JP2003315023A - Three-dimensional measuring apparatus and method therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a three-dimensional measuring apparatus for measuring the shape of a three-dimensional object to be measured. <P>SOLUTION: In the three-dimensional measuring apparatus 1, a laser pointer 2 is mounted to a first rotary member 3, the first rotary member 3 is rotatably mounted to a support member 4 within a vertical surface by a horizontal rotary axis, the support member 4 is mounted to a rotatable second rotary member 5 within a horizontal surface by a vertical rotary axis, and a three-dimensional measurement set is provided, where the laser pointer 2 is rotatably composed within the vertical surface by the first rotary member 3 and within the horizontal surface by the second rotary member 5. Additionally, a three-dimensional measuring apparatus 10 has a pair of three-dimensional measurement sets where two pairs of three-dimensional measuring apparatus 1 are formed in a set, and each laser is centered at one point on the surface of an object to be measured. Further, a plurality of three-dimensional measuring apparatus 100 are used to concentrate laser for each set at a plurality of points on the surface of the object to be measured. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional measuring device and a three-dimensional measuring method using the same, for example, when measuring the shape of a three-dimensional work having a complicated shape such as an automobile member. The present invention relates to a suitable three-dimensional measuring device and three-dimensional measuring method.

[0002]

2. Description of the Related Art Since an automobile is produced by assembling various types and many components and parts having various shapes, many types and numbers of components and parts are prepared at a production site. The members and the parts are assembled in sequence, but it is necessary to prepare or assemble the regular components and parts during the preparatory work of these constituent members and parts and the assembly work.

When preparing these constituent members and parts and assembling these constituent members and parts one by one, it is versatile for the operator to discriminate with the naked eye, but it is necessary for a long time to work. There is a possibility that the discriminating power may be deteriorated or a misunderstanding may occur due to fatigue or the like.

[0004]

Therefore, it is conceivable to automatically measure by using an automatic measuring robot or the like. However, the conventional measuring device has a complicated structure and the device is large in size.
In addition, since it is heavy, it has to be used as a fixed type, which makes it difficult to cope with process layout changes and is expensive.

Further, even a portable device has a structure in which the sensing tool is brought into contact with the object to be measured, and it is often inconvenient to handle and often has a problem in practical use.

Recently, an apparatus capable of measuring with high accuracy by image processing has come out, but it is necessary to stick an object to be measured, and it is necessary to devise to improve the accuracy of sticking the target.

As described above, there are many other types and components of automobiles. For example, the body member often has a complicated shape, and the assembly jig tends to have a complicated shape. When it was necessary to measure, it was necessary to remove them individually, select a measurement location that was advantageous for measurement, and transport it to that measurement location for measurement.

Therefore, the present invention provides a three-dimensional measuring device and a three-dimensional measuring method using the three-dimensional measuring device, which can automatically measure even an object to be measured having a complicated shape with a relatively simple structure. To aim.

[0009]

In the three-dimensional measuring apparatus according to the first aspect of the present invention, a laser pointer is attached to a first rotating member which is rotatable in a vertical plane or a horizontal plane, and the first rotating member is attached. Is equipped with a three-dimensional measurement set in which is attached to a second rotating member that is rotatable in a horizontal plane or in a vertical plane.

When one of the first rotating member and the second rotating member is rotatable in a vertical plane, the other is rotatable in a horizontal plane. That is, when the first rotating member is rotatable in a vertical plane, the second rotating member is rotatable in a horizontal plane, and when the first rotating member is rotatable in a horizontal plane, the second rotating member is rotatable. Is rotatable in a vertical plane. With such a configuration, the laser pointer is configured to be rotatable in the vertical plane and the horizontal plane, and the laser can be emitted in any direction.

According to the above-mentioned three-dimensional measuring apparatus, the laser is applied to the spot on the arbitrary position of the object to be measured by the laser pointer, and the object to be measured is detected based on the presence or absence of reflection or transmission of the irradiated laser. It is possible to determine the presence / absence of the object, and particularly when the reflection is used, the distance between the laser pointer and the object to be measured can be measured by using the time difference between the irradiation laser and the reflection laser.

