JP2000180132A - Method and system device for two-dimensional scan type range sensor projector scan and record medium where two-dimensional scan type range sensor projector scan program is recorded - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the method and system device for a two-dimensional scan type range sensor projector scan which sequentially determines, changes, scans, and measure an actual scan path so that a scan track based upon the measurement result of a preliminary scan is scanned and the recording medium where the two-dimensional scan type range sensor projector scan program is recorded. SOLUTION: A sensor head A is equipped internally with a laser light emission unit 3 which generates laser light 2, a lens 4 which refracts the laser light 2 into laser irradiation light 2a, a horizontal lens driving device 5 and a vertical lens driving device 6 which drive the lens 4 horizontally and vertically, a photodetecting element 7 which photodetects laser reflected light 2b and generates observation information, a three-dimensional position computing element 8 which receives the observation information and generates three-dimensional position data, scan track decision units 9a, 9b, and 9c which calculate the scan track from the three-dimensional position data from the measurement result of the prescan and the current measurement data, and a lens driving signal generator 10 which generates a lens driving signal from the scan track.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a light beam scanning method for performing measurement using a two-dimensional scanning range sensor in which a light projector capable of irradiating a light beam in an arbitrary direction and a light receiver for observing the reflection are combined. The present invention relates to a two-dimensional scanning range sensor projector scanning method, a two-dimensional scanning range sensor projector scanning system apparatus directly used for implementing the method, and a recording medium recording a two-dimensional scanning range sensor projector scanning program.

[0002]

2. Description of the Related Art In general, when trying to obtain three-dimensional information using some kind of sensor, a non-contact visual sensor is used in terms of accuracy and reliability. In particular,
Laser scanning sensors have a wide range of applications, such as industrial robots and CG data input devices.

[0003] Most of the current sensors perform laser scanning on a predetermined locus (straight line or circular shape), so that constant scanning is performed irrespective of the shape and attitude of the measurement target to obtain three-dimensional data. .

[0004]

However, when measurement is performed using constant laser scanning as in the prior art, there is a problem that the measurement accuracy varies with changes in the shape and attitude of the measurement object. Was.

In order to solve this problem, a sensor (two-dimensional scanning type range sensor) capable of freely setting a laser scanning trajectory has been developed, and is expected to be a system for realizing more advanced measurement. There is a need for a laser scanning method and system apparatus that can perform optimal measurement according to changes in the shape and attitude of a measurement target using this two-dimensional scanning range sensor.

For example, there is a need for a device that stabilizes measurement accuracy, increases the efficiency of three-dimensional measurement, and increases the accuracy and speed of measurement accuracy.

The main objects to be solved by the present invention are as follows.

A first object of the present invention is to provide a two-dimensional scanning range capable of stabilizing measurement accuracy by performing measurement in accordance with a change in the shape and posture of a measurement object using a two-dimensional scanning range sensor. It is an object of the present invention to provide a sensor projector scanning method and system apparatus, and a recording medium on which a two-dimensional scanning range sensor projector scanning program is recorded.

A second object of the present invention is to record a method and system for scanning a two-dimensional scanning range sensor projector capable of performing measurement for improving the efficiency of three-dimensional measurement, and to record a two-dimensional scanning range sensor projector scanning program. It is intended to provide such a recording medium.

A third object of the present invention is to provide a method and system for scanning a two-dimensional scanning range sensor projector and a two-dimensional scanning range sensor projector capable of performing measurement with high accuracy and high measurement speed. It is intended to provide a recording medium on which the program is recorded.

[0011] Other objects of the present invention are as follows:
In particular, it will be obvious from the description of each claim in the claims.

[0012]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention solves the above-mentioned problems by providing a light projector for irradiating a light beam in an arbitrary direction, and receiving reflected light from the light beam hitting the object to be measured. A light receiving means for generating the light, and a means provided on a control means for driving the light emitting means to scan the actual scanning path determined and changed using the scanning trajectory based on the observation information from the light receiving means. Has the features taken.

Further, a light beam is radiated from the light projector to the object to be measured in a direction that can be set in a variable manner, and the reflected light is received by a light receiving means to generate observation information, and three-dimensional information is obtained from the observation information from the light receiving means. A program for determining a scanning trajectory based on position data and performing a scanning measurement by sequentially determining and changing an actual scanning path so as to scan the scanning trajectory, and a program for executing the method It has the characteristic of creating a recording medium on which is recorded.

More specifically, in order to solve the above-mentioned problems, the present invention achieves the above object by adopting a novel characteristic constitution means or technique ranging from a superordinate concept to a subordinate concept as listed below. Is done.

That is, a first feature of the method of the present invention is that, when measuring the three-dimensional shape of the object to be measured, a light beam is emitted from the light projecting means to the object to be measured in a direction variably, and the reflected light is applied. The observation information is created by receiving the light by the light receiving means, the scanning locus is determined based on the three-dimensional position data from the observation information from the light receiving means, and the actual scanning path is sequentially determined so as to scan the scanning locus. And a configuration of a two-dimensional scanning type range sensor light projector scanning method that executes a series of processes for performing scanning measurement with a change.

According to a second feature of the method of the present invention, the series of processes in the first feature of the method of the present invention first performs a preliminary scan, which is a uniform scan performed in advance, and obtains observation information of the preliminary scan. The data is converted into three-dimensional position data, stored as measurement results of the preliminary scanning, and a scanning trajectory is determined using the measurement results of the preliminary scanning.
Compare with the current measurement data which is the dimensional position data,
The actual scanning path is successively determined and changed, and the main scanning is performed by driving the lens of the light projecting means two-dimensionally and changing the direction of the light beam.
The present invention resides in adopting a configuration of a scanning method of a two-dimensional scanning type range sensor.

According to a third feature of the method of the present invention, the determination of the scanning trajectory in the second feature of the method of the present invention divides the measurement result of the pre-scan into small areas which are plane elements, and The normal of the minute region is detected, and from the minute region and the normal of the minute region, the surface labeled on the minute region having the same directional component and the normal of the surface are determined, and the surface and the normal of the surface are determined. A two-dimensional scanning range sensor projector scanning method wherein a continuous closed-loop curve passing through all of the surfaces from is used as the scanning trajectory.

According to a fourth feature of the method of the present invention, the determination of the scanning trajectory in the second feature of the method of the present invention divides the measurement result of the pre-scan into small areas which are plane elements, and The normal of the minute region is detected, and from the minute region and the normal of the minute region, the surface labeled on the minute region having the same directional component and the normal of the surface are determined, and the surface and the normal of the surface are determined. A two-dimensional scanning range sensor projector that determines the ridge direction of the surface at which each surface intersects each other, determines a continuous closed loop curve that vertically crosses the ridge line from the ridge direction of the surface, and determines the curve as the scanning trajectory. The configuration of the scanning method is employed.

According to a fifth aspect of the method of the present invention, in the determination of the scanning trajectory in the third or fourth aspect of the method of the present invention, the center of gravity of each surface is determined from the surface and a normal to the surface. ,
The present invention resides in adopting a configuration of a two-dimensional scanning type range sensor projector scanning method in which the closed loop is determined and the scanning trajectory is determined on condition that the closed loop is also passed through the center of gravity of each surface.

According to a sixth aspect of the method of the present invention, in the determination of the scanning trajectory in the second aspect of the method of the present invention, the measurement result of the preliminary scanning is divided into minute areas which are plane elements, and The normal of the minute region is detected, and from the minute region and the normal of the minute region, the surface labeled on the minute region having the same directional component and the normal of the surface are determined, and the surface and the normal of the surface are determined. And a closed-loop curve passing through the least number of points for detecting each of the surfaces is obtained, and the scanning trajectory is used as the scanning trajectory.

