JP2007255974A - Three-dimensional information measuring apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a three-dimensional information measuring apparatus, capable of enveloping object of photographing in a dark space, controlling increasing in size and weight, performing measurements and having high tolerance with respect to photographic object. <P>SOLUTION: The three-dimensional information measuring apparatus is provided with a mounting base, having a rotatable rotating and mounting surface for mounting an object; a light projection means, having a light source and an emergence hole for projecting light from the light source and emerging from the emergence hole to the object on the rotating and mounting surface; an image information generating means having an incidence hole for receiving images that enter the incidence hole among images of the object acquired by the light projection and generating image information; and a light-shielding screen for forming a substantially dark space and containing at least an emergence hole; the incidence hole; and the object on the rotating and mounting surface in the dark space. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a three-dimensional information measuring apparatus that measures a three-dimensional shape of a subject.

Various devices for measuring three-dimensional information of a subject have been proposed. For example, Patent Document 1 below discloses a three-dimensional shape measuring device that detects optical conditions and position conditions of an imaging device and measures the three-dimensional shape of a subject based on the detected conditions and the captured image. .
Japanese Patent Laid-Open No. 11-118438

  When measuring the three-dimensional shape of a subject with various types of devices including the three-dimensional shape measuring device described in Patent Document 1, it is desirable that the measurement environment satisfies a predetermined condition. This is because the apparatus is generally designed to function properly under the specified conditions. When measuring a three-dimensional shape with high accuracy, it may be essential to satisfy the predetermined condition. The measurement environment mentioned here includes, for example, ambient light around the subject.

  Patent Document 1 discloses various methods for measuring a three-dimensional shape. The influence of ambient light around the subject will be described using the moire topography method as an example.

  In the moire topography method, a predetermined pattern light is projected onto a subject. Next, the subject image onto which the pattern light is projected is picked up to pick up a pattern image. Then, the captured pattern image and the reference pattern are overlapped to generate moire fringes. Thereby, the three-dimensional shape of the subject is measured.

  When measuring a three-dimensional shape by the moire topography method, for example, a local high-intensity portion may be formed in the subject image by an ambient light source. The term “ambient light source” as used herein refers to, for example, a fluorescent lamp or an incandescent lamp installed in a measurement room or the like. That is, the high brightness portion is an image of a reflection component such as a fluorescent lamp or an incandescent lamp on the surface of the subject.

  When the high-luminance part is, for example, an extremely strong component, the boundary line between the bright part and the dark part of the projection pattern light may not be sharp and may be blurred. In this case, an accurate moire fringe is not generated, and as a result, a highly accurate three-dimensional shape cannot be measured. From this point of view, it can be said that the ambient light around the subject preferably satisfies a predetermined condition.

  In order to set the ambient light around the subject to a predetermined condition, for example, a method of measuring a three-dimensional shape in a dark place (for example, a room where the light is turned off) may be employed. However, in this case, since the three-dimensional shape measurement cannot be performed except in a dark place, the measurement place is extremely limited.

  As another method for setting ambient light around the subject to a predetermined condition, for example, it is known to configure a three-dimensional shape measuring apparatus so that each component is included in a dark box housing. In such a three-dimensional shape measuring apparatus, the subject is set so as to be enclosed in a dark space formed by a dark box casing. Since the three-dimensional shape measuring device itself can form a dark space, the measurement location is not limited. Also, the dark box housing is generally highly airtight. For this reason, a dark space can be formed stably. That is, when the dark box casing as described above is employed, a three-dimensional shape measuring apparatus capable of realizing high-precision three-dimensional shape measurement without selecting a measurement place is provided.

  However, when the three-dimensional shape measuring apparatus is configured to enclose each component in a dark box housing, the following problems may occur.

  The dark box housing is required to be large enough to cover all the components. Therefore, the three-dimensional shape measuring apparatus itself becomes very large. Along with this, the overall weight also increases.

  Further, in a three-dimensional shape measuring apparatus having a dark box housing, subjects that can be measured three-dimensionally are extremely limited. For example, in a three-dimensional shape measuring apparatus that does not have a dark box casing, even if the subject is large, it is possible to take an image of a portion that is within the field of view of the imaging apparatus. However, in a three-dimensional shape measuring apparatus having a dark box casing, a subject having a size exceeding the space in the dark box casing cannot be placed in the casing. For this reason, the above-mentioned large subject could not be imaged even if it was a part of it.

  That is, in the conventional three-dimensional shape measuring apparatus, the subject that can be measured three-dimensionally is determined depending on the shape and size of the dark box casing. That is, a subject that does not match (that is, does not fit) the shape and size of the dark box casing cannot be measured.

  Therefore, in view of the above circumstances, the present invention can wrap a subject in a dark space, suppresses an increase in size and weight, and has a high tolerance for a measurable subject. It is an issue to provide.

