JP2002084407A - Data generator and solid surface recording device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a solid surface recording device that can properly record an image on a surface of a coloring object having an optional stereoscopic shape. SOLUTION: A main scanning drive mechanism 12 of the solid surface recording device 1 is provided with a sensor unit 8 that senses a three-dimensional shape of an object supported by an object attitude revision section 20. Furthermore, the solid surface recording device 1 stores stereoscopic model data to be recorded onto objects. Then corresponding points between sensor data obtained by the sensor unit 8 and the model data stored in advance are specified so as to match a form of an upper side part of the object supported by the object attitude revision section 20 (that is, a part being a coloring object by an ink jet head 10) with a form of the model data. Then generating coloring control data can properly record the image.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional surface recording apparatus for recording an image on the surface of a three-dimensional coloring object, and coloring control data used when recording an image on the surface of a three-dimensional coloring object. The present invention relates to a data generation device that generates

[0002]

2. Description of the Related Art There is a great demand for freely coloring the surface of a three-dimensional object having an arbitrary shape. At this time, since it is extremely important which part of the surface of the three-dimensional object is to be colored with which color, it is necessary to make the image to be recorded on the coloring object correspond to the actual position of the surface of the coloring object.

Here, if the shape of the coloring object is always constant, a dedicated positioning mechanism using, for example, a positioning pin or a photoelectric switch is provided to align the coloring object with the image. Is possible.

[0004]

However, when coloring a colored object having an arbitrary three-dimensional shape, a dedicated positioning mechanism is prepared in advance because the shape of the colored object is not known in advance. It is not possible. For this reason, conventionally, it has been difficult to appropriately color a coloring object having an arbitrary three-dimensional shape.

Accordingly, the present invention has been made in view of the above problems, and provides a three-dimensional surface recording apparatus capable of appropriately recording an image on the surface of a coloring object having an arbitrary three-dimensional shape. It is another object of the present invention to provide a data generation device for generating coloring control data that enables appropriate image recording on the surface of a coloring object having an arbitrary three-dimensional shape.

[0006]

According to one aspect of the present invention, there is provided a data processing apparatus for generating coloring control data for use in recording an image on the surface of a three-dimensional coloring object. A generating device, a unit for storing three-dimensional model data to be recorded for the coloring object, a sensing unit for sensing the coloring object to generate sensor data, the model data and the sensor Data processing means for specifying a corresponding point between the data and the color control data.

According to a second aspect of the present invention, in the data generating apparatus according to the first aspect, the data processing means sets a first sample point based on the sensor data and sets the first sample point based on the model data. The second sample point is set by using the first sample point, the relative position of the second sample point with respect to the first sample point is evaluated, and the conversion of the model data is performed.

According to a third aspect of the present invention, in the data generating apparatus according to the second aspect, the data processing means converts a magnification of the model data based on the evaluation of the relative position. I have.

According to a fourth aspect of the present invention, in the data generating apparatus according to the second or third aspect, the data processing means sets the second sample point, evaluates the relative position, Repeating the conversion of the model data to generate the coloring control data in a state where the relative positional relationship of the second sample point with respect to the first sample point is a predetermined positional relationship. And

According to a fifth aspect of the present invention, in the data generation device according to any one of the second to fourth aspects,
The data processing means is characterized in that the sensor data includes color information of the coloring object, and also evaluates a color difference between the first sample point and the second sample point.

According to a sixth aspect of the present invention, there is provided a three-dimensional surface recording apparatus for recording an image on the surface of a three-dimensional coloring object, wherein three-dimensional model data to be recorded on the coloring object is stored. Means for sensing, the sensing means for sensing the coloring object to generate sensor data, identifying a corresponding point between the model data and the sensor data, data processing means for generating coloring control data, Recording means for recording an image on the coloring object based on the coloring control data.

According to a seventh aspect of the present invention, in the three-dimensional surface recording apparatus according to the sixth aspect, the data processing means comprises:
A first sample point is set based on the sensor data, a second sample point is set based on the model data, and the second sample point is set with respect to the first sample point.
Is characterized in that the relative positions of the sample points are evaluated to convert the model data.

According to an eighth aspect of the present invention, in the three-dimensional surface recording apparatus according to the seventh aspect, the data processing means comprises:
The magnification of the model data is converted based on the evaluation of the relative position.