According to a seventh aspect of the method of the present invention, the determination of the scanning trajectory in the sixth aspect of the method of the present invention is such that, after the determination of the surface and the normal of the surface, the normal of the surface and the normal of the surface are determined. Determine the ridge line direction of the surface where each surface intersects from each other, determine the ridge intersection point where the ridge line intersects at one point from the ridge line direction of the surface, and obtain a closed loop curve that is a circle centered on the ridge line intersection point In other words, the configuration of the two-dimensional scanning type range sensor light projector scanning method serving as the scanning trajectory is adopted.

An eighth feature of the method according to the present invention is that the preliminary scan in the second, third, fourth, fifth, sixth or seventh feature of the method of the present invention is such that the raster scan or the spiral scan in the sensor field of view is performed. The present invention resides in adopting a configuration of a two-dimensional scanning type range sensor light projector scanning method for scanning.

A first feature of the apparatus according to the present invention is a system apparatus for performing scanning measurement for obtaining a three-dimensional shape of an object to be measured, a light projecting means for irradiating a light beam in an arbitrary direction, and the light projecting means. A light receiving means for receiving reflected light from which a light beam hits the object to be measured and creating observation information; and an actual scanning path determined and changed using a scanning trajectory based on the observation information from the light receiving means. The present invention is to adopt a configuration of a two-dimensional scanning type range sensor light projector scanning system apparatus having a control means for driving the light projection means so as to scan the light.

According to a second feature of the device of the present invention, in the first feature of the device of the present invention, the light projecting means includes a laser light emitting device for generating laser light, and a laser light emitted from the laser light emitting device. A two-dimensional scanning range sensor projector scanning system including a lens that emits laser irradiation light, a horizontal lens driving device that drives the lens in the horizontal direction, and a vertical lens driving device that drives the lens in the vertical direction The configuration of the device is adopted.

A third feature of the device of the present invention is that the light receiving means in the first or second feature of the device of the present invention receives and observes a laser reflected light in which the laser irradiation light hits the object to be measured. The present invention resides in the configuration of a two-dimensional scanning range sensor projector having a light receiving element for creating information.

A fourth feature of the present invention is that the control means in the first, second or third feature of the present invention receives the observation information from the light receiving element and creates three-dimensional position data. A three-dimensional position calculator, a scan trajectory determiner for calculating a scan trajectory from the three-dimensional position data from the three-dimensional position calculator, and a scanning trajectory from the scan trajectory determiner for driving the lens. Configuration of a two-dimensional scanning range sensor projector system including a lens driving signal generator that generates a lens driving signal that is a signal of a dimensional position and transmits the lens driving signal to the horizontal lens driving device and the vertical lens driving device In hiring.

A fifth feature of the device of the present invention is that the light projecting means, the light receiving means and the control means in the first, second, third or fourth feature of the device of the present invention are integrated in a sensor head. The present invention resides in adopting a configuration of a two-dimensional scanning type range sensor light projector scanning system device incorporated therein.

A sixth feature of the apparatus of the present invention is that, in the second feature of the present invention, the scanning trajectory determiner stores a three-dimensional position data from the three-dimensional position calculator, A surface element detection unit that divides the accumulated three-dimensional position data from the sensor data storage unit into minute regions that are surface elements, and calculates a normal line of the minute region from the minute region from the surface element detection unit A surface element normal detecting unit, a shape determining unit that determines a surface and a normal direction of the surface from the normal of the minute region and the minute region from the surface element normal detecting unit, and A scanning trajectory determining unit for determining a closed loop curve from the surface and a normal direction of the surface;
Scan to convert the current three-dimensional position data from the three-dimensional position calculator and the closed loop curve from the scanning trajectory determination unit into lens driving coordinates as two-dimensional position data and transmit the lens driving signals to the lens driving signal generator. A two-dimensional scanning range sensor projector having a coordinate conversion unit has a configuration of a scanning system device.

According to a seventh feature of the apparatus of the present invention, in the sixth feature of the present invention, the scanning trajectory determining unit determines a center of gravity of the surface from the surface from the shape determining unit and a normal direction of the surface. Is calculated, and a closed loop curve passing through the center of gravity is determined.

According to an eighth feature of the apparatus of the present invention, in the sixth feature of the apparatus of the present invention, the scanning trajectory determining unit determines each surface from the surface from the shape determining unit and a normal direction of the surface. The present invention resides in adopting a configuration of a two-dimensional scanning type range sensor light projector scanning system apparatus which determines a closed loop curve passing through the fewest points for detection.

A ninth feature of the device of the present invention is that, in the fourth feature of the present device, the scanning trajectory determiner stores a three-dimensional position data from the three-dimensional position calculator, A surface element detection unit that divides the accumulated three-dimensional position data from the sensor data storage unit into minute regions that are surface elements, and calculates a normal line of the minute region from the minute region from the surface element detection unit A surface element normal detecting unit, a shape determining unit that determines a surface and a normal direction of the surface from the normal of the minute region and the minute region from the surface element normal detecting unit, and A ridge line direction determining unit that determines a ridge line direction from the normal direction of the surface and the surface, a scanning trajectory determining unit that determines a closed loop curve from the ridge line direction from the ridge line direction determining unit, and the three-dimensional position calculator. Current 3D position data And a scanning coordinate conversion unit for converting the closed loop curve from the scanning trajectory determination unit into lens driving coordinates as two-dimensional position data and transmitting the lens driving signals to the lens driving signal generator as a lens driving signal. The present invention resides in the configuration adoption of a range sensor projector scanning system device.

A tenth feature of the apparatus of the present invention resides in that, in the ninth feature of the apparatus of the present invention, the scanning trajectory determining unit includes the ridge line direction from the ridge line direction determining unit as well as the ridge line direction from the shape determining unit. A two-dimensional scanning range sensor projector configured to calculate the center of gravity of the surface from the surface and the normal direction of the surface, and to determine a closed loop curve perpendicular to the ridge line and passing through the center of gravity of each surface. The configuration of the scanning system device is adopted.

An eleventh feature of the device of the present invention is that, in the fourth feature of the device of the present invention, the scanning trajectory determiner stores a three-dimensional position data from the three-dimensional position calculator, A surface element detection unit that divides the accumulated three-dimensional position data from the sensor data storage unit into minute regions that are surface elements, and calculates a normal line of the minute region from the minute region from the surface element detection unit A surface element normal detecting unit, a shape determining unit that determines a surface and a normal direction of the surface from the normal of the minute region and the minute region from the surface element normal detecting unit, and A ridge line direction determining unit that determines a ridge line direction from the surface and the normal direction of the surface; a ridge line intersection determining unit that determines a ridge line intersection from the ridge line direction from the ridge line direction determining unit; From the intersection of the ridge line A scanning trajectory determining unit for determining a closed loop curve which is a circle centered on the ridge intersection, and a current three-dimensional position data from the three-dimensional position calculator and a two-dimensional position of the closed loop curve from the scanning trajectory determining unit A two-dimensional scanning range sensor projector has a scanning system conversion device that has a scanning coordinate conversion unit that converts data into lens driving coordinates and transmits the data as a lens driving signal to the lens driving signal generator.

A first feature of the recording medium of the present invention is a recording medium in which a program for measuring a three-dimensional shape of an object to be measured is recorded. The reflected light is received by the light receiving means to generate observation information, a scanning trajectory based on the three-dimensional position data from the observation information from the light receiving means is determined, and the scanning trajectory is sequentially scanned. The present invention is to adopt a configuration of a recording medium recording a two-dimensional scanning range sensor projector scanning program, which is a recording medium recording a series of processing execution programs for determining and changing an actual scanning path and performing scanning measurement.