  A three-dimensional information measuring apparatus according to an aspect of the present invention that solves the above problems is an apparatus that measures a three-dimensional shape of a subject. This three-dimensional information measuring device has a mounting table having a rotatable rotating mounting surface on which a subject is mounted, a light source and an emission port, and rotates and mounts light from the light source emitted from the emission port. Projection means for projecting light onto a subject on the surface, and image information generation means for generating image information by receiving an image incident on the entrance of the subject image to which the light is projected. And a light-shielding curtain for forming a substantially dark space, comprising at least an exit opening, an entrance opening, and a light-shielding curtain that includes a subject on the rotating placement surface in the dark space. It is what.

  According to the three-dimensional information measuring apparatus according to the present invention, the dark space can be formed by the light-shielding curtain that is foldable and lightweight. By employing such a light-shielding curtain as a means for forming a dark space, the three-dimensional information measuring apparatus can be reduced in size and weight. Moreover, since the light-shielding curtain is deformable, the dark space formed thereby is also deformable. Therefore, according to the three-dimensional information measuring apparatus according to the present invention, it is possible to enclose subjects having various shapes in the dark space. As a result, variations in the subject shape that can be measured increase.

  In the above three-dimensional information measuring apparatus, the light projecting means has an illumination light exit through which illumination light is emitted, and an illumination means for illuminating the subject with illumination light emitted from the illumination light exit, and a predetermined pattern. It may have a pattern light emission port from which light is emitted, and pattern light projection means for projecting the pattern light emitted from the pattern light emission port onto a subject on the rotating placement surface. In this case, it is desirable that at least the illumination light exit and the pattern light exit are included in the dark space among the light projecting means. Further, the illumination light may be white light, and the image information generation unit can generate color image information. In this case, the three-dimensional color information on the subject can be measured together with the three-dimensional shape information on the subject.

  According to such a configuration, it is possible to acquire the three-dimensional color information in addition to the three-dimensional shape information of the subject. The three-dimensional color information refers to information obtained by connecting the surface color information in a three-dimensional closed space by looking down on the entire outer periphery of the object. This points to data that is clearly different from the three-dimensional data disclosed in the conventional apparatus, in which two-dimensional color information viewed from a certain observation plane is simply pasted on the three-dimensional shape information.

  Here, the surface of the light shielding curtain that forms the dark space may be a scattering surface that scatters illumination light, for example.

  According to such a configuration, it is possible to illuminate the subject with uniform illumination light in a dark space. By illuminating the subject with uniform illumination light, the subject image received by the image information generating means has excellent color reproducibility.

  The three-dimensional information measuring apparatus may further include a light-shielding curtain restricting unit that restricts the movement of the light-shielding curtain so that the light-shielding curtain does not intervene on the optical path of the subject image toward the entrance. The light shielding curtain regulating means is, for example, at least one column that supports a part of the light shielding curtain.

  According to such a configuration, an image received by the image information generation unit is limited to a desired image (that is, a subject image).

  In addition, the said support | pillar is standingly arranged so that accommodation or sideways fall is possible, for example with respect to a mounting base.

  According to such a configuration, the three-dimensional information measuring apparatus becomes compact, and for example, its portability is improved.

  The three-dimensional information measuring apparatus may further include a housing that holds at least light projecting means and image information generating means. This housing is fixed to, for example, a light shielding curtain. Alternatively, it is detachably held by the light shielding curtain.

  The three-dimensional information measuring apparatus may further include a connecting means that mechanically connects the housing and the mounting table. For example, the connecting means supports the housing movably with respect to the mounting table.

  According to the present invention, it is possible to provide a three-dimensional information measuring apparatus that can wrap a subject in a dark space, suppresses an increase in size and weight, and has a high tolerance for a subject that can be measured.

  Hereinafter, the configuration and operation of the three-dimensional information measurement apparatus according to the embodiment of the present invention will be described with reference to the drawings.

  1 and 2 are perspective views showing the appearance of the three-dimensional information measuring apparatus 10 according to the embodiment of the present invention. 3 and 4 are side views showing the external appearance of the three-dimensional information measuring apparatus 10. The three-dimensional information measuring apparatus 10 is entirely covered with a white curtain 600 as will be described later. 1 and 3, for convenience of explanation, each component (that is, a component disposed inside the white curtain 600) is visible.

  The three-dimensional information measuring apparatus 10 has a projection function, an illumination function, an imaging function, and a three-dimensional information acquisition function. The projection function is a pattern light necessary for measuring the three-dimensional shape information of the subject S (object), and indicates a function for projecting a plurality of types of striped pattern light onto the subject S. The illumination function refers to a function of illuminating the subject S with illumination light necessary for measuring the surface color information of the subject S. The imaging function refers to a function for imaging the subject S on which the pattern light is projected or the subject S on which illumination light is illuminated. The three-dimensional information acquisition function indicates a function of performing predetermined signal processing using the imaging result and acquiring three-dimensional information (surface color information and shape) of the subject S.