According to a ninth aspect of the present invention, in the three-dimensional surface recording apparatus according to the seventh or eighth aspect, the data processing means sets the second sample point and evaluates the relative position. And repeating the conversion of the model data to generate the coloring control data in a state where a relative positional relationship of the second sample point with respect to the first sample point is a predetermined positional relationship. Features.

According to a tenth aspect of the present invention, in the three-dimensional surface recording apparatus according to any one of the seventh to ninth aspects, the data processing means includes the sensor data including color information of the coloring object. In this case, the color difference between the first sample point and the second sample point is also evaluated.

[0016]

Embodiments of the present invention will be described below in detail with reference to the drawings.

<1. Overall Configuration of Apparatus> First, a mechanical configuration of a three-dimensional surface recording apparatus 1 according to an embodiment of the present invention will be described. FIG. 1 is a schematic view of a three-dimensional surface recording apparatus 1 according to an embodiment of the present invention as viewed from the front, and FIG. 2 is a mechanism diagram of an object posture changing unit 20 of the three-dimensional surface recording apparatus. FIG. 3 is a block diagram illustrating a configuration of a drive control system of the three-dimensional surface recording apparatus 1. Hereinafter, the mechanical configuration of the three-dimensional surface recording device 1 will be described with reference to FIGS.

In the three-dimensional surface recording apparatus 1, a linear guide 15 is horizontally provided between two supports 13 provided on a base 11, and a main scanning drive mechanism 12 is slidable along the linear guide 15. Attached to.

A main scanning drive motor 91 (see FIG. 3) is provided in the main scanning driving mechanism 12, and the linear guide 1 is provided.
5, a rack (not shown) is provided, and a pinion (not shown) is provided on a rotating shaft of the main scanning drive motor 91. The rotation of the main scanning drive motor 91 causes the main scanning drive mechanism 12 to move in the main scanning direction. Driven by XD.

Each of the two supports 13 is provided with a sub-scanning drive mechanism 14, and each sub-scanning drive mechanism 14 is provided with a sub-scanning drive motor 92 (see FIG. 3). A timing belt (not shown) is hung around the rotation shaft of each sub-scanning drive motor 92, and a linear guide 15 is attached to both timing belts. The main scanning drive mechanism 12 attached thereto is driven in the sub scanning direction YD.

While moving in the main scanning direction together with the main scanning drive mechanism 12, the ink jet head 10 ejects ink droplets downward in accordance with given image data to be drawn (hereinafter referred to as "drawn image").

When drawing for one scan in the main scanning direction is completed, the sub-scanning drive mechanism 14 sends one ink dot in the sub-scanning direction (perpendicular to the paper surface).

A lifting drive mechanism 16 is provided in the main scanning drive mechanism 12. A ball screw (not shown) is provided in the elevation drive mechanism 16, and a vertical shaft 16 a attached to the ball screw is connected to the elevation drive mechanism 16.
It protrudes downward and downward from the lower end, and further from the lower end of the main scanning drive mechanism 12. The lifting drive mechanism 1
A lifting drive motor 90 for rotating a ball screw is provided in 6.
(See FIG. 3), and the ink jet head 10 attached to the lower end of the vertical axis can be driven up and down by the drive. With such a mechanism, the distance of the inkjet head 10 from the drawing target area on the surface of the target (colored target) 28 can be adjusted.

In the center of the upper surface of the base 11, there is provided an object posture changing section 20 for holding the object 28 and changing its posture. As shown in FIG. 2, the object posture changing unit 2
0 has three axes of roll, pitch, and yaw. The roll axis drive motor 18, the pitch axis drive motor 22, and the yaw axis drive motor 24 hold the object 28 in an arbitrary posture. The roll axis drive motor 18 provided inside the base 11 rotates the roll axis rotation stage 21 of the object posture changing unit 20 around the roll axis as indicated by an arrow A1. A pitch axis drive motor 22 is fixed to the roll axis rotation stage 21 via a support 26.
2 rotates the support ring 23 around the pitch axis as indicated by an arrow A2. Further, a yaw axis drive motor 24 is fixed to the support ring 23. The tip of the rotation shaft 24a of the yaw axis drive motor is provided with a screw fastening mechanism for holding the object 28, and the other rotation shaft 24
This is a mechanism for sandwiching and holding the target object 28 with both of them. Then, the yaw axis drive motor 24 rotates the object 28 around the yaw axis as indicated by an arrow A3.