A second feature of the recording medium of the present invention is that the series of processing execution programs according to the first feature of the recording medium of the present invention first performs preliminary scanning, which is a uniform scanning performed in advance, and performs the preliminary scanning. Is converted to three-dimensional position data and stored as a measurement result of the preliminary scanning, and a scanning trajectory is determined using the measurement result of the preliminary scanning, and three-dimensional position data from the scanning trajectory and the current observation information are determined. A program for performing actual scanning by comparing the current measurement data with the current measurement data, sequentially determining and changing the actual scanning path, and driving the lens of the light projector two-dimensionally to change the direction of the light beam. The two-dimensional scanning range sensor projector scan program is recorded on a recording medium.

According to a third feature of the recording medium of the present invention, the determination of the scanning trajectory in the second feature of the recording medium of the present invention divides the measurement result of the preliminary scanning into minute areas which are plane elements.
Detect the normal line of the minute region from the minute region, from the normal line of the minute region and the minute region, determine the surface labeled with the minute region having the same directional component and the normal line of the surface,
The present invention provides a configuration of a recording medium that records a two-dimensional scanning range sensor projector scanning program in which a continuous closed loop curve that passes through all of the surfaces from the surface and the normal line of the surface is used as the scanning trajectory.

According to a fourth feature of the recording medium of the present invention, the determination of the scanning trajectory in the second feature of the recording medium of the present invention divides the measurement result of the preliminary scanning into minute areas which are plane elements.
Detect the normal line of the minute region from the minute region, and determine the surface labeled with the minute region having the same directional component and the normal line of the surface from the minute region and the normal line of the minute region,
Determine the ridge direction of the surface where each surface intersects each other from the normal line of the surface and the surface, determine the continuous closed loop curve perpendicular to the ridge line from the ridge direction of the surface to determine the scanning trajectory. The configuration of the recording medium on which the two-dimensional scanning type range sensor projector scanning program is recorded is adopted.

According to a fifth feature of the recording medium of the present invention, the determination of the scanning trajectory in the third or fourth feature of the recording medium of the present invention includes determining the center of gravity of each surface from the surface and a normal line of the surface. The present invention is to adopt a configuration of a recording medium which records a two-dimensional scanning type range sensor light projector scanning program which determines the closed loop, which is also determined to pass through the center of gravity of each surface, and determines the scanning trajectory.

According to a sixth feature of the recording medium of the present invention, the determination of the scanning trajectory in the second feature of the recording medium of the present invention divides the measurement result of the preliminary scanning into minute regions which are plane elements.
Detect the normal line of the minute region from the minute region, and determine the surface labeled with the minute region having the same directional component and the normal line of the surface from the minute region and the normal line of the minute region,
A configuration of a recording medium recording a two-dimensional scanning type range sensor projector scanning program serving as the scanning locus by obtaining a closed loop curve passing through the least points in detecting each surface from the surface and the normal line of the surface. is there.

A seventh feature of the recording medium of the present invention is that, in the sixth feature of the recording medium of the present invention, the determination of the scanning trajectory is performed after the determination of the surface and the normal of the surface. A closed loop curve that is a circle centered on the ridge intersection where the ridge line intersection where the ridge line intersects at one point is determined from the ridge line direction of the surface from the normal line. And a configuration of a recording medium on which a two-dimensional scanning range sensor light projector scanning program serving as the scanning trajectory is recorded.

[0041]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a first embodiment of the present invention; FIG. 2 is a flowchart showing a first embodiment of the present invention; Example 1 of a recording medium on which a program is recorded, and also example 2 of an apparatus
And a corresponding example of method 2 and a recording medium on which a program for executing method 2 is recorded, and an example of apparatus 3 and a corresponding example of method 3 and an example of a recording medium on which a program for executing method 3 is recorded 3 will be described in order.

(Example of Apparatus 1) An example of this apparatus will be described with reference to FIGS. FIG. 1 is a configuration diagram of a two-dimensional scanning range sensor light projector scanning system apparatus according to an embodiment of the present invention, and FIG. 2 is a block configuration diagram showing an internal configuration of a scanning trajectory determiner in FIG. .

This example of the apparatus is a two-dimensional scanning type range sensor projector scanning system apparatus α for measuring the object 1 to be measured.

The two-dimensional scanning type range sensor light projector scanning system device α includes a laser light emitting device 3 for generating a laser light 2 in a sensor head A, and a laser irradiation light by refracting the laser light 2 from the laser light emitting device 3. 2a and a horizontal lens driving device 5 for driving the lens 4 in the horizontal direction
A vertical lens driving device 6 for driving the lens 4 in the vertical direction; a light receiving element 7 for receiving the laser reflected light 2b impinging on the measuring object 1 to create observation information;
A three-dimensional position calculator 8 for receiving the observation information from the three-dimensional position data and generating a three-dimensional position data; a scan trajectory determiner 9a for calculating a scan trajectory from the three-dimensional position data from the three-dimensional position calculator 8; A lens driving signal is created from the scanning trajectory from the trajectory determiner 9a, and a horizontal lens driving device 5
And a lens drive signal generator 10 for transmitting to the vertical lens drive device 6.

The laser light emitter 3, the lens 4, the horizontal lens driving device 5 and the vertical lens driving device 6 are light projectors A1 as light emitting means, the light receiving element 7 is light receiving means, and a three-dimensional position calculator 8 The scanning trajectory determiner 9a and the lens drive signal generator 10 are control means A2 for controlling the light projector A1 and the light receiving means by computer.

The two-dimensional scanning range sensor light projector scanning system apparatus α measures three-dimensional position data of the measurement object 1, and the driving of the lens 4 as scanning of the light projector A1 is performed by
Horizontal lens driving device 5, Vertical lens driving device 6
Is a system device α for floodlight scanning of a two-dimensional scanning range sensor that is driven two-dimensionally.

The horizontal lens driving device 5 and the vertical lens driving device 6 move the lens 4 in accordance with a unique driving signal from the lens driving signal generator 10 so that the direction of the laser irradiation light 2a becomes an arbitrary direction. Drive.

The three-dimensional position calculator 8 includes a light receiving element 7
The three-dimensional position data of the laser irradiation point P of the measurement target 1 is calculated from the observation information from the camera and the lens drive signal from the lens drive signal generator 10 using the principle of triangulation.

The scanning trajectory determiner 9a represents a feature of this example of the apparatus, and includes a sensor data storage unit 11a for storing three-dimensional position data from the three-dimensional position calculator 8,
A surface element detection unit 12 that divides the stored three-dimensional position data from the sensor data storage unit 11a into minute regions that are surface elements.
a, a surface element normal detection unit 13a that calculates a normal line of the minute region from the minute region from the surface element detection unit 12a, and a method of the minute region and the minute region from the surface element normal detection unit 13a. A shape determining unit 14a for determining a surface and a normal direction of the surface from a line, and a scanning trajectory determining unit for determining a center of gravity and a closed loop curve of the surface from the surface and the normal direction of the surface from the shape determining unit 14a The lens drive signal generator 15a converts the current three-dimensional position data from the three-dimensional position calculator 8 and the closed loop curve from the scanning trajectory determiner 15a into lens drive coordinates as two-dimensional position data, and generates a lens drive signal as a lens drive signal. And a scanning coordinate conversion unit 16a for transmitting the scanning coordinate data to the scanning coordinate conversion unit 10.

(Example 1 of Method) This example of method is applied to Example 1 of the apparatus, and will be described with reference to FIGS. 1 and 2 and FIGS. 3 and 4. FIG. 3 is a flowchart showing the internal processing of the scanning trajectory determiner 9a of the apparatus example 1, and FIG.
FIG. 5 is an explanatory diagram showing a scanning trajectory in the present method example.

First, the scanning will be generally described.
The sensor head A of the two-dimensional scanning range sensor projector scanning system device α is set on the object 1 to be measured, and the laser light emitter 3 generates the laser beam 2 and the horizontal lens driving device 5
Then, the lens 4 refracts the laser beam in an arbitrary direction and projects it as the laser irradiation light 2a on the measurement object 1 so that two-dimensional driving can be performed by the vertical lens driving device 6.