  The three-dimensional information measuring apparatus 10 includes a measuring head MH, a rotary table unit RT, and a lever 510.

  A part of the upper surface of the rotary table unit RT is configured as a rotatable mounting surface 190. The rotary mounting surface 190 is, for example, a circular surface having a diameter of 7 inches. The rotary mounting surface 190 is flush with the upper surface of the rotary table unit RT and can be rotated by a table motor 194 (see FIG. 12). When the subject S is placed on the rotary placement surface 190 and rotated, the orientation of the subject S with respect to the measurement head MH changes according to the rotation. The subject S is rotated by a predetermined amount by the rotary table unit RT, and the measurement head MH captures the subject S for each rotation, so that an image of the surface of the subject S can be acquired over the entire circumference (that is, 360 degrees). It becomes.

  A position restricting portion 196 is formed on the upper surface of the rotary table unit RT. When the rotation mounting surface 190 rotates while the subject S is mounted so as to protrude from the rotation mounting surface 190, the protruding portion hits the side surface of the position restricting portion 196. The subject S is pushed by the side surface of the position restricting portion 196 and guided so as to be within the rotating placement surface 190. Thereby, the subject S is stored in an appropriate position.

  For the subject S, a plurality of partial images are acquired by the above imaging for each rotation of the rotary table unit RT. The “image” here is interpreted so as to include not only a normal planar image but also a surface color information of a three-dimensional object and a three-dimensional image having the three-dimensional shape information.

  The plurality of partial images are individually extracted as three-dimensional shape information, and then combined into a single shape stitch image by shape stitch processing. Next, the surface color information (texture) in the plurality of partial images acquired for the subject S is mapped to the shape stitch image. At the same time, by the texture stitch processing, the plurality of surface colors represented by the surface color information are joined together without having a boundary color difference at the joint of the plurality of partial images. Through a series of these processes, a three-dimensional input result for the subject S, that is, three-dimensional color shape data is generated.

  The rotary table unit RT supports a lever 510 so as to be rotatable in the direction of arrow C by a joint 520 having a well-known connection structure, for example. The lever 510 and the joint 520 are connected so that a predetermined static friction force acts on the contact surface. Accordingly, when the user stops the lever 510 at a position that is rotated in the direction of arrow C, the lever 510 stops at that position.

  A measuring head MH is mechanically coupled to the tip of the lever 510. The lever 510 and the measurement head MH are firmly fixed by, for example, screwing or bonding.

  The measurement head MH includes a projection unit 12, an imaging unit 14, a processing unit 16, and a casing 20. The projection unit 12 selectively projects a plurality of predetermined types of pattern light on the subject S. The imaging unit 14 images the subject S. The processing unit 16 performs control of each component, signal processing, and the like in order to acquire the three-dimensional shape and surface color information of the subject S. The casing 20 is a substantially rectangular parallelepiped housing that holds the projection unit 12, the imaging unit 14, and the processing unit 16.

  A barrel 24 is also held in the casing 20. The lens barrel 24 is mounted so as to be partially exposed on the front surface of the casing 20. The imaging unit 14 has an imaging optical system 30. The imaging optical system 30 is mounted on the casing 20 such that a lens that forms part of the imaging optical system 30 is exposed on the front surface of the casing 20. The optical image of the subject S can enter the exposed portion of the imaging optical system 30.

  As shown in FIG. 10, a projection optical system 32 constituting a part of the projection unit 12 is accommodated in the lens barrel 24. The projection optical system 32 includes a plurality of projection lenses 34 and a diaphragm 36.

  The lens barrel 24 holds the projection optical system 32 in a state in which it can move as a whole in the lens barrel holder 250 for focus adjustment. The lens barrel 24 protects the projection optical system 32 from damage. Of the plurality of projection lenses 34, the outermost one is exposed on the front surface of the casing 20. The projection optical system 32 projects the pattern light toward the subject S using the outermost projection lens 34 as the final emission surface.

  In addition, a white LED (Light Emitting Diode) group 26 that emits white light is provided on the front surface of the measurement head MH. The white LED group 26 is a means for illuminating the subject S, and includes a plurality of known white LED elements. The white LED group 26 is electrically connected to the processing unit 16 and is driven under the control of the processing unit 16.

  As will be described in detail later, pattern light projection is a process necessary for measuring the three-dimensional shape information of the subject S. The illumination of the subject S by the white LED group 26 is not performed during pattern light projection. On the other hand, illumination of the subject S by the white LED group 26 is a process necessary for measuring the surface color information of the subject S. Pattern light projection is not performed during the illumination.