The roll, pitch, and yaw axes intersect perpendicularly at one point. As described above, the three-dimensional surface recording apparatus 1 has six axes (roll, pitch, yaw, elevation, main scanning,
The object 28 can be set to an arbitrary posture by having a driving mechanism of
Can be moved to any position within the movable space range.

A characteristic feature of such a three-dimensional surface recording apparatus is that the drive mechanism of all six axes is used for the initial positioning of the ink jet head 10 with respect to the target area.
When drawing (coloring) the drawing target area, the main scanning drive mechanism 1
2 and the sub-scanning drive mechanism 14 only. By doing so, high-speed and high-precision drawing can be performed as in the case of a normal printer for planar printing. This is because it is generally known that as the number of driven axes increases, the trajectory calculation becomes complicated and the positioning accuracy deteriorates.

The main scanning drive mechanism 12 is provided with a sensor unit 8 for sensing the three-dimensional shape of the object 28 supported by the object posture changing unit 20. The sensor unit 8 measures a three-dimensional shape of the target object 28 to generate three-dimensional shape data, and a two-dimensional color image of the target object 28 to generate color image data. Color image input sensor 8
b.

The three-dimensional shape input sensor 8a
Is a sensor that densely inputs a three-dimensional shape within a measurable range on the upper side of the object 28 by measuring the upper surface of the object 28 by a light cutting method, a pattern light projection method, a stereo method, or the like. In addition, the color image input sensor 8b
It is constituted by an imaging camera or the like that shoots the eight two-dimensional color images from above. Therefore, both the three-dimensional shape input sensor 8a and the color image input sensor 8b generate sensor data within the measurable range on the upper side of the object 28 supported by the object posture changing unit 20. Can be. Note that the sensor data means data including three-dimensional shape data and color image data.

As shown in FIG. 3, a memory 82 and a storage device 8
3, sensor unit 8, interface 85, display unit 8
6 and a data processing unit 2 to which an operation input unit 87 is connected. The operation input unit 87 includes a keyboard, a mouse, and the like. The interface 85 has a CA
An external device such as D can be connected, and model data of the object 28 is input from the external device via the interface 85 and stored in the storage device 83.

The model data is the overall 3
The image data includes three-dimensional shape data and drawing images used for coloring, and the drawing images are associated with the entire three-dimensional shape data. Therefore, what kind of position and what kind of drawing to perform on the object 28 is specified by the model data.

However, in the three-dimensional surface recording apparatus 1, it is necessary to associate the positional relationship between the model data and the object 28 when drawing the actual object 28 based on the model data. Therefore, the data processing unit 2 performs the conversion of the model data based on the data obtained from the sensor unit 8, thereby associating the positional relationship between the model data and the object 28.

Then, in the data processing unit 2, the object 2
The converted model data obtained by associating model data 8 with the model data is converted into color control data used for color control, and given to a color control unit 31 included in the recording mechanism unit 3. Can be The coloring control unit 31 functions to drive and control each driving unit when drawing on the object 28. Then, the coloring control section 31 drives and controls each driving section based on the coloring control data input from the data processing section 2, thereby enabling accurate drawing on the surface of the object 28.

More specifically, the coloring control section 31 controls the position of the inkjet head 10 with respect to the object 28 by controlling the driving of the elevation drive motor 90, the main scan drive motor 91, and the sub-scan drive motor 92. Together with the roll axis drive motor 18 and the pitch axis drive motor 2
2. The attitude of the object 28 is changed by controlling the driving of the yaw axis drive motor 24, and the ink is transferred from the inkjet head 10 to the object while controlling the timing based on the color control data given from the data processing unit 2. By jetting the light toward the object 28, it is possible to draw accurately at an arbitrary position of the object 28.

<2. Processing Procedure> Next, a processing procedure for coloring the object 28 by the three-dimensional surface recording apparatus 1 will be described in detail. 4 and 5 are flowcharts showing the processing procedure in the three-dimensional surface recording device 1.

When the object 28 is set in the three-dimensional surface recording device 1, the processing of the three-dimensional surface recording device 1 is started. First, acquisition and display of sensor data are performed (step S
10). Specifically, the user performs a predetermined input operation on the operation input unit 87 to make the sensor unit 8 function. Then, the sensor unit 8 senses the target object 28 in a state supported by the target object posture changing unit 20, and acquires sensor data including three-dimensional shape data of the target object 28 and color image data.
The acquired sensor data is transferred from the sensor unit 8 to the memory 82, and is temporarily stored in the memory 82.