The laser irradiation light 2a is reflected by P, and the laser reflected light 2b is received by the light receiving element 7 to generate observation information. In the three-dimensional position calculator 8, the observation information and the lens drive signal generator 10 are generated. The three-dimensional position data is created from the lens drive signal from the camera using the principle of triangulation. A collection of three-dimensional position data during scanning is a scanning measurement result.

Using the three-dimensional position data from the three-dimensional position calculator 8, the scanning trajectory is calculated by the scanning trajectory determiner 9a, and the driving coordinate value of the lens 4 is created. In the pre-scan described below, only the current three-dimensional position data is used.
In the main scan described below, the accumulated measurement results of the preliminary scan are also used.

The lens drive signal generator 10 creates a lens drive signal from the drive coordinate values from the scanning trajectory determiner 9a and sends it to the horizontal lens drive device 5 and the vertical lens drive device 6 to make the lens 4 The laser beam 2 is driven two-dimensionally so as to be refracted in a direction corresponding to the lens drive signal. Scanning is performed by repeating the above procedure.

Next, the actual scanning procedure will be described. First, 2
The preliminary scanning, which is uniform scanning, is performed on the measurement object 1 by performing raster scanning or spiral scanning in the sensor field of view using the dimensional scanning range sensor projector scanning system device α.

The measurement result P (X _k , Y _k , Z _k ) (k = 0 to n: n) of the preliminary scanning which is the three-dimensional position data
Is 0 or a positive integer) (X _k , Y _k , and Z _k are three-dimensional coordinates) in the data storage unit 11a of the scanning trajectory determiner 9a.

Using the measurement result of the preliminary scanning, the scanning trajectory of the main scanning is determined. Hereinafter, the internal processing in the scanning trajectory determiner 9a will be described for each step.

First, in the data storage section 11a, a spare
Scanning measurement result P (X_k, Y_k, Z _k) (K = 0 to n)
Is transmitted to the surface element detection unit 12a (ST1A: ST is
Steps).

Next, in the surface element detection unit 12a, the data
The measurement result P (X _k, Y_k, Z_k)
(K = 0 to n) is converted to a small area s_k(K = 0 to n)
Detected surface element, small area s_k(K = 0 to n)
The data is transmitted to the normal detection unit 13a (ST2A).

Next, in the surface element normal detection unit 13a, the surface
Small area s from element detection unit 12a_k(K = 0 to n)
The normal h of the minute area_k(K = 0 to n)
Area s _k(K = 0 to n) and the normal h of the minute area_k(K =
0 to n) is transmitted to the shape determining unit 14a (ST3A).

Next, in the shape determining unit 14a, the same is obtained from the small area s _k (k = 0 to n) and the normal h _k (k = 0 to n) of the small area from the surface element normal detecting unit 13a. surface with the labeling and shape for each minute region _{s k} is a surface elements having a direction component _S i (i = _0~m: m is 0 or a positive integer) normal direction of and face _H i (i = 0 ~ M) to determine the surface S
_i (i = 0 to m) and the normal direction H _{i of the} surface (i = 0 to m)
Is transmitted to the scanning trajectory determining unit 15a (ST4A).

Next, the scanning trajectory determination unit 15a, in terms of the shape determination unit 14a _S i (i = 0~m) and the surface normal direction _H i (i = _0~m), each surface _{S i} (I = 0 to
m), the center of gravity g _i (i = 0 to m) is obtained, and each center of gravity g _{i is} calculated.
(I = 0 to m) to obtain a continuous closed loop curve l,
The closed loop curve 1 is transmitted to the scanning coordinate conversion unit 16a (S
T5A).

Next, in the scanning coordinate conversion section 16a, the closed loop curve 1 from the scanning trajectory determination section 15a and the current measurement data (X _k , Y _k) as the current three-dimensional position data from the three-dimensional position calculator 8 _{k, Z k) (k =} 0~n) are compared with the drive coordinates of the lens _{4 L i (u, v)} (i = 0
~m) (u, v are converted into two-dimensional coordinates), the drive coordinate value _{L i (u, v) (} i = 0~m) to be transmitted to the drive signal generator 10 (ST6A).

[0064] Thereafter, the drive signal generator 10, the drive coordinate value _L i (u, v) and (i = 0 to m) as a lens drive signal drives the lens 4 based on the lens driving signal, the scan Scan measurement.

As shown in FIG. 3, as shown in FIG. 3, the closed loop curve 1 passing through each center of gravity point g _i is used as the scan trajectory 1a to perform main scan scan measurement, and the current measurement data (X _k , While obtaining Y _k , Z _k ), the actual scanning path is successively determined and changed to perform the main scanning, and the measurement result of the main scanning is obtained.

Therefore, according to this example of the method, the whole shape of the measurement object 1 is preliminarily scanned as a preliminary scan at the time of measurement.
To perform this scanning a closed loop curve l connecting the center of gravity g _i surface S _i configuring the measurement object 1 as scanning loci 1a, efficient three-dimensional measurement can be realized.

Further, even when the measurement object 1 moves, changes its posture, and the like, the measurement result P (X _k , Y
_k , _Zk ), the actual scan path can be changed by comparing the current measurement data during the main scan with the closed loop curve l, and more stable measurement accuracy can be obtained.

As is apparent from the results, according to the method of the present invention, there are improvements in the efficiency of three-dimensional measurement and the stabilization of the measurement accuracy as compared with the conventional technique.

[0069] Incidentally, the closed loop curve l in this example method, although each center of gravity passes through the g _i, may be through all surfaces S _i without passing through the gravity center point g _i.

(Recording Medium Example 1) This recording medium example is applied to the apparatus example 1 and the method example 1 and will be described with reference to FIGS. 1, 2, 3 and 4.

This example of the recording medium is an example of a recording medium in which a computer-readable program for executing the above-mentioned method 1 is recorded. Only the features unique to are described.

This recording medium example executes method example 1 on a two-dimensional scanning range sensor projector scanning system apparatus α.
A dimensional scanning type range sensor projector scanning program is recorded. Recording media include FD, CD-RO
M, tape, DVD, MD, a portable recording medium such as a magneto-optical disk, a fixed recording medium such as an HD, a RAM, a ROM, a recording medium on a network, and a combination thereof.

The procedure is as follows. The control program such as a computer circuit (not shown) on the two-dimensional scanning range sensor projector scanning system device α executes the two-dimensional scanning range sensor projector scanning program of the present recording medium, and And the procedure of the method example 1 is executed.

(Apparatus Example 2) This apparatus example is different from the above-mentioned apparatus example 1 in the configuration of the scanning trajectory determiner, and will be described similarly with reference to FIG. 1 and FIG. FIG. 5 is a block diagram showing the internal configuration of the scanning trajectory determiner of the present apparatus example in FIG.

This apparatus example is a two-dimensional scanning type range sensor projector scanning system apparatus β in which the scanning trajectory determiner 9a in the two-dimensional scanning type range sensor projector scanning system apparatus α of the apparatus example 1 is changed to a scanning trajectory determiner 9b. And
Only the scanning trajectory determiner 9b will be described, and the description of the other components will be omitted because they are redundant.

The scanning trajectory determiner 9b represents a feature of the present example of the apparatus, and includes a sensor data storage unit 11b for storing three-dimensional position data from the three-dimensional position calculator 8,
A surface element detection unit 12 that divides the stored three-dimensional position data from the sensor data storage unit 11b into minute regions that are surface elements
b, a surface element normal detection unit 13b that calculates a normal of the minute region from the minute region from the surface element detection unit 12b, and a method of the minute region and the minute region from the surface element normal detection unit 13b. A shape determining unit 14b for determining a surface from a line and a normal direction of the surface, and a ridge direction determining unit 17 for determining a ridge direction from the surface and the normal direction of the surface from the shape determining unit 14b
b, the center of gravity of the surface is calculated from the surface and the normal direction of the surface from the ridge line direction determination unit 17b, and the ridge line direction determination unit 1
Scanning trajectory determining unit 15b for determining a closed loop curve from the ridge line direction from 7b, and the current three-dimensional position data from the three-dimensional position calculator 8 and the two-dimensional position data for the closed loop curve from the scanning trajectory determining unit 15b. And a scanning coordinate converter 16b that converts the coordinates into lens driving coordinates and transmits the lens driving signals to the lens driving signal generator 10 as lens driving signals.