According to the above three-dimensional measuring apparatus, the laser pointer is rotated in the vertical plane and the horizontal plane,
By scanning the laser on the surface of the object to be measured, the laser whose transmission was blocked on the surface of the object to be measured can be transmitted when it goes off the edge of the object to be measured, or on the surface of the object to be measured. It is possible to measure the shape of the measured object by utilizing the fact that the reflected laser becomes unreflective when it comes off the end of the measured object, and the distance between the laser pointer and the measured object can be measured. By measuring the change of, it is possible to measure the uneven state of the measured object. However, when this three-dimensional measuring device is used alone, it is necessary to devise a means for capturing the reflected laser scanned by the irradiation laser. Therefore, it is useful to use a plurality of the above three-dimensional measuring devices.

In the three-dimensional measuring apparatus according to the second aspect of the present invention, the laser pointer is attached to a first rotating member which is rotatable in a vertical plane or a horizontal plane, and the first rotating member is placed in the horizontal plane or the vertical plane. It is characterized by comprising a three-dimensional measurement set pair in which two sets of the three-dimensional measurement set according to claim 1 attached to a second rotating member which can be freely rotated inside.

According to the above three-dimensional measuring apparatus, one of the three
By concentrating the laser spot of the three-dimensional measurement set and the laser spot of the other three-dimensional measurement set at one point on the surface of the object to be measured, the transmission or reflection of the laser is utilized in the same way as described above, Not only the shape of the measured object can be measured, but also the rotation angles of the first rotating member and the second rotating member in one of the three-dimensional measuring sets and the first rotating member and the second rotation in the other three-dimensional measuring set. It is also possible to measure the uneven state of the object to be measured from the rotation angle of the member. Moreover, the distance between the objects to be measured or the unevenness of the surface of the object to be measured can be measured from the rotation angles of the first rotating member and the second rotating member without scanning the irradiation laser and capturing the reflected laser. Therefore, the configuration can be simplified.

A three-dimensional measuring apparatus according to a third aspect of the present invention comprises a plurality of pairs of the three-dimensional measuring set according to the second aspect, in which two sets of the three-dimensional measuring sets are combined. It is a feature.

According to the above-mentioned three-dimensional measuring apparatus, since a plurality of pairs of three-dimensional measuring sets, each of which is one set of the above-mentioned two three-dimensional measuring sets, are provided, laser beams are simultaneously applied to a plurality of points on the object to be measured. By irradiating a spot, it becomes possible to measure the shape of the object to be measured and the unevenness of the surface thereof, which improves the measurement accuracy and reduces or eliminates the need for laser scanning to shorten the measurement time. I can. As the number of pairs of the three-dimensional measurement set increases, the measurement accuracy improves and the measurement time can be shortened. However, while the cost increases with the increase of the logarithm, the improvement of the measurement accuracy and the reduction of the measurement time do not match the cost increase. Therefore, practically three pairs or more, particularly about four pairs is sufficient for a considerable number of applications.

A three-dimensional measuring method according to a fourth aspect of the present invention is characterized in that a laser pointer is attached to a first rotating member rotatable in a vertical plane or a horizontal plane, and the first rotating member is placed in the horizontal plane or the vertical plane. The laser of each laser pointer is concentrated on one point of the object to be measured by using a pair of three-dimensional measurement sets in which two sets of three-dimensional measurement sets attached to the rotatable second rotating member are combined. It is characterized in that the shape of the measured object is measured from the reflection or transmission of the laser at that time and the rotation angles of the first rotating member and the second rotating member.

According to the above-mentioned three-dimensional measuring method, the laser beams of the first laser pointer and the second laser pointer are focused and scanned at one point on the object to be measured, so that the surface of the object to be measured is scanned. The presence or shape of the object to be measured can be measured using laser transmission or reflection, and the distance between the laser pointer and the object to be measured can be determined from the rotation angles of the first rotating member and the second rotating member. It is possible to measure the unevenness of the surface of the object to be measured.

In the three-dimensional measuring method according to the fifth aspect of the present invention, two sets of the three-dimensional measuring set are combined into one set.
By using a three-dimensional measurement device having a plurality of pairs of dimension measurement sets, the laser of each laser pointer is concentrated on different positions of the object to be measured for each pair of three-dimensional measurement sets. It is characterized in that the shape of an object to be measured is measured from reflection or transmission and rotation angles of each of the first rotating member and the second rotating member.

According to the above three-dimensional measuring method, the presence or absence and shape of the object to be measured, the distance between the laser pointer and the object to be measured, and the uneven state of the surface of the object to be measured can be measured at the same time as described above. Since it is possible to measure the shape and unevenness of the object to be measured at a plurality of locations, it is possible to improve the measurement accuracy and reduce the measurement time.