  Each component such as the measurement head MH, the rotary table unit RT, and the lever 510 is included in the white curtain 600. The subject S is also included in the white curtain 600. Accordingly, all disturbance light that can enter the subject S is blocked by the white curtain 600. Thereby, each component and the periphery of the subject S are enclosed in a dark space.

  FIG. 5 shows a developed view of the white curtain 600 observed from the inner surface side. FIG. 6 shows a cross-sectional view of the white curtain 600. The inner surface of the white curtain 600 is a later-described scattering surface 601a, and indicates a surface that covers each component when the white curtain 600 is attached to the three-dimensional information measuring apparatus 10.

  The white curtain 600 has a two-layer structure. The inner side layer is the white scattering layer 601, and the outer side layer is the light shielding layer 602. The light shielding layer 602 is made of, for example, black-coated vinyl chloride resin. The light shielding layer 602 has excellent light shielding properties.

  The white scattering layer 601 is made of a white titanium oxide-containing resin applied to one surface of the light shielding layer 602. More specifically, after the white scattering layer 601 is applied to the light shielding layer 602, a well-known roller embossing process is performed so that the surface shape thereof becomes a mechanical scattering shape. The embossed surface of the white scattering layer 601 is finished to a surface with an average surface roughness of about 2 μm, for example. This is larger than the wavelength of white light emitted by the white LED group 26. That is, the embossed surface of the white scattering layer 601 has a characteristic of scattering the white light of the white LED group 26. Hereinafter, this embossed surface is referred to as a scattering surface 601a.

  The white curtain 600 has a rectangular opening 603. A curtain frame 610 is bonded to the white curtain 600 with the outer surface around the opening 603 being bonded. The white curtain 600 and the curtain frame 610 are bonded by an adhesive portion 604 made of, for example, a rubber adhesive. The curtain frame 610 has a rectangular outer shape. An opening 611 that is substantially similar to the opening 603 is formed in the curtain frame 610.

  A measuring head MH can be attached to the curtain frame 610. FIG. 7 shows a cross-sectional view for explaining the coupling relationship between the curtain frame 610 and the measuring head MH. FIG. 7A shows a state where the measurement head MH is mounted on the curtain frame 610. FIG. 7B shows a state in which the measuring head MH is removed from the curtain frame 610. By removing the curtain frame 610 in this manner, there is an effect that the white curtain 600 unnecessary for photographing in a dark place is removed and the operation at the time of measurement is facilitated. In addition, when the apparatus according to the present invention is not used, the white curtain 600 can be separately folded and stored by removing the curtain frame 610, so that the storage property is high.

  As shown in FIG. 7B, a convex portion 20a is formed on the casing 20 of the measuring head MH. The convex portion 20a is formed in substantially the same shape and size as the opening 611. The protrusion 20a is considered to be fit with the opening 611, and is formed slightly smaller than the opening formed by the opening 611. Accordingly, the convex portion 20a is smoothly fitted to the opening 611.

  Here, the opening 603 is formed larger than the opening 611. For this reason, the wall part of the opening part 611 is located inside the edge of the opening part 603 in the whole periphery. This means that the edge of the opening 603 cannot be interposed between the wall of the opening 611 and the protrusion 20a when the measurement head MH is mounted. Therefore, according to such a configuration, the interference of the fitting due to the edge of the opening 603 is preferably prevented. At the same time, the opening 611 and the projection 20a can be fitted with no gap, and the airtightness of the dark space formed by the curtain frame 610 is improved.

  Note that the measurement head MH is fixed to the curtain frame 610 by, for example, screwing. Screw holes (not shown) are formed at the four corners of the curtain frame 610. A curtain frame fixing screw 612 is screwed into each of these screw holes. In addition, around the opening 603, four mounting holes 605 for inserting the curtain frame fixing screws 612 are formed. By screwing a curtain frame fixing screw 612 into a screw hole (not shown) formed in the casing 20, the measurement head MH and the curtain frame 610 are fixed.

  FIG. 8 shows a rear view of the measuring head MH mounted on the curtain frame 610. A release button 40, a mode changeover switch 42, a four-contact cursor key (direction key) 43, and a monitor LCD (Liquid Crystal Display) 44 are provided on the back of the measuring head MH (more precisely, the convex portion 20a). Yes. The mode changeover switch 42 includes three buttons. Each of the mode changeover switch 42 and the four-contact cursor key 43 constitutes an example of a function button.

  Note that at the time of measuring three-dimensional information, all portions other than the portion shown in FIG.

  The release button 40 is operated by the user to operate the three-dimensional information measuring apparatus 10. The release button 40 is constituted by a two-stage push button type switch. The release button 40 can issue different commands depending on whether the user's operation state (pressed state) is “half-pressed state” or “full-pressed state”. The operation state of the release button 40 is monitored by the processing unit 16. When the “half-pressed state” is detected by the processing unit 16, known autofocus (AF) and automatic exposure (AE) functions are activated. Thereby, the focus, aperture, and shutter speed are automatically adjusted. On the other hand, if the “fully pressed state” is detected by the processing unit 16, imaging or the like is performed.