(Method Example 2) This method example is applied to the apparatus example 2 described above, and is the same as FIG. 1 and FIG.
This will be described with reference to FIG. FIG. 6 is a flowchart showing the internal processing of the scanning trajectory determiner 9b of the apparatus example 2, and FIG.
FIG. 5 is an explanatory diagram showing a scanning trajectory in the present method example.

Here, the overall description of the scanning is the same as that of the method example 1, and thus will be omitted, and the actual scanning procedure of the method example will be described. First, preliminary scanning, which is uniform scanning, is performed on the measurement object 1 by performing raster scanning or spiral scanning within the sensor field of view using the two-dimensional scanning range sensor projector scanning system apparatus β.

Then, the measurement result P (X _k , Y _k , Z _k ) (k = 0 to n: n) of the preliminary scanning which is the three-dimensional position data
Is 0 or a positive integer) (X _k , Y _k , and Z _k are three-dimensional coordinates) in the data storage unit 11b of the scanning trajectory determiner 9b.

The scan trajectory of the main scan is determined using the measurement result of the preliminary scan. Hereinafter, the internal processing in the scanning trajectory determiner 9b will be described for each step.

First, in the data storage unit 11b,
Scanning measurement result P (X_k, Y_k, Z _k) (K = 0 to n)
Is transmitted to the surface element detection unit 12b (ST1B).

Next, in the surface element detection unit 12b, the data
The measurement result P (X _k, Y_k, Z_k)
(K = 0 to n) is converted to a small area s_k(K = 0 to n)
Small area s_k(K = 0 to n) is the surface element normal
The data is transmitted to the detection unit 13b (ST2B).

Next, in the surface element normal detection unit 13b, the surface
Small area s from element detection unit 12b_k(K = 0 to n)
The normal h of the minute area_k(K = 0 to n)
Area s _k(K = 0 to n) and the normal h of the minute area_k(K =
0 to n) is transmitted to the shape determining unit 14b (ST3B).

Next, the shape determining unit 14b determines the same from the small area s _k (k = 0 to n) and the small area normal h _k (k = 0 to n) from the surface element normal detection unit 13b. surface with the labeling and shape for each minute region _{s k} is a surface elements having a direction component _S i (i = _0~m: m is 0 or a positive integer) normal direction of and face _H i (i = 0 ~ M) to determine the surface S
_i (i = 0 to m) and the normal direction H _{i of the} surface (i = 0 to m)
Is transmitted to the ridge line direction determining unit 17b (ST4B).

[0085] Next, in the ridge direction determining section 17b, from the surface _S i from the shape determination unit 14b (i = 0~m) and the surface normal direction _H i (i = 0~m), each surface _{S i} (I = 0 to
m) determine the ridge line directions L _j (j = 0 to w: w is 0 or a positive integer) intersecting each other, the plane S _i (i = 0 to m), and the normal direction H _i (i = 0-m) and the ridge direction L _j (j =
0 to w) to the scanning trajectory determining unit 15b (ST5).
B).

Next, the scanning trajectory determination unit 15b, the surface _S i (i = 0 to m) and the normal direction of the surface _H i (i = _0~m) from each surface _S i from the shape determination unit 14b ( i = 0 to m)
Seeking of the center of gravity points _g i (i = _0~m), each gravity center point _g i (i
= 0 to m) signed and a seeking ridge line direction _L j (j = _0~w) continuous closed loop curve l intersecting perpendicularly from the shape determination unit 14b, and the closed loop curve l scan coordinate transformation unit 16b (ST6B).

Next, in the scanning coordinate conversion section 16b, the closed loop curve 1 from the scanning trajectory determination section 15b and the current measurement data (X _k , Y _k) which is the current three-dimensional position data from the three-dimensional position calculator 8 _k , Z _k ) (k = 0 to n), and the driving coordinate values L _i (u, v) (i = 0 to m) of the lens 4 which is two-dimensional position data (i, v is 2) Dimensional coordinates)
And the driving coordinate values L _i (u, v) (i = 0 to m)
Is transmitted to the drive signal generator 10 (ST7B).

Thereafter, the drive signal generator 10 drives the lens 4 based on the lens drive signal using the drive coordinate value L _i (u, v) (i = 0 to m) as a lens drive signal, and performs the main scan. Scan measurement.

As described above, as shown in FIG. 5, each of the points passes through each center of gravity point g _i and the ridge direction L _j (j =
0 to w), a scanning measurement is performed using a closed loop curve 1 as a scanning trajectory 1b, and an actual scanning path is sequentially determined while obtaining current measurement data (X _k , Y _k , Z _k ). Then, the main scan is performed with the change, and the measurement result of the main scan is obtained.

Therefore, according to this example of the method, the whole shape of the measuring object 1 is preliminarily scanned as a preliminary scan during measurement.
To perform this scanning as scanning loci 1b the closed loop curve l intersecting perpendicularly with respect to the center of gravity points g _i a knot and ridge line direction L _j of the surface S _i configuring the measurement object 1, efficient and accurate three-dimensional Measurement can be realized.

Further, even when the measurement object 1 moves or changes its posture, the measurement result P (X _k ,
The actual scanning path can be changed by comparing the closed-loop curve 1 based on Y _k , Z _k ) with the current measurement data (X _k , Y _k , Z _k ) during the main scanning, and is more stable. Measurement accuracy can be obtained.

As is evident from the results, according to the present method example, there were improvements in the efficiency of three-dimensional measurement and the accuracy and stabilization of the measurement accuracy as compared with the conventional method.

[0093] Incidentally, the closed loop curve l in this example method, although each center of gravity passes through the g _i, may be through all surfaces S _i without passing through the gravity center point g _i.

(Recording Medium Example 2) This recording medium example is applied to the apparatus example 2 and the method example 2, and will be described with reference to FIGS. 1, 5, 6, and 7.

This example of the recording medium is an example of a recording medium on which a program for executing the above-mentioned method 2 is recorded, and the execution procedure is the same as that of the example 2, so that the description will be omitted, and features unique to the present recording medium. Only the explanation will be given.

The present recording medium example executes Method 2 on a two-dimensional scanning type range sensor light projector scanning system apparatus β.
A dimensional scanning type range sensor projector scanning program is recorded. Recording media include FD, CD-RO
M, tape, DVD, MD, a portable recording medium such as a magneto-optical disk, a fixed recording medium such as an HD, a RAM, a ROM, a recording medium on a network, and a combination thereof.

As a procedure, a control device such as a computer circuit (not shown) on the two-dimensional scanning range sensor projector scanning system device β executes the two-dimensional scanning range sensor projector scanning program of the present recording medium, and And the procedure of the method example 2 is executed.

(Example 3 of Apparatus) This apparatus is different from Example 1 in the configuration of the scanning trajectory determiner, and will be described with reference to FIG. 1 and also to FIG. FIG.
FIG. 2 is a block diagram showing the internal configuration of a scanning trajectory determiner of the present example of the apparatus.

In this example of the apparatus, the scanning trajectory determiner 9a in the two-dimensional scanning range sensor projector scanning system apparatus α of the apparatus example 1 is replaced with a scanning trajectory determiner 9c. And
Only the scanning trajectory determiner 9c will be described, and description of the other components will be omitted because they are redundant.