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION The following is a description of embodiments of the present invention.
A dimension measuring device and a three-dimensional measuring method will be described with reference to the drawings.

FIG. 1 shows a three-dimensional measurement set consisting of three sets.
It is a schematic structure perspective view of a dimension measuring device. In FIG.
Reference numeral 1 is a three-dimensional measuring device, in which a laser pointer 2 is attached to a vertical surface 3a of a first rotating member 3, and the first rotating member 3 is attached to a vertically-supported support member 4 by a horizontal rotation axis ( It is mounted rotatably in a vertical plane (not shown). The support member 4 is fixed to a second rotation member 5 which is rotatable in a horizontal plane by a vertical rotation shaft (not shown).

Laser 6 emitted from laser pointer 2
Are spotted on the surface of the object to be measured (not shown).
Then, the presence / absence of the object to be measured can be determined by the presence / absence of reflection or transmission of the laser 6 on the surface of the object to be measured, and the laser pointer 2 can be determined by measuring the time difference between the irradiation laser 6 and the reflected laser. The distance from to the surface of the measured object can be measured.

Laser 6 emitted from laser pointer 2
The irradiation angle can be freely changed in the vertical plane by the first rotating member 3, and the second rotating member 5
Since the irradiation angle can be freely changed in the horizontal plane, the laser 6 can be irradiated in any direction. Therefore, when the laser 6 is scanned on an object to be measured (not shown), the edge of the object to be measured is detected and its shape is determined by the change in the reflection or transmission state of the laser 6 at the edge of the object to be measured. In addition to being able to perform measurement, the time difference between the irradiation laser 6 and the reflection laser can be measured to measure the unevenness state of the surface of the measured object.

Here, the laser pointer 2 is rotated by the first rotating member 3 and the second rotating member 5, and the laser 6 is rotated.
When scanning is performed, it takes a measurement time for scanning, it is necessary to devise to capture the reflected laser, and the distance between the laser pointer 2 and the object to be measured also changes, so correction is necessary.

Therefore, in practical use, as shown in FIG. 2, two three-dimensional measuring devices 1 each having a three-dimensional measuring set consisting of the laser pointer 2 to the second rotating member 5 shown in FIG. 1 are used. It is advisable to use the three-dimensional measuring device 10 which is composed of a pair of three-dimensional measuring sets in which the first three-dimensional measuring device 1a and the second three-dimensional measuring device 1b are paired. Then, the irradiation laser 6a from the laser pointer 2 of the first three-dimensional measuring apparatus 1a and the irradiation laser 6b from the laser pointer 2 of the second three-dimensional measuring apparatus 1b are provided at one point on the surface of the object to be measured 7. Focus on P.

Then, the rotation angles of the first rotating member 3 and the second rotating member 5 in the first three-dimensional measuring apparatus 1a and the second rotating member 3 without capturing the reflected laser from the surface of the member to be measured 7. From the rotation angles of the first rotating member 3 and the second rotating member 5 in the dimension measuring device 1b, it becomes possible to measure the distance between the laser pointer 2 and the object 7 to be measured and the uneven state of the surface of the object 7 to be measured. Therefore, the ingenuity of capturing the reflected laser and the complexity of correcting the measured distance data are eliminated.

Even if the three-dimensional measuring apparatus 10 of FIG. 2 is used, if the three-dimensional measuring apparatus 10 is only one set, the laser 6
The scanning of a and 6b is necessary, and the measurement time is accordingly long. Therefore, as shown in FIG. 3, a pair of three-dimensional measuring devices 1 shown in FIG. 1 is used as one set, and a pair of three-dimensional measuring devices 1a and 1b, 1c and 1d, 1e and 1f, 1g and 1h shown in FIG. It is advisable to use the three-dimensional measuring apparatus 100 including four sets of three-dimensional measuring apparatuses 10a, 10b, 10c, and 10d.

When such a three-dimensional measuring device 100 is used, as shown in FIG.
a, 10b, 10c, 10d lasers 6a and 6b, 6c
And 6d, 6e and 6f, 6g and 6h are set as one set, and all lasers 6a to 6h are collectively operated by a teaching box (hereinafter referred to as T / B) operation without breaking the linear relationship, and the measured object is measured. 4 laser spots P on the surface of 7a
When 1 to P4 are aligned in a vertical straight line, the object to be measured 7
The function of centering and / or the side finding of a can be obtained.

Such a three-dimensional measuring method is performed by, for example, a pin gauge or the like 7a to be measured which is attached to a reference hole.
It can be applied to the center line out of, that is, the center out. It can also be applied to the spatial positioning of straight sides of various works.