  The mode changeover switch 42 is a user interface for setting the operation mode of the 3D information measurement apparatus 10 to any one of a plurality of modes by a user operation. The plurality of types of modes here include at least a later-described SLOW mode, FAST mode, and off mode. In FIG. 8, what is indicated by “S” is the SLOW mode. The one indicated by “F” is the FAST mode. Also, what is indicated by “OFF” is an off mode. The operation state of the mode switch 42 is monitored by the processing unit 16. When this operation state is detected by the processing unit 16, processing in a mode corresponding to the detected operation state is executed in the three-dimensional information measuring apparatus 10.

  The monitor LCD 44 is configured using a liquid crystal display. The monitor LCD 44 receives the image signal from the processing unit 16 and displays an image. The monitor LCD 44 displays, for example, an image (stereoscopic image) representing the detection result of the three-dimensional shape of the subject S.

  An antenna 50 is attached to the casing 20. The antenna 50 is an RF (radio frequency) interface. The antenna 50 is connected to the RF driver 52 as shown in FIG. The antenna 50 transmits and receives predetermined information wirelessly to an external interface (not shown) via the RF driver 52. The predetermined information includes, for example, data representing the subject S as a stereoscopic image and other information related thereto.

  The three-dimensional information measuring apparatus 10 operates according to a mode selected by the user from the above-described multiple types of modes. The SLOW mode is a low-speed imaging mode in which the subject S is imaged with high accuracy at low speed, and is an imaging accuracy priority mode. The FAST mode is a high-speed imaging mode that images the subject S at high speed with low accuracy, and is an imaging time priority mode. The off mode is a mode in which the operation of the three-dimensional information measuring apparatus 10 is stopped.

  The imaging unit 14 images the subject S, and can selectively extract a pixel thinned image and a pixel non-thinned image from the imaged result. It should be noted that the pixel thinned image is an image formed by thinning out any pixel group constituting the entire image of the subject S (hereinafter abbreviated as “subject S entire pixel group”). The pixel non-thinned image is an image formed without thinning out any pixels from the entire pixel group of the subject S. The time required for signal processing is shorter for the pixel-thinned image than for the non-pixel-thinned image.

  In the field of imaging using a CCD, for example, an addition method or a selection method is already known in order to extract a pixel-thinned image from the imaging result of the subject S.

  According to the addition method, the entire pixel group of the subject S is divided into several pixel groups including a plurality of pixels. Next, the illuminance detection values of a plurality of target pixels belonging to each pixel group are added for each pixel group. Then, using the added illuminance, the illuminance detection values of a plurality of target pixels belonging to each pixel group are evenly distributed.

  On the other hand, according to the selection method, a representative pixel representing the target pixel is selected for each pixel group from a plurality of target pixels belonging to each of the plurality of pixel groups. Next, the illuminance detection values of a plurality of target pixels belonging to each pixel group are evenly distributed using the illuminance detection values of the selected representative pixels.

  In the present embodiment, the imaging unit 14 can extract a pixel-thinned image from the imaging result of the subject S in accordance with an addition method or a selection method selected in advance.

  The thinned-out image processing mode for extracting the pixel-thinned image is suitable for the low-speed imaging mode in which the subject S is imaged with high accuracy at low speed. On the other hand, the non-decimated image processing mode for extracting the pixel non-decimated image is suitable for a high-speed imaging mode for imaging the subject S at high speed with low accuracy.

  Therefore, in this embodiment, the thinned image processing mode is set when the FAST mode is selected. On the other hand, when the SLOW mode is selected, the non-decimated image processing mode is set.

  In FIG. 9, the side view of the three-dimensional information measuring device 10 for demonstrating the effect | action of the white curtain 600 is shown. In FIG. 9, as in FIGS. 1 and 3, the inside of the white curtain 600 is shown to be visible for convenience of explanation.

  As shown in FIG. 9, the white curtain 600 blocks various disturbance light such as disturbance environment light α irradiated by the environment light source. For this reason, the inside of the white curtain 600 becomes a dark space. Here, the optical system for projecting pattern light (that is, the projection lens 34) and the subject S are completely contained in the dark space. Accordingly, the light emitted to the subject S at the time of pattern light projection from the projection unit 12 is substantially only the pattern light.

  Further, the optical system (that is, the imaging optical system 30) on which the pattern light projection image is incident is completely included in the dark space. For this reason, the pattern light projection image incident on the imaging optical system 30 is also not affected by disturbance light at all. As will be described in detail later, a CCD 70 is disposed behind the imaging optical system 30. The CCD 70 is, for example, a well-known color CCD. The CCD 70 is arranged such that its light receiving surface is positioned on the image side focal plane of the imaging optical system 30.