The scanning trajectory determiner 9c represents a feature of the present embodiment, and includes a sensor data storage unit 11c for storing three-dimensional position data from the three-dimensional position calculator 8,
A surface element detection unit 12 that divides the accumulated three-dimensional position data from the sensor data storage unit 11c into minute regions that are surface elements
c, a surface element normal detection unit 13c for calculating a normal line of the minute region from the minute region from the surface element detection unit 12c, and a method of the minute region and the minute region from the surface element normal detection unit 13c. A shape determining unit 14c for determining a surface and a normal direction of the surface from a line, and a ridge direction determining unit 17 for determining a ridge direction from the surface and the normal direction of the surface from the shape determining unit 14c
c, a ridge line intersection determining unit 18c for determining a ridge intersection from the ridge direction from the ridge direction determining unit 17c, and a scanning trajectory determining unit for determining a closed loop curve from the ridge intersection from the ridge line intersection determining unit 18c. 15c, the current three-dimensional position data from the three-dimensional position calculator 8 and the closed loop curve from the scanning trajectory determining unit 15c are converted into lens driving coordinates as two-dimensional position data, and a lens driving signal generator is generated as a lens driving signal. And a scanning coordinate conversion unit 16c that transmits the scanning coordinate to the scanning coordinate conversion unit 10.

However, as an application condition of this example of the apparatus, it is assumed that the shape of the object to be measured 1 is such that the ridge lines of the respective surfaces are concentrated and intersect at one point.

(Example 3 of Method) This example of method is applied to Example 3 of the above-described apparatus.
This will be described with reference to FIG. FIG. 9 is a flowchart showing the internal processing of the scanning trajectory determiner 9c of the apparatus example 3, and FIG.
FIG. 7 is an explanatory diagram showing a scanning trajectory in the present method example.

Here, the overall description of the scanning is the same as that of the method example 1, and therefore will be omitted, and the actual scanning procedure of the method example will be described. First, preliminary scanning, which is uniform scanning, is performed on the measurement object 1 by performing raster scanning or spiral scanning within the sensor field of view using the two-dimensional scanning range sensor light projector scanning system device γ.

Then, the measurement result P (X _k , Y _k , Z _k ) (k = 0 to n: n) of the preliminary scanning which is the three-dimensional position data
Is 0 or a positive integer) (X _k , Y _k , and Z _k are three-dimensional coordinates) in the data storage unit 11c of the scanning trajectory determiner 9c.

The scan trajectory of the main scan is determined using the measurement result of the preliminary scan. Hereinafter, the internal processing in the scanning trajectory determiner 9c will be described for each step.

First, in the data storage section 11c, a spare
Scanning measurement result P (X_k, Y_k, Z _k) (K = 0 to n)
Is transmitted to the surface element detection unit 12c (ST1C).

Next, in the surface element detection unit 12c, the data
The measurement result P (X _k, Y_k, Z_k)
(K = 0 to n) is converted to a small area s_k(K = 0 to n)
Small area s_k(K = 0 to n) is the surface element normal
The data is transmitted to the detection unit 13c (ST2C).

Next, in the surface element normal detection unit 13c, the surface
Small area s from element detection unit 12c_k(K = 0 to n)
The normal h of the minute area_k(K = 0 to n)
Area s _k(K = 0 to n) and the normal h of the minute area_k(K =
0 to n) is transmitted to the shape determining unit 14c (ST3C).

Next, the shape determining unit 14c determines the same from the small area s _k (k = 0 to n) from the surface element normal detection unit 13c and the normal h _k (k = 0 to n) of the small area. surface with the labeling and shape for each minute region _{s k} is a surface elements having a direction component _S i (i = _0~m: m is 0 or a positive integer) normal direction of and face _H i (i = 0 ~ M) to determine the surface S
_i (i = 0 to m) and the normal direction H _{i of the} surface (i = 0 to m)
Is transmitted to the ridge line direction determining unit 17c (ST4C).

[0110] Next, in the ridge direction determining unit 17c, from the surface _S i from the shape determination unit 14c (i = 0~m) and the surface normal direction _H i (i = 0~m), each surface _{S i} (I = 0 to
ridge line m) intersect each other _L j (j = _0~w: w determines the 0 or a positive integer), the ridge line direction _L j (j = _0~
w) to the ridge line intersection determination unit 18c (ST5).
C).

Next, in the ridge line intersection determining section 18c,
The ridge direction L _j (j = 0 to 0) from the ridge direction determination unit 17c
w), the ridge line intersections O (x, y, z) (x, y, x), which are intersections where the respective ridge line directions L _j (j = 0 to w) intersect each other.
z is a three-dimensional coordinate), and the ridge line intersection O (x, y,
z) is transmitted to the scanning trajectory determining unit 15c (ST6C).

Next, in the scanning trajectory determining section 15c, the ridge line intersection point O (x, y,
z), the horizontal lens driving device 5 and the vertical lens driving device 6 around the ridge intersection point O (x, y, z)
Calculates a continuous closed-loop curve 1 as a minimum scannable circle, and transmits the closed-loop curve 1 to the scanning coordinate conversion unit 16c (ST7C).

[0113] closed loop curve l in this example method, a closed loop curve to move passed through and the minimum distance of each surface S _i configuring the measurement object 1.

Next, in the scanning coordinate conversion section 16c, the closed loop curve l from the scanning trajectory determination section 15c and the measurement data (X _k , Y _k , Z _k ) (k = 0 to n), and the driving coordinate value L _i of the lens 4 which is two-dimensional position data
(U, v) (i = 0~m) (u, v is two-dimensional coordinates) is converted into the drive coordinate value _{L i (u, v) (} i = 0~m) to the drive signal generator 10 Transmit (ST8C).

Thereafter, the drive signal generator 10 drives the lens 4 based on the drive coordinate value L _i (u, v) (i = 0 to m) as a lens drive signal and performs the main scan. Scan measurement.

As shown in FIG. 10, the horizontal lens driving device 5 and the vertical lens driving device 6 around the ridge line intersection O (x, y, z) as shown in FIG.
Performs a scan measurement using a closed loop curve l as a minimum circle scannable by a scan trajectory 1c, and obtains current measurement data (X _k ,
While obtaining Y _k , Z _k ), the actual scanning path is successively determined and changed to perform the main scanning, and the measurement result of the main scanning is obtained.

[0117] However, as mentioned in apparatus example 3, the shape of the measurement object 1 is assumed that the ridgeline of each surface S _i intersect at one point.

Therefore, according to this example of the method, the entire shape of the measurement object 1 is preliminarily scanned as a preliminary scan during measurement.
The main scanning is performed with the closed loop curve l as the scanning locus 1c, which is the minimum circle that can be scanned by the horizontal lens driving device 5 and the vertical lens driving device 6 around the ridge intersection point O (x, y, z). Therefore, high-speed three-dimensional measurement can be realized.

Further, even when the measurement object 1 moves, changes its posture, etc., the measurement result P
The actual scan path can be changed by comparing the closed loop curve 1 based on (X _k , Y _k , Z _k ) with the current measurement data (X _k , Y _k , Z _k ) during the main scan. Yes, more stable measurement accuracy can be obtained.

As is evident from these results, according to the present method example, there were improvements in speeding up of three-dimensional measurement and stabilization of measurement accuracy as compared with the method of the prior art.

[0121] Incidentally, the closed loop curve l in this example method, a circle whose ridge line current intersection O (x, y, z) to the center, one of those passing through the lowest point in detecting surfaces S _i , But is not limited to this.

(Recording Medium Example 3) This recording medium example is applied to the apparatus example 3 and the method example 3, and will be described with reference to FIGS. 1, 8, 9 and 10.

The present recording medium example is a recording medium example in which a program for executing the above-mentioned method example 3 is recorded. The execution procedure is the same as that of method example 3, so that the description is omitted, and features unique to the present recording medium. Only the explanation will be given.