The CPU 81 reads out the sensor data stored in the memory 82 and displays a color image of the object 28 on the display unit 86 of the data processing unit 2 based on the sensor data. At this time, the CPU 81 sets a virtual camera for the sensor data, generates a color image of the object viewed from the virtual camera by calculation, and displays the color image.

FIG. 6 is a diagram showing a display screen 861 of the display unit 86. The display screen 861 is divided into two right and left sides, one of which is a model data display area 86a and the other is a coloring object display area 86b.

When the data processing unit 2 acquires the sensor data, the data processing unit 2 displays a color image of the object 28 in the coloring object display area 86b of the display unit 86. The position of the virtual camera when displaying a color image (that is, the position of the viewpoint)
Can be changed by the user performing a predetermined operation on the operation input unit 87.

In the coloring object display area 86b, not a color image but a three-dimensional shape obtained by texture-mapping a three-dimensional shape obtained by sensing can be displayed two-dimensionally. A texture-mapped image may be displayed, or a color image obtained simply by sensing without displaying a virtual camera may be displayed as it is.

Then, the process proceeds to step S12, in which the CPU 11 of the data processing unit 2 reads out the model data stored in the storage device 83, and displays the three-dimensional shape based on the model data in the model data display area 86a of the display unit 86.
To be displayed.

More specifically, when the user specifies the model data stored in the storage device 83 through the operation input unit 87, the CPU 81 stores the model data in the memory 8
2 and a three-dimensional shape based on the model data is represented by, for example, a polygon mesh with a texture image viewed from a virtual camera and displayed in the model data display area 86a. The position, orientation, and size of the three-dimensional shape of the displayed model data and the position of the virtual camera can be arbitrarily adjusted by the user via the operation input unit 87.

Therefore, when the process in step S12 is performed, both the three-dimensional shape based on the model data and the color image based on the sensor data are displayed on the display screen 861 of the display unit 86. By visually recognizing the display screen 861, the user can easily compare the images displayed in the two display areas.

It should be noted that the three-dimensional shape based on the model data and the color image based on the sensor data displayed on the display screen 861 are not displayed in separate areas, but are the same by using a method such as α blending. May be displayed in a state of being superimposed on the area of.

When the display of the three-dimensional shape based on the model data is completed, the process proceeds to step S14.

In step S14, a process for adjusting the size and position of the model data and the sensor data is performed. Details of the processing in step S14 are a flowchart shown in FIG.

In step S140, the user first sets the form of the model displayed in the model data display area 86a and the form of the object 28 displayed in the colored object display area 86b so that the appearance substantially matches. Operation input unit 87
To adjust the position and the line-of-sight direction of each virtual camera. Then, a sample point (first sample point) is designated for the form of the object 28 displayed in the colored object display area 86b, and the model data display area 86
A sample point (second sample point) is also specified for the form of the model displayed in a. The second sample point corresponds to the position of the first sample point on the model data. At least four pairs of the first sample point and the second sample are specified, and the first sample point and the second sample point are associated with each other.
In this way, a plurality of sets of sample points corresponding to the sensor data and the model data are determined.

Since the set of sample points determined in this way can be arbitrarily set by the user at will, it is necessary to consider whether the correspondence between the sample points is accurate or not. , Not very accurate. Therefore, the processing of steps S142 to S148 described below is performed to improve the accuracy of the sample points.

In step S140, even when the user does not specify a set of sample points, the data processing unit 2 can automatically specify a plurality of sets of sample points. For example, a polygon mesh of the object 28 sensed from the three-dimensional shape data included in the sensor data is generated, and all vertices of each polygon mesh are set in the object 2
8, and the form of the model derived from the model data is superimposed on the form of the object 28 in the sensor data, and the sample point in the sensor data and the viewpoint of the virtual camera are set. , The position on the model closest to the virtual camera may be set as the sample point (second sample point) of the model data.

FIG. 7 is a conceptual diagram when a set of sample points is automatically designated. As shown in FIG. 7, when an arbitrary sample point on the shape SD1 indicated by the sensor data is xi, the model data closest to the virtual camera on the line of sight L connecting the sample point xi and the viewpoint of the virtual camera VC. Is the sample point y of the model data
i. In this way, even when the user does not specify a sample point, the data processing unit 2 can automatically specify a set of sample points.