  That is, the CCD 70 can receive a pattern light projection image that is not substantially affected by disturbance light. The boundary between the bright part and the dark part of the pattern included in such an image can be photographed as a sharp boundary without including a noise light component generated in the entire screen by disturbance light. For this reason, there is an effect that the S / N ratio for specifying the boundary can be improved and a highly accurate three-dimensional shape can be acquired. The processing unit 16 acquires highly accurate three-dimensional shape information by a process described later.

  When such a dark space is used as a measurement environment, for example, a light source with low illuminance can be used as a light source for pattern light, which also has the effect of low power consumption. This is because there is no influence of disturbance light, so that even if the illuminance of the projection light is low, the contrast of the projection pattern image is sufficiently secured, and at the same time, an S / N ratio that achieves the required accuracy can be obtained. Therefore, there is no problem in practical use even if a low power consumption LED (LED 62 in this embodiment) is adopted as a light source for pattern light.

  Furthermore, the white LED group 26 is also completely contained in the dark space. Therefore, the light emitted to the subject S when the white LED group 26 emits light is substantially only the white light from the white LED group 26.

  The white LED group 26 emits white light with a certain radiation angle, for example. A part of the white light component directly strikes the subject S. That is, the subject S is directly illuminated. On the other hand, the remaining components do not hit the subject S but hit other components constituting the three-dimensional information measuring apparatus 10. Most of the latter component hits the scattering surface 601a and is scattered. This is because the scattering surface 601a exists so as to cover the entire dark space. Most of the components directly illuminating the subject S are also reflected by the surface of the subject S and then scattered by the scattering surface 601a.

  That is, many components of white light are scattered by the scattering surface 601a before being irradiated from the white LED group 26 and received by the CCD 70. Therefore, when the white LED group 26 emits light, the dark space is a space having uniform brightness due to the scattered light component. Therefore, the subject S is illuminated with uniform illuminance and illuminated from a random illumination direction. As a result, the luminance distribution of the subject S image received by the CCD 70 also has very stable luminance and chromaticity in which the subject S is not easily shadowed, and surface reflection due to local disturbance light caused by disturbance light or the like. Does not exist. Accordingly, well-known automatic exposure (AE: electronic shutter speed adjustment of the CCD 70, for example) is appropriately performed, and accurate color reproducibility is realized. Furthermore, the step of the color information at the stitch boundary due to inaccurate luminance and chromaticity information is also preferably prevented. That is, according to the configuration shown in the present embodiment, by illuminating the subject S under a known illumination condition, it is possible to suitably prevent deterioration of color reproducibility, generation of a color information step at a stitch boundary, and the like. is there.

  Here, the white curtain 600 sways, for example, when an external force is applied, and interferes with the space above the rotation mounting surface 190 (more specifically, the optical path between the projection lens 34 and the imaging optical system 30 and the subject S). I am worried about it. In such a case, the pattern light is not projected onto the subject S, or the image of the white curtain 600 is incident on the imaging optical system 30 (that is, the white curtain 600 is imaged by the CCD 70). In order to prevent such a problem, the three-dimensional information measuring apparatus 10 is provided with three columns 530 having a cylindrical shape.

  The three support columns 530 are erected so as to be housed on the upper surface of the rotary table unit RT. The shape of the rotary table unit RT when viewed from above is a rectangle. Each of the three support columns 530 is installed in the vicinity of one of the four corners of the rectangle.

  Each of the three columns 530 and the rotary table unit RT are mechanically connected by a column joint 532. The column joint 532 has a well-known connection structure, for example, like the joint 520. Each column 530 is supported by a column joint 532 so as to be rotatable with respect to the rotary table unit RT. More specifically, the user can cause each column 530 to lie down to the position indicated by the alternate long and short dash line by rotating each column 530. When laid sideways at the position of the dashed line, the side surface of the column 530 is in line contact with the upper surface of the turntable unit RT.

  When the lever 510 is tilted as shown in FIGS. 1 and 2, the white curtain 600 is hung so that a part of the white curtain 600 is supported by each column 530. The support column 530 is designed to be sufficiently longer than the height of the measurement object assumed in advance and shorter than the lever 510, for example. Therefore, the support column 530 retracts the white curtain 600 in a direction away from the rotating placement surface 190 above the subject S. As a result, a space above the rotary placement surface 190 is secured, and interference of the white curtain 600 with the space above the rotary placement surface 190 is suitably prevented.

  When the lever 510 is raised as shown in FIGS. 3 and 4, the white curtain 600 is suspended from above the subject S by the measurement head MH supported by the lever 510. Then, it is hung so as to be supported by the lever 510 and the respective columns 530. As a result, the white curtain 600 is retracted in the direction away from the rotary mounting surface 190 above the subject S. As a result, a space above the rotation placement surface 190 is secured, and interference of the white curtain 600 with the space above the rotation placement surface 190 is suitably prevented.

