claims (3)

[Claims] An imaging system for projecting a reference beam toward an object so as to scan the object, and an imaging system for simultaneously imaging the object at first and second positions separated from each other; A first mode and a second mode, which can be selectively selected, are provided. In the first mode, a plurality of portions of the object are determined based on imaging data corresponding to the first and second positions. For each of them, a light receiving angle at each of the first and second positions of light reflected by the part is detected, and data corresponding to the detected set of light receiving angles is output as position information of the part, In the second mode, based on the projection control data of the reference light and the imaging data corresponding to the first position, for each of the plurality of portions of the object,
The projection angle of the reference light reflected by the portion and the first
A three-dimensional input device, which detects a light receiving angle at a position of (i) and outputs data corresponding to the detected projection angle and detected light angle as position information of the part. 2. A projection starting point of the reference light is located at a position equidistant from both the first and second positions.
3. The three-dimensional input device according to claim 1. 3. The three-dimensional input device according to claim 1, wherein a starting point of the projection of the reference light is near the second position.