However, also in this case, since the viewpoint positions of the sensor data and the model data are not adjusted, the accuracy of the correspondence between the first sample points and the second sample points is low. Will be described later in step S14.
By performing the processing of 2 to S148, the accuracy of the sample points can be improved.

Next, in step S142, the model data is converted so that the positional relationship between the sample points of the sensor data and the sample points of the model data is the best.
The conversion of the model data is performed by the CPU 81 of the data processing unit 2 changing the position, orientation, and size of the model form indicated by the model data by performing coordinate conversion of the model data.

More specifically, model data is subjected to rotation, movement, and enlargement / reduction conversion so that the sum of the squares of the distances between the corresponding sample points of the sensor data and the model data is minimized. That is, the position coordinate of the i-th sample point in the sensor data is xi, and the position coordinate of the corresponding sample point in the i-th model data is yi.
Then

[0053]

(Equation 1)

In order to minimize the sum of squares J expressed by
The CPU 81 determines the variables s, R, and t. Here, the variable s is a parameter for changing the magnification for enlarging / reducing the model indicated by the model data, and s> 1
If s <1, then enlargement is performed, and if s <1, reduction is performed. The variable R is a parameter for rotating the model indicated by the model data, and is a 3 × 3 actual rotation matrix. The variable t is a parameter for changing the position of the model indicated by the model data, and has a movement parameter for each component of the three-dimensional vector. Here, the reason for including the variable s for enlargement / reduction is to perform appropriate drawing even when the object 28 is realized as a reduced model having the shape indicated by the model data, for example.

When the CPU 81 obtains the variables s, R, and t that minimize the sum of squares J, the variables are easily obtained by executing a computer program to which a mathematical solution such as a steepest descent method is applied. Is possible. CPU81
Calculates the variables s, R, and t that minimize the sum of squares J by performing the above operation, and temporarily stores the variables s, R, and t and the minimum sum of squares J in the memory 82. Store.

The CPU 81 uses the variables s, R, and t stored in the memory 82 to convert the model data. That is, the CPU 81

[0057]

(Equation 2)

By performing the above operation, the arbitrary point coordinates yi in the model data are converted to y'i. By performing the calculation based on Equation 2, the form indicated by the model data is rotated, moved, enlarged / reduced, and the form indicated by the model data and the form indicated by the sensor data as viewed from the virtual camera approach the same form. .

Next, the process proceeds to step S144, in which all vertices of the polygon mesh having the form indicated by the sensor data are extracted as first sample points. Then, based on the model data converted in step S142, the positional relationship of each point between the model data and the sensor data,
And a second sample point in the model data in which the square distance d between the first sample point and the second sample point is the smallest in the feature space defined by the color difference of each point. In particular,

[0060]

(Equation 3)

Thus, the sample point yj in the model data that minimizes the square distance d is obtained. In addition,
In Equation 3, w1 and w2 are weighting coefficients, and are parameters indicating which of the positional relationship of each point and the color difference is emphasized to determine the sample point yj. Bi indicates color information at the sample point xi, and cj indicates color information at the sample point yj. By determining the sample points yj from the model data converted in consideration of the color information as described above, for example, when there is a partially colored area on the surface of the object 28,
The consistency between the colored area and the drawn image recorded at the time of drawing can be improved, and the three-dimensional surface recording device 1
It is possible to perform the optimal drawing recording in.

Therefore, the CP in the data processing unit 2
U81 specifies the sample point yj on the model data that minimizes the square distance d based on Equation 3, so that the sample point yj is the closest to the sample point xi in the model data converted in step S142. Points to be specified. Note that the number of specified second sample points yj is the same as the number of first sample points xi, and that each second sample point yj corresponds to one of the first sample points xi. Same as above.

Next, the process proceeds to step S146, where the model data is converted so that the positional relationship between the sample points of the sensor data and the sample points of the model data is the same as in step S142. This step S1
At 46, the sample points of the sensor data and the sample points of the model data are the sample points specified at step S144.

More specifically, as in the case of step S142, the sum of the squares J of the distances between the corresponding sample points of the sensor data and the model data (see the above equation (1)) is minimized. Conversion of rotation, movement, enlargement / reduction is performed on the model data.