  As shown in the present embodiment, when the three-dimensional information measuring apparatus 10 is configured to form a dark space with the white curtain 600, the following effects are expected.

  The white curtain 600 can form a dark space equivalent to, for example, a conventionally used dark box housing, while the subject S from the entire circumferential direction and upper surface direction of the subject S and, if necessary, from the oblique upper surface direction. The three-dimensional color and shape can be easily measured. Furthermore, since the necessary dark environment can be formed by deformation of the white curtain 600 as compared with such a large dark box housing, the apparatus is also characterized by being thin and lightweight. It can also be folded. From these viewpoints, it can be said that the white curtain 600 greatly contributes to the reduction in size and weight of the three-dimensional information measuring apparatus 10. With such miniaturization and weight reduction, the portability is also improved.

  Further, the shape of the dark space formed by the white curtain 600 can be freely changed by changing the standing angle of the lever 510 and each column 530 with respect to the rotary table unit RT. This leads to an increase in variations of the subject shape that can be included in the dark space. By appropriately adjusting the standing angle of the lever 510 and each column 530 so that the white curtain 600 does not interfere with the optical path between the projection lens 34 and the imaging optical system 30 and the subject S, measurement of subjects having various shapes is realized. It becomes possible.

  Further, by removing the measuring head MH from the curtain frame 610 and folding the white curtain 600, the white curtain 600 can be accommodated extremely compactly. By configuring the white curtain 600 to be removable from structures such as the measurement head MH and the rotary table unit RT, the portability of the three-dimensional information measurement apparatus 10 is further improved.

  Further, by further lying the support column 530 on the rotary table unit RT, further improvement in the portability of the three-dimensional information measuring apparatus 10 is expected.

  Here, the description returns to the measurement head MH. The projection unit 12 is a unit for selectively projecting a predetermined plurality of types of pattern light onto the subject S. As shown in FIGS. 10 and 11, the projection unit 12 includes a substrate 60, an LED 62, an illumination diaphragm 63, a light source lens 64, a feed motor (for example, a pulse motor) 65, a projection mechanism 66, and a projection optical system 32. Have. A light source unit 68 is configured by the substrate 60, the LED 62, the illumination diaphragm 63, and the light source lens 64. The LED 62 is, for example, a type of LED that outputs light from a relatively wide emission surface by a single LED element bonded to a metal substrate. The projection mechanism 66 is a mechanism that feeds the plate-shaped light modulator 200 using the feed motor 65 as a drive source. Each component of the projection unit 12 is arranged in series along the projection direction.

  FIG. 11 shows in detail the substrate 60, the LED 62, the illumination stop 63, the light source lens 64, the light modulator 200, and the projection optical system 32 in the hardware configuration of the projection unit 12. FIG. 12 shows in detail the software configuration and electrical connection relationship of the entire three-dimensional information measuring apparatus 10 including the projection unit 12. 13 to 15 show the projection mechanism 66 in detail in the hardware configuration of the projection unit 12. FIG. 16 shows the light modulator 200 in an enlarged manner.

  The imaging unit 14 is a unit for imaging the subject S. As shown in FIG. 10, the imaging unit 14 includes an imaging optical system 30 and a CCD 70 in series along the incident direction of image light. The CCD 70 is, for example, a Bayer type color CCD and is configured to perform progressive scanning by an interline transfer method.

  The imaging optical system 30 is configured using a plurality of lenses as shown in FIG. The imaging optical system 30 automatically adjusts the focal length, the aperture, and the shutter time by a well-known autofocus function and automatic exposure function to form incident light on the CCD 70.

  On the light receiving surface of the CCD 70, photoelectric conversion elements such as photodiode elements are arranged in a matrix. The CCD 70 generates an optical image formed on its surface via the imaging optical system 30 for each pixel as a signal corresponding to its color and intensity by well-known photoelectric conversion. The signal generated here is converted into digital data and output to the processing unit 16.

  As shown in FIG. 12, the processing unit 16 is electrically connected to each of the release button 40 and the mode changeover switch 42. The processing unit 16 is further electrically connected to the monitor LCD 44 via the monitor LCD driver 72, the antenna 50 via the RF driver 52, and the battery 74 via the power interface 76. Each of these components operates under the control of the processing unit 16.

  The processing unit 16 is further electrically connected to the external memory 78 and the cache memory 80, respectively. The processing unit 16 is further electrically connected to the LED 62 via the light source driver 84, the feed motor 65 of the projection mechanism 66 via the feed motor driver 86, and the CCD 70 via the CCD interface 88. Each of these components also operates under the control of the processing unit 16 as before.