The present recording medium example executes Method 1 on a two-dimensional scanning type range sensor light projector scanning system apparatus γ.
It is a recording medium on which a dimensional scanning type range sensor projector scanning program is recorded. Recording media include FD, CD-R
Examples include portable recording media such as OM, tape, DVD, MD, and magneto-optical disk, fixed recording media such as HD, RAM, and ROM, recording media on a network, and the like, and combinations thereof.

The procedure is as follows. A control device such as a computer circuit (not shown) on the two-dimensional scanning range sensor projector scanning system device γ executes the two-dimensional scanning range sensor projector scanning program of the present recording medium, and executes each component. And the procedure of Method Example 3 is executed.

Although the embodiments of the present invention have been described above, the present invention is not necessarily limited to the above-described means and methods, but achieves the objects of the present invention and achieves the effects of the present invention. Changes can be made as appropriate within the scope of the above.

[0127]

As described above, according to the present invention,
At the time of measurement, preliminary scanning for detecting the shape of the entire object is performed in advance, and the main scanning scans a scanning trajectory based on the shape information, so that efficient, high-accuracy, high-speed three-dimensional measurement can be realized.

Further, even when the object to be measured moves or changes its posture, the scanning trajectory can be changed by comparing the measurement result measured in advance with the present measurement data. Stable measurement accuracy can be obtained.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a two-dimensional scanning range sensor light projector scanning system apparatus according to an embodiment of the present invention.

FIG. 2 is a block diagram showing the internal configuration of a first scanning trajectory determiner of the two-dimensional scanning type range sensor light projector scanning system apparatus.

FIG. 3 is a flowchart showing internal processing in the above.

FIG. 4 is an explanatory diagram showing a scanning locus of scanning in the above.

FIG. 5 is a block diagram showing an internal configuration of a second scanning trajectory determiner of the two-dimensional scanning range sensor light projector scanning system device in FIG. 1;

FIG. 6 is a flowchart showing internal processing in the above.

FIG. 7 is an explanatory diagram showing a scanning locus of scanning in the above.

FIG. 8 is a block diagram showing the internal configuration of a third scanning trajectory determiner of the two-dimensional scanning range sensor light projector scanning system apparatus in FIG. 1;

FIG. 9 is a flowchart showing internal processing in the embodiment.

FIG. 10 is an explanatory diagram showing a scanning locus of scanning in the above.

[Explanation of symbols]

.alpha., .beta., .gamma .: two-dimensional scanning type range sensor light projector scanning system device A: sensor head A1, light projector A2, control means 1, measurement object 1a, 1b, 1c, scanning locus 2, laser light 2a, laser irradiation light 2b ... Laser reflected light 3 ... Laser emitter 4 ... Lens 5 ... Horizontal lens drive 6 ... Vertical lens drive 7 ... Light receiving element 8 ... Three-dimensional position calculator 9a, 9b, 9c ... Scanning locus determiner 10 ... Lens Drive signal generators 11a, 11b, 11c: sensor data storage units 12a, 12b, 12c: surface element detection units 13a, 13b, 13c: surface element normal detection units 14a, 14b, 14c: shape determination units 15a, 15b, 15c ... Scanning locus determination unit 16a, 16b, 16c Scanning coordinate conversion unit 17b, 17c Edge line direction determination unit 18c Edge line intersection determination unit

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Masashi Okuhira 3-19-2 Nishi-Shinjuku, Shinjuku-ku, Tokyo F-term in Japan Telegraph and Telephone Corporation (reference) 2F065 AA04 AA17 AA19 AA35 AA53 DD06 DD11 FF09 FF41 GG04 HH04 LL10 LL65 MM16 QQ00 QQ25 UU06

Claims (26)