However, when performing the calculation based on Equation 1 in step S146, the calculation may be performed with the variable s fixed at 1. The reason is that it is considered that the change of the magnification is already almost accurate in step S142. If the calculation is performed while the variable s is fixed at 1, the number of variables to be obtained is reduced, so that the calculation time can be reduced.

At this time, the CPU 81 obtains the variables s, R, and t that minimize the sum of squares J by performing calculations, and obtains the variables s, R, and t and the minimum sum of squares J (J ′). Is temporarily stored in the memory 82.

Then, the CPU 81 converts the model data using the variables s, R, and t stored in the memory 82. That is, the CPU 81 calculates the arbitrary point coordinates yi in the model data by performing the operation of the above equation (2).
Is converted to y'i. By performing the operation based on Equation 2, the form indicated by the model data is rotated, moved, enlarged / reduced, and the form indicated by the model data and the form indicated by the sensor data as viewed from the virtual camera further approach the same form. Become.

Next, the process proceeds to step S148, where the CPU 8
1 is the minimum sum of squares J calculated last time and this time step S
Each of the minimum sum of squares J ′ calculated in 146 is used as an evaluation value, and a difference (J−J ′) between the evaluation values is calculated.
It is determined whether or not the difference (JJ ′) has converged by determining whether or not the difference is equal to or less than a predetermined threshold. Here, convergence means that both the form indicated by the model data and the form indicated by the sensor data as viewed from the virtual camera substantially match.

If it is determined that the convergence has been achieved, the color control of the object 28 should be performed based on the model data converted in step S146. The process proceeds to step S16 of the flowchart of FIG.

On the other hand, if it is determined that the convergence has not yet occurred, sample points are extracted again from the converted model data, and the positional relationship between the sample points of the sensor data and the model data is evaluated. In order to convert the model data, the processing from step S144 is repeated. Then, by repeating the processing of steps S144 to S148, the difference (J−
J ′) becomes equal to or less than a predetermined threshold value, and both the form indicated by the model data and the form indicated by the sensor data as viewed from the virtual camera substantially match.

When the process proceeds to step S16, the CPU 81 of the data processing unit 2 designates an area to be colored and other areas in the model data associated with almost the same state as the sensor data as a result of the conversion. I do. CPU8
The user designates the coloring target area by the operation input unit 8.
7 may be performed based on the area specified, or may be automatically specified based on model data or sensor data. If you specify it automatically,
For example, based on the color information of the model data, the CPU 81
Can be specified automatically. As a result, drawing can be performed only in a region to be colored.

The data processing unit 2 generates coloring control data for the designated coloring target area based on the converted model data. The coloring control data is sent from the data processing unit 2 to the coloring control unit 3 of the recording mechanism unit 3.
Given to one.

Next, proceeding to step S18, the coloring control section 31 performs the main scanning drive motor 9 based on the coloring control data.
1. The sub-scanning drive motor 92, the elevation drive motor 90, the roll axis drive motor 18, the pitch axis drive motor 22, and the yaw axis drive motor 24 are driven to color the object 28 set on the three-dimensional surface recording apparatus 1. The inkjet head 10 scans the area and ejects a predetermined ink at each ink ejection position.

At this time, the coloring control unit 31 further divides the coloring target region into a plurality of target regions, and projects the drawn image of each of the divided target regions onto, for example, a plane defined by the main scanning direction and the sub-scanning direction. I do. Then, based on the obtained projected image, drawing of each target area is performed by ejecting ink while moving the inkjet head 10. By performing such control, the number of times of controlling the attitude of the inkjet head 10 relative to the target object 28 can be reduced, and it is possible to perform drawing on the surface of the target object 28 at high speed.

As described above, according to the three-dimensional surface recording apparatus 1 of the present embodiment, the three-dimensional model data including the contents to be recorded on the surface of the object 28 and the actually set object Since the color matching control data is generated by specifying the corresponding points between the sensor data obtained by sensing the object 28 by the sensor unit 8, the surface of the object 28 having an arbitrary three-dimensional shape Image recording can be performed appropriately.

That is, in the processing for matching the size and position between the model data and the sensor data in step S14 in the processing procedure, step S140
Although the accuracy is low when the process of FIG. 5 is performed, a tentative correspondence between the sample points is defined. Therefore, at this point, the process goes out of the flowchart of FIG. 5 and proceeds to steps S16 and S18, and even if color control is performed, it is possible to perform relatively accurate image recording as compared with the related art.