Further, as shown in FIG. 4B, the laser 6a of each of the three-dimensional measuring devices 10a, 10b, 10c and 10d.
.About.6h are collectively operated by the T / B operation without breaking the relationship in which they are aligned at equal intervals on the circumference of the circle, and four laser spots P1 are provided along the edge of the reference hole 7b of the object to be measured.
When P4 to P4 are aligned in the circumferential direction and at equal intervals, the function of centering the circular reference hole 7b can be obtained. Such a three-dimensional measuring method can be applied to, for example, centering the circular reference hole 7b in an object to be measured having an arbitrary shape.

Further, as shown in FIG. 4C, the laser 6 of each of the three-dimensional measuring devices 10a, 10b, 10c and 10d is used.
When the four laser spots P1 to P4 are arranged on the plane of the object to be measured 7c by collectively operating the a to 6h without breaking the same plane relationship by the T / B operation, the planar work is performed. Alternatively, it can be applied to the reference surface alignment of the measured object 7c having the side surface portion.

In each of the above-described usage modes, the case where the three-dimensional measurement is performed only by the three-dimensional measuring devices 1, 10, and 100 has been described. However, an image pickup system such as a CCD camera is also used to measure the surface of the object to be measured. By imaging the spot shape and / or its position, it is possible to perform three-dimensional measurement by automatically correcting and arranging single or multiple laser spots without using T / B or without using T / B. .

FIG. 5 shows an online 3D system in which the above three-dimensional measuring apparatus 100 is incorporated in a vehicle body assembly process, for example.
An example of a dimension measurement system configuration is shown. In FIG. 5, 100
Is the three-dimensional measurement set pair 10a-
A three-dimensional measuring device composed of four sets of 10d, 101 is an operation box (T / B), 102 is a correction camera, and these are connected to a data processing device 103. 104 is a calibration plate. Reference numeral 105 is an automobile body that is a work, 106 and 107 are handling robots that handle the automobile body 105, 108 and 109 are handling robot control panels that control the handling robots 106 and 107, and 110 is a part 1 of the automobile body 105.
A welding robot for welding 11 and a welding robot 112
10 is a welding robot control panel for controlling 10, and the robot control panels 108, 109, 112 are the data processing devices 1
It is connected to 03.

FIGS. 6 to 8 are explanatory views for explaining the correction function using the laser point display function in the three-dimensional measuring apparatus 100 shown in FIGS. 3 and 5 above.

FIG. 6 shows an example of correction by a pin gauge, in which the lasers 6a to 6h before correction shown in FIG. 6 (A) are separated from each other, and after correction shown in FIG. 6 (B) by turning on the correction switch. Lasers 6a and 6b, 6c and 6d, 6e and 6
f, 6g and 6h are concentrated at one point P1 to P4,
Further, the laser spots P1 to P4 are arranged in a line along a center line 8a extending in the longitudinal direction of the pin gauge 7a. Reference numeral 8b is a reference line whose distance from the flange contact surface of the pin gauge 7a is known. Therefore, it is possible to center the pin gauge 7a.

FIG. 7 shows an example of correction in the reference hole.
From the state where the uncorrected lasers 6a to 6h shown in (A) are separated, by turning on the correction switch, the lasers 6a and 6b, 6c and 6d, 6e are changed as shown in FIG. 7B after correction.
And 6f, 6g and 6h are respectively concentrated at one point P1 to P4, and the respective laser spots P1 to P4 are circumferentially arranged at equal intervals along the edge of the reference hole 7b. Therefore, the centering of the reference hole 7b can be performed.

FIG. 8 shows an example of correction on the reference plane.
From the state in which the uncorrected lasers 6a to 6h shown in (A) are separated, the correction switches are turned on so that the lasers 6a and 6b, 6c and 6d, 6e and 6 are corrected as shown in FIG. 8B after the correction.
f, 6g and 6h are concentrated at one point P1 to P4,
And each of the laser spots P1 to P4 is the reference surface 7c.
Are aligned in predetermined relational positions on the surface of the. Therefore, the reference plane of the reference plane 7c can be obtained.