[Claims] In measuring a three-dimensional shape of an object to be measured, a light beam is emitted from the light projecting means to the object to be measured in a variable direction, and the reflected light is received by the light receiving means to create observation information. Determining a scanning trajectory based on the three-dimensional position data from the observation information from the light receiving means, and sequentially determining and changing an actual scanning path to perform scanning measurement so as to scan the scanning trajectory; A two-dimensional scanning range sensor projector scanning method. 2. The series of processes is as follows: first, a preliminary scan is performed, which is a uniform scan to be performed in advance, and the observation information of the preliminary scan is converted into three-dimensional position data and stored as a measurement result of the preliminary scan. The scan trajectory is determined using the measurement result of the preliminary scan, and the scan trajectory is compared with the current measurement data, which is three-dimensional position data from the current observation information, to sequentially determine the actual scan path and The two-dimensional scanning according to claim 1, wherein the main scanning is performed by changing the direction of the light beam by driving the lens of the light projecting means two-dimensionally. Type range sensor projector scanning method. 3. A method for determining the scanning trajectory, comprising: dividing a measurement result of the preliminary scanning into minute regions which are plane elements; detecting a normal line of the minute region from the minute region; From the normal, the surface labeled on the microregion having the same directional component and the normal of the surface are determined, and a continuous closed loop curve that passes through all the surfaces from the normal of the surface and the surface and the scanning trajectory is determined. The method for scanning a two-dimensional scanning range sensor projector according to claim 2, wherein: 4. The method of determining the scanning trajectory includes: dividing a measurement result of the preliminary scanning into minute regions which are plane elements; detecting a normal line of the minute region from the minute region; From the normal, determine the surface labeled on the microregion having the same direction component and the normal of the surface, and determine the ridge line direction of the surface at which each surface intersects each other from the surface and the normal of the surface. The two-dimensional scanning type range sensor projector scanning method according to claim 2, wherein a continuous closed loop curve that traverses the ridge line vertically from the ridge line direction of the surface is determined and the scanning trajectory is determined. 5. The determination of the scanning trajectory includes determining a center of gravity of each surface from the surface and a normal line of the surface, and obtaining the closed loop that is also required to pass through the center of gravity of each surface. The method according to claim 3, wherein the scanning trajectory is determined. 6. The determination of the scanning trajectory includes: dividing a measurement result of the preliminary scanning into minute regions which are plane elements; detecting a normal line of the minute region from the minute region; From the normal, determine the surface labeled on the microregion having the same directional component and the normal of the surface, and calculate the closed loop curve passing through the least points in detecting the surface from the surface and the normal of the surface. The two-dimensional scanning type range sensor projector scanning method according to claim 2, wherein the scanning locus is determined. 7. The method of determining the scanning trajectory includes, after determining the surface and the normal of the surface, determining a ridge line direction of the surface at which each surface intersects each other from the surface and the normal of the surface. The ridge line intersection where the ridge line intersects at one point from the ridge line direction of the surface is determined, and a closed loop curve that is a circle centered on the ridge line intersection is obtained as the scanning trajectory. Scanning method for a two-dimensional scanning range sensor projector. 8. The two-dimensional scanning range sensor projector according to claim 2, wherein the preliminary scanning is a raster scanning or a spiral scanning within a sensor field of view. Scan method. 9. A system device for performing scanning measurement for obtaining a three-dimensional shape of an object to be measured, comprising: a light projecting means for irradiating a light beam in an arbitrary direction; A light receiving means for receiving reflected light hitting an object to create observation information; and the light projection so as to scan an actual scanning path determined and changed using a scanning trajectory based on the observation information from the light receiving means. 2. A two-dimensional scanning range sensor projector scanning system apparatus, comprising: a control unit for driving the unit. 10. A light emitting means, comprising: a laser emitter for generating laser light; a lens for refracting laser light from the laser emitter to produce laser irradiation light; and a horizontal drive for driving the lens in a horizontal direction. The two-dimensional scanning range sensor projector system according to claim 9, further comprising: a directional lens driving device; and a vertical lens driving device that drives the lens in a vertical direction. 11. The light receiving device according to claim 9, wherein said light receiving means has a light receiving element for receiving laser reflected light on which said laser irradiation light hits said object to create observation information. A two-dimensional scanning type range sensor floodlight scanning system apparatus according to claim 1. 12. A three-dimensional position calculator for receiving the observation information from the light receiving element and generating three-dimensional position data, and a scanning locus based on the three-dimensional position data from the three-dimensional position calculator. A scanning trajectory calculator for calculating a horizontal trajectory, and a lens driving signal that is a signal of a two-dimensional position for driving the lens from the scanning trajectory from the scanning trajectory determiner; The two-dimensional scanning range sensor projector system according to claim 9, further comprising a lens driving signal generator for transmitting the driving signal to a driving device. 13. The two-dimensional scanning type according to claim 9, wherein said light projecting means, said light receiving means, and said control means are integrally incorporated in a sensor head. Range sensor projector scanning system device. 14. A scanning trajectory determiner comprising: a sensor data storage unit for storing three-dimensional position data from the three-dimensional position calculator; and a plane element for storing the stored three-dimensional position data from the sensor data storage unit. A surface element detection unit that divides the surface region into minute regions, a surface element normal detection unit that calculates a normal line of the minute region from the minute region from the surface element detection unit, A shape determining unit that determines a surface and a normal direction of the surface from the minute region and a normal line of the minute region; and a scanning locus that determines a closed loop curve from the surface and the normal direction of the surface from the shape determining unit. A determination unit; converting the current three-dimensional position data from the three-dimensional position calculator and the closed loop curve from the scanning trajectory determination unit into lens driving coordinates as two-dimensional position data; 2D scanning range sensor projector scanning system according to claim 10 having a scan coordinate transformation unit to be transmitted to the generator, characterized in that. 15. The scanning trajectory determining unit calculates a center of gravity of the surface from the surface from the shape determining unit and a normal direction of the surface, and determines a closed loop curve passing through the center of gravity. The two-dimensional scanning range sensor light projector scanning system apparatus according to claim 14, characterized in that: 16. The scanning trajectory determining unit determines a closed loop curve passing through the least number of points for detecting each surface from the surface and the normal direction of the surface from the shape determining unit. The two-dimensional scanning range sensor light projector scanning system apparatus according to claim 14, characterized in that: 17. The scanning trajectory determining unit includes: a sensor data storage unit that stores three-dimensional position data from the three-dimensional position calculator; and a plane element that stores the three-dimensional position data stored from the sensor data storage unit. A surface element detection unit that divides the surface region into minute regions, a surface element normal detection unit that calculates a normal line of the minute region from the minute region from the surface element detection unit, A shape determining unit that determines a surface and a normal direction of the surface from the minute region and a normal line of the minute region; and a ridge line direction that determines a ridge line direction from the surface and the normal direction of the surface from the shape determining unit. A determining unit; a scanning trajectory determining unit that determines a closed loop curve from the ridge direction from the ridge direction determining unit; a current three-dimensional position data from the three-dimensional position calculator and the closed loop from the scanning trajectory determining unit Quadratic curve The two-dimensional scanning range sensor projector according to claim 12, further comprising a scanning coordinate conversion unit that converts the data into lens driving coordinates that is original position data and transmits the lens driving signals to the lens driving signal generator as a lens driving signal. System device. 18. The scanning trajectory determining unit calculates a center of gravity of the surface from the surface from the shape determining unit and a normal direction of the surface in addition to the ridge direction from the ridge direction determining unit. 18. The two-dimensional scanning type range sensor projector system according to claim 17, wherein a closed loop curve that intersects perpendicularly with the ridge line and passes through the center of gravity of each surface is configured to be freely determined. 19. A scanning trajectory determiner, comprising: a sensor data storage unit for storing three-dimensional position data from the three-dimensional position calculator; and a plane element for storing the stored three-dimensional position data from the sensor data storage unit. A surface element detection unit that divides the surface region into minute regions, a surface element normal detection unit that calculates a normal line of the minute region from the minute region from the surface element detection unit, A shape determining unit that determines a surface and a normal direction of the surface from the minute region and a normal line of the minute region; and a ridge line direction that determines a ridge line direction from the surface and the normal direction of the surface from the shape determining unit. A determining unit; a ridge intersection intersection determining unit that determines a ridge intersection from the ridge direction from the ridge direction determining unit; and a circle centered on the ridge intersection from the ridge intersection from the ridge intersection determining unit. Determine the closed-loop curve that is A scanning trajectory determining unit that converts the current three-dimensional position data from the three-dimensional position calculator and the closed loop curve from the scanning trajectory determining unit into lens driving coordinates that are two-dimensional position data, The two-dimensional scanning range sensor projector system according to claim 12, further comprising a scanning coordinate conversion unit that transmits the scanning coordinate to the lens driving signal generator. 20. A recording medium in which a program for measuring a three-dimensional shape of a measurement object is recorded, wherein a light beam is radiated from a light projecting means to the measurement object in a direction variably set, and the reflected light is received by a light receiving means. To generate observation information, determine the scanning trajectory based on the three-dimensional position data from the observation information from the light receiving means, and sequentially determine and change the actual scanning path so as to scan the scanning trajectory. A two-dimensional scanning range sensor light projector scanning program, wherein the recording medium is a recording medium on which a series of processing execution programs are recorded. 21. The series of processing execution program first performs a preliminary scan, which is a uniform scan performed in advance, converts observation information of the preliminary scan into three-dimensional position data, and accumulates it as a measurement result of the preliminary scan. The scan trajectory is determined using the measurement result of the preliminary scan, and the scan trajectory is compared with the current measurement data, which is three-dimensional position data from the current observation information, to sequentially determine the actual scan path. 21. The two-dimensional scanning range according to claim 20, wherein the program performs a main scan by determining and changing the direction of a light beam by driving a lens of the projector two-dimensionally. A recording medium on which a sensor projector scanning program is recorded. 22. A method for determining the scanning trajectory, comprising: dividing a measurement result of the preliminary scanning into minute regions which are plane elements; detecting a normal line of the minute region from the minute region; From the normal, the surface labeled on the microregion having the same directional component and the normal of the surface are determined, and a continuous closed loop curve that passes through all the surfaces from the normal of the surface and the surface and the scanning trajectory is determined. 22. A recording medium having recorded thereon the two-dimensional scanning range sensor light projector scanning program according to claim 21. 23. The determination of the scanning trajectory includes dividing the measurement result of the preliminary scanning into minute regions that are plane elements, detecting a normal line of the minute region from the minute region, From the normal, determine the surface labeled on the microregion having the same direction component and the normal of the surface, and determine the ridge line direction of the surface at which each surface intersects each other from the surface and the normal of the surface. 22. The recording medium according to claim 21, wherein the scanning locus is determined by obtaining a continuous closed loop curve that traverses the ridge line vertically from the ridge line direction of the surface and determines the scanning trajectory. . 24. The scanning trajectory is determined by determining a center of gravity of each of the surfaces from the surface and a normal line of the surface, and obtaining the closed loop which is also required to pass through the center of gravity of each of the surfaces. 24. The recording medium according to claim 22, wherein the scanning locus is determined. 25. The determination of the scanning trajectory includes dividing the measurement result of the preliminary scanning into minute regions that are plane elements, detecting a normal line of the minute region from the minute region, From the normal, determine the surface labeled on the microregion having the same directional component and the normal of the surface, and calculate the closed loop curve passing through the least points in detecting the surface from the surface and the normal of the surface. 22. The recording medium according to claim 21, wherein the scanning locus is obtained as the scanning locus. 26. The determination of the scanning trajectory includes, after determining the surface and the normal of the surface, determining the ridge line direction of the surface at which each surface intersects from the surface and the normal of the surface. 26. The scanning locus, wherein a ridge intersection point where the ridge line intersects at one point is determined from the ridge line direction of the surface, and a closed loop curve that is a circle centered on the ridge line intersection point is obtained as the scanning locus. Recording medium for recording the two-dimensional scanning range sensor projector scanning program.