Further, as described above, step S1
By performing all the processes of S40 to S148 (see FIG. 5), more accurate image recording can be realized. That is, the data processing unit 2 sets the first sample point based on the sensor data obtained from the sensor unit 8, sets the second sample point based on the model data, and sets the relative position of each sample point. By performing the evaluation and converting the model data, it is possible to more accurately record an image on the surface of the object 28 having an arbitrary three-dimensional shape.

Further, when the model data is converted, the magnification of the model data is also converted. Therefore, even if the object 28 is realized as a reduced model of the model data, Image recording can be appropriately performed.

<3. Modifications> Although the preferred embodiments of the present invention have been described above, the present invention is not limited to the contents described above.

For example, in the above step S144, in the feature space defined by the positional relationship between each point of the model data and the sensor data and the color difference of each point, the first sample point and the second sample point The case where the second sample point that minimizes the square distance d is specified has been described.

However, the second sample point that minimizes the square distance d may be specified by using only the positional relationship of each point without using the color difference for evaluation. Specifically, in step S144,

[0082]

(Equation 4)

Thus, the data processing unit 2 obtains a sample point yj in the model data that minimizes the square distance d.

As described above, the size and the position of the model data and the sensor data can be aligned without using the color information in the evaluation in step S144. Since it is not necessary to provide the sensor 8b, the cost and size of the apparatus can be reduced, and the processing can be speeded up. In this case, a shading image without texture is displayed in the coloring object display area 86b (see FIG. 6).

However, the color information may not be used in the process of step S144 while the color image input sensor 8b is provided in the sensor unit 8 of the three-dimensional surface recording apparatus 1. In this case, the color image is stored in step S140.
Is used only for rough alignment by the user, and is not used in other processes.

In the above description, an example in which model data is input from an external device via the interface 85 has been described.
Is provided with a sensor unit 8 for taking in a three-dimensional shape and a color image of the object 28, and the sensor unit 8 can be used to generate model data. That is, a completed product (a product whose surface is completely colored) is set as the target object 28 in advance, and the sensor unit 8
Is used as a scanner to generate model data for the entire surface of the finished product. With this configuration, it is possible to copy the coloring state of the surface of the finished product to other unfinished objects when there is one finished product and there are several uncolored objects. Become.

In the above description, the configuration example in which the three-dimensional surface recording device 1 includes the data processing unit 2 has been described. However, the data processing unit 2 may be realized as an independent data generation device. In this case, the coloring control data generated by the data generating device is output to the three-dimensional surface recording device including the recording mechanism unit 3 realized as a separate unit.

[0088]

As described above, according to the first and sixth aspects of the present invention, three-dimensional model data to be recorded on a coloring object and sensing of the coloring object can be obtained. It is configured to specify the corresponding points between the sensor data and the generated color control data, so that the state of the colored object having an arbitrary three-dimensional shape and model data without using a positioning mechanism or the like. The relationship with the posture of the user can be made appropriate. If image recording is performed based on the generated coloring control data, image recording can be appropriately performed on the surface of a coloring object having an arbitrary three-dimensional shape.

According to the second and seventh aspects of the present invention, the first sample point is set based on the sensor data, and the second sample point is set based on the model data. Since the configuration is such that the relative position of the second sample point with respect to the sample point is evaluated and the model data is converted, the image can be more accurately displayed on the surface of the coloring object having an arbitrary three-dimensional shape. Coloring control data for recording can be generated. If image recording is performed based on the coloring control data, image recording can be performed more accurately on the surface of a coloring object having an arbitrary three-dimensional shape.

According to the third and eighth aspects of the present invention, since the magnification of the model data is converted based on the evaluation of the relative position, the object to be colored is a reduced model of the model data. Even if it is realized as such, it is possible to generate coloring system data for appropriately performing image recording. If image recording is performed based on the coloring control data, even if the size of the coloring object is different from the size indicated by the model data, the image can be recorded more accurately on the surface of the coloring object.

According to the fourth and ninth aspects of the present invention, the setting of the second sample point, the evaluation of the relative position, and the conversion of the model data are repeatedly performed to obtain the first sample point. Is configured to generate the coloring control data in a state where the relative positional relationship of the second sample point with respect to is set to a predetermined positional relationship. It is possible to generate coloring control data for performing accurate image recording. By performing image recording based on the coloring control data, it is possible to perform optimal image recording on the surface of a coloring object having an arbitrary three-dimensional shape.