FIG. 9 is a three-dimensional measuring device 1 shown in FIGS. 3 and 5.
9 is an explanatory view for explaining the calibration function in FIG.
From the state in which the uncorrected lasers 6a to 6h shown in FIG.
As shown in FIG. 9B, the laser 6
a and 6b, 6c and 6d, 6e and 6f, 6g and 6h are respectively concentrated at one point P1 to P4, and the respective laser spots P1 to P4 are aligned with the reference point position of the calibration plate 104. Note that 104a and 104b are horizontal reference lines, and 104c and 104d are vertical reference lines. Therefore, the reference lines 104a-1
Automatic calibration of the reference point position of the calibration plate 104 given at each intersection of 04d can be performed.

Various functions provided in the three-dimensional measuring system using the three-dimensional measuring apparatus 100 shown in FIG. 5 will be described below. Robot coordinate conversion amount display function The position data of the robot tools of the handling robots 106 and 107 and the welding robot 110 created in advance are
Robots 106, 107, 110 and three-dimensional measuring device 10
0 to the robot 106 at each actual position,
The three-dimensional measuring device 100 measures the position by moving 107 and 110. The three-dimensional measuring device 100 measures the reference position of the workpiece or jig (the automobile body 105 in the example of FIG. 5) to be processed. Work or jig (in the example of FIG. 5, automobile body 10
The amount of positional deviation of the robots 106, 107, 110 with respect to 5) is calculated. The robot data created by offline teaching is collectively converted and displayed for the amount of installation deviation.

Simple three-dimensional data transfer function The three-dimensional data is converted into the three-dimensional data by the three-dimensional measuring device 100 and the correction camera 102 shown in FIG.
The three-dimensional position data of 6, 107, 110 and the like can be transferred to each of the other constituent elements in FIG.

Simple three-dimensional data reception function The various three-dimensional data described above can be received by the respective constituent elements in FIG.

The functions that are preferably added to the three-dimensional measurement system shown in FIG. 5 will be described below. Additional function 1 Robot control panel download / upload function 3D measuring device 100 and robot control panels 108, 10
Function to directly send and receive 3D data between 9 and 112

Additional function 2 Robot link positioning function Three-dimensional measuring device 100 and robot control boards 108, 10
Data transfer between the robots 9 and 112 is performed in real time, and the plurality of robots 10 are captured by the correction camera 102.
The positional relationship between the individual workpieces (automobile body 105 and parts 111 in the example of FIG. 5) held by 6, 107, 110 is automatically adjusted.

[0045]

As described above, in the three-dimensional measuring apparatus of the present invention, the laser pointer is attached to the first rotary member which is rotatable in the horizontal plane or the vertical plane, and the first rotary member is mounted in the vertical plane or the horizontal plane. It is characterized in that it is equipped with a three-dimensional measurement set attached to a second rotating member that can rotate freely inside, so that the laser can be freely scanned in a horizontal plane and a vertical plane, and the surface of the object to be measured can be scanned. The shape of the object to be measured can be measured by utilizing the presence or absence of laser reflection or the presence or absence of laser transmission. Further, the distance between the laser pointer and the object to be measured and the unevenness of the surface of the object to be measured can be measured by the time difference between the irradiation laser and the reflection laser on the surface of the object to be measured.

According to the three-dimensional measuring method of the present invention, the laser pointer is attached to the first rotating member which is rotatable in the vertical plane or the horizontal plane as described above, and the first rotating member is placed in the horizontal plane or the vertical plane. A laser of each laser pointer is concentrated on one point of an object to be measured by using a pair of three-dimensional measurement sets, which are two sets of three-dimensional measurement sets attached to a rotatable second rotating member. Since the shape of the object to be measured is measured from the reflection or transmission of the laser and the rotation angles of the first rotating member and the second rotating member, the first laser pointer and the second laser pointer are By concentrating and scanning the laser at one point on the measured object, it is possible to measure the presence or absence and the shape of the measured object by utilizing the transmission or reflection of the laser on the surface of the measured object. 1 rotating member Beauty from the rotational angle of the second rotary member,
It is possible to measure the distance between the laser pointer and the object to be measured as well as the unevenness of the surface of the object to be measured.

[Brief description of drawings]

FIG. 1 is a schematic perspective view of a three-dimensional measuring apparatus including a single three-dimensional measuring set according to an embodiment of the present invention.

2 is a pair of two sets of three-dimensional measurement of FIG.
It is a schematic structure perspective view of a three-dimensional measuring device of a different embodiment of the present invention.

FIG. 3 is a schematic perspective view of a three-dimensional measuring apparatus according to another embodiment in which the three-dimensional measuring apparatus of FIG. 2 is configured in four pairs.