According to the fifth and tenth aspects of the present invention, the sensor data includes the color information of the coloring object, and the evaluation of the color difference between the first sample point and the second sample point is also performed. For example, even if there is a partially colored region on the surface of the coloring object, the colored region and the drawing image recorded when the drawing is performed are configured. Consistency can be improved, and optimal image recording can be performed.

[Brief description of the drawings]

FIG. 1 is a schematic view of a three-dimensional surface recording apparatus according to an embodiment of the present invention as viewed from the front.

FIG. 2 is a mechanism diagram of an object posture changing unit of the three-dimensional surface recording device.

FIG. 3 is a block diagram illustrating a configuration of a drive control system of the three-dimensional surface recording device.

FIG. 4 is a flowchart illustrating a processing procedure in the three-dimensional surface recording device.

FIG. 5 is a flowchart illustrating a processing procedure in the three-dimensional surface recording device.

FIG. 6 is a diagram showing a display screen of a display unit.

FIG. 7 is a conceptual diagram when a set of sample points is automatically designated.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 solid surface recording device 2 data processing unit 3 recording mechanism unit 8 sensor unit 8a three-dimensional shape input sensor 8b color image input sensor 10 inkjet head 20 target posture changing unit 28 target (colored target) 31 coloring control unit 81 CPU 82 memory 83 storage device

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) G06T 1/00 420 B41J 3/04 101Z // G01B 11/24 G01B 11/24 A F-term (Reference) 2C056 EA04 EB13 EB29 EC07 EC11 EC12 EC33 EC34 EC35 EC69 FA15 FB01 HA12 2C062 RA01 2F065 AA53 BB05 FF01 FF02 FF05 FF09 HH05 HH07 PP01 QQ23 SS02 SS13 5B047 AA01 AB04 BA02 BB04 CA05 CA07 CB16 DD075

Claims (10)

[Claims] 1. A data generating apparatus for generating color control data used for recording an image on the surface of a three-dimensional colored object, comprising: three-dimensional model data to be recorded on the colored object. Means for sensing the coloring object and generating sensor data; and a data processing means for specifying a corresponding point between the model data and the sensor data and generating the coloring control data. And a data generation device. 2. The data generation device according to claim 1, wherein the data processing unit sets a first sample point based on the sensor data, and sets a second sample point based on the model data. A data generation device configured to set and evaluate the relative position of the second sample point with respect to the first sample point to convert the model data. 3. The data generating apparatus according to claim 2, wherein the data processing means converts a magnification of the model data based on the evaluation of the relative position. 4. The data generation device according to claim 2, wherein the data processing unit sets the second sample point, evaluates the relative position, converts the model data, By repeatedly performing the above, the color control data is generated in a state where the relative positional relationship between the second sample point and the first sample point is a predetermined positional relationship. 5. The data generation device according to claim 2, wherein the data processing unit includes: the sensor data includes color information of the coloring object; A data generating apparatus for evaluating a color difference between a point and the second sample point. 6. A three-dimensional surface recording apparatus for recording an image on the surface of a three-dimensional coloring object, comprising: means for storing three-dimensional model data to be recorded on the coloring object; Sensing means for sensing an object to generate sensor data; identifying corresponding points between the model data and the sensor data; and data processing means for generating color control data; and Recording means for recording an image on a colored object. 7. The three-dimensional surface recording apparatus according to claim 6, wherein the data processing means sets a first sample point based on the sensor data and a second sample point based on the model data. The three-dimensional surface recording apparatus performs the conversion of the model data by evaluating the relative position of the second sample point with respect to the first sample point. 8. The three-dimensional surface recording apparatus according to claim 7, wherein the data processing means converts a magnification of the model data based on the evaluation of the relative position. 9. The three-dimensional surface recording apparatus according to claim 7, wherein the data processing unit sets the second sample point, evaluates the relative position, and converts the model data. , The coloring control data is generated in a state where the relative positional relationship of the second sample point with respect to the first sample point is set to a predetermined positional relationship. . 10. The three-dimensional surface recording apparatus according to claim 7, wherein said data processing means includes: said sensor data including color information of said coloring object; A data generation apparatus for evaluating a color difference between a sample point and the second sample point.