4A is a schematic perspective view illustrating a center line positioning function and a side positioning function of a pin gauge, FIG. 4B is a schematic perspective view illustrating a center hole positioning function of a reference hole, and FIG. 4C is a surface of a reference surface. It is a schematic perspective view explaining a delivery function.

5 is a schematic configuration diagram of a three-dimensional measurement system in an automobile body manufacturing line incorporating the three-dimensional measurement device of FIG. 3 of the present invention.

6A is a schematic front view before correction for explaining an example of correction with a pin gauge, and FIG. 6B is a schematic front view after correction.

7A is a schematic plan view before correction for explaining an example of correction in a reference hole, and FIG. 7B is a schematic plan view after correction.

8A is a schematic plan view before correction for explaining an example of correction on a reference plane, and FIG. 8B is a schematic plan view after correction.

9A is a schematic front view of a calibration plate before calibration for explaining a calibration function, and FIG. 9B is a schematic front view after calibration.

[Explanation of symbols]

1, 1a, 1b Three-dimensional measuring device (three-dimensional measuring set) 2 Laser pointer 3 First rotating member 4 Supporting member 5 Second rotating member 6, 6a, 6b, 6c, 6d, 6e, 6f, 6g, 6h
Laser 7 Object to be measured 7a Object to be measured (pin gauge) 7b Object to be measured (reference hole) 7c Object to be measured (reference surface) 8a Center line 8b Reference lines 10, 10a, 10b, 10c, 10d Three-dimensional measuring device (three-dimensional) Measurement set pair) 100 Three-dimensional measurement device (plurality of three-dimensional measurement set) 101 Operation box (teaching box) 102 Correction camera 103 Data processing device 104 Calibration plates 104a, 104b, 104c, 104d Reference line 105 Work (automobile body) 106 , 107 Handling robots 108, 109 Handling robot control panel 110 Welding robot 111 Parts 112 Welding robot control panel P, P1, P2, P3, P4 Laser spot

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Hideyo Takeuchi             Daihatsu 1-1 Daihatsu-cho, Ikeda City, Osaka Prefecture             Tsu Industry Co., Ltd. (72) Inventor Kazuto Ikeda             Daihatsu 1-1 Daihatsu-cho, Ikeda City, Osaka Prefecture             Tsu Industry Co., Ltd. (72) Inventor Hiroshi Kawamoto             Daihatsu 1-1 Daihatsu-cho, Ikeda City, Osaka Prefecture             Tsu Industry Co., Ltd. F term (reference) 2F065 AA01 AA06 AA19 AA20 AA51                       BB05 CC11 DD02 DD06 FF04                       FF12 FF23 FF31 FF41 FF65                       GG04 HH04 JJ03 JJ05 JJ26                       PP03 PP05 PP25 QQ25 UU01                       UU03

Claims (5)

[Claims] 1. A three-dimensional structure in which a laser pointer is attached to a first rotating member rotatable in a vertical plane or a horizontal plane, and the first rotating member is attached to a second rotating member rotatable in a horizontal plane or a vertical plane. A three-dimensional measuring device comprising a measuring set. 2. The laser pointer is attached to a first rotating member rotatable in a vertical plane or a horizontal plane, and the first rotating member is attached to a second rotating member rotatable in a horizontal plane or a vertical plane. 1. A three-dimensional measuring device, comprising a three-dimensional measuring set pair, which is a set of two three-dimensional measuring sets described in 1. 3. A three-dimensional measurement apparatus comprising a plurality of pairs of the three-dimensional measurement set according to claim 2, wherein two sets of the three-dimensional measurement set are combined into one set. 4. A three-dimensional structure in which a laser pointer is attached to a first rotating member rotatable in a vertical plane or a horizontal plane, and the first rotating member is attached to a second rotating member rotatable in a horizontal plane or a vertical plane. By using a pair of three-dimensional measurement sets each including two measurement sets, the laser of each laser pointer is concentrated on one point of the measured object, and the reflection or transmission of the laser at that time and the first rotating member and 3. The shape of the object to be measured is measured from the rotation angle of the second rotating member. 3
Dimension measurement method. 5. A laser of each laser pointer is provided for each pair of three-dimensional measurement sets by using a three-dimensional measurement device having a plurality of pairs of three-dimensional measurement sets each including two sets of the three-dimensional measurement sets. Are concentrated on different positions of the measured object, and the shape of the measured object is measured from the reflection or transmission of each laser at that time and the rotation angle of each of the first rotating member and the second rotating member. Three-dimensional measurement method.