  The external memory 78 is, for example, a detachable flash ROM (Read Only Memory). The external memory 78 can store a captured image captured in the stereoscopic image mode and three-dimensional information (including the above-described three-dimensional color shape data and related information). In order to configure the external memory 78, for example, an SD card (registered trademark), a compact flash (registered trademark) card, or the like may be employed.

  The cache memory 80 is a storage device that can read and write data at high speed, for example. For example, a captured image captured in a predetermined mode is transferred to the cache memory 80 at a high speed. The cache memory 80 is used to enable the image to be stored in the external memory 78 after the image processing is executed by the processing unit 16. As the cache memory 80, for example, SDRAM (Synchronous DRAM), DDRRAM (Double Data Rate RAM) or the like can be adopted.

  The power interface 76, the light source driver 84, the feed motor driver 86, and the CCD interface 88 are configured by various ICs (Integrated Circuits) that control the battery 74, the LED 62, the motor 65, and the CCD 70, respectively.

  As shown in FIG. 8, the measurement head MH is provided with an AC adapter terminal 90 and a USB terminal 91. The AC adapter terminal 90 is electrically connected to the battery 74 as shown in FIG. Thereby, the three-dimensional information measuring apparatus 10 can be operated using an external AC power source as a power source. The USB terminal 91 is connected to the processing unit 16 via the USB driver 93. As shown in FIG. 10, the measurement head MH is provided with a table motor terminal 92. The table motor terminal 92 is connected to the processing unit 16 via a table motor driver 94.

  A harness (not shown) extends from the rotary table unit RT as an electric line. This harness is connected to the table motor terminal 92. The harness functions as an electric line that supplies a control signal and power from the measuring head MH to the rotary table unit RT. Accordingly, as shown in FIG. 12, the table motor 194 is connected to the processing unit 16 via the table motor driver 94.

  For example, the substrate 60 may be formed by applying an insulating synthetic resin to an aluminum substrate and then forming a pattern by electroless plating. Alternatively, for example, it may be manufactured using a single-layer or multilayer substrate having a glass epoxy base as a core. LEDs 62 are mounted on the substrate 60. The LED 62 is a light source that emits radial amber light toward the projection mechanism 66 in a wide area. The LED 62 is accommodated in an LED casing 100 whose front side is made of a transparent resin.

  The illumination diaphragm 63 functions to shield unnecessary portions of the light output from the LED 62. As a result, only the necessary portion of light is guided to the light source lens 64. The light source lens 64 is a lens that condenses the emitted light from the LED 62. The material is, for example, an optical plastic represented by acrylic.

  In the present embodiment, as shown in FIG. 11, the emitted light from the LED 62 is efficiently condensed by the light source lens 64. This light then has an incident angle characteristic having a predetermined cone apex angle and is incident so that the axis of the cone is substantially perpendicular to the incident surface 106. And it is radiate | emitted from the output surface 108 of the projection mechanism 66 as emitted light with high directivity. The light source lens 64 functions as a collimating lens. In FIG. 11, the directivity characteristics of two attention points A and B separated from each other on the emission surface 108 are represented by an illuminance distribution graph (θ: half-value spread half-angle).

  The projection optical system 32 includes a plurality of projection lenses 34. The plurality of projection lenses 34 are for projecting light that has passed through the projection mechanism 66 toward the subject S. These projection lenses 34 form a telecentric lens system composed of, for example, a combination of a glass lens and an optical plastic lens.

Here, “telecentric” means a configuration in which the principal ray passing through the projection optical system 32 is parallel to the optical axis O ₂ of the projection optical system 32 and the position of the entrance pupil is infinite in the incident side space. . That is, in this example, it means incident side telecentric.

  The projection optical system 32 has telecentric characteristics as described above, and its incident aperture angle θNA is about 0.1. For this reason, the optical path of the projection optical system 32 is restricted so that only light within an angle of ± 5 degrees perpendicular to the incident aperture angle θNA can pass through the stop 36.

  Therefore, in the present embodiment, due to the telecentricity of the projection optical system 32, coupled with a configuration in which only light passing through the projection mechanism 66 within ± 5 degrees perpendicularly can be projected onto the object by the projection optical system 32, the projection image Image quality can be improved easily.

  To explain the reason, specifications for most optical characteristics such as resolution characteristics, spectrum characteristics, illuminance distribution characteristics, contrast characteristics, etc., when only a specific angle component emitted from the projection object is used for imaging It is because it is advantageous. The projection target corresponds to the light modulator 200 in this embodiment, but generally corresponds to a slide or a transmissive liquid crystal.

  Here, the projection mechanism 66 in the hardware configuration of the projection unit 12 will be described in detail with reference to FIGS. 13 to 15.

The projection mechanism 66 can selectively convert incident light from the light source unit 68 into a plurality of types of pattern light. A plurality of types of pattern light are sequentially projected onto the subject S by switching the pattern light in the projection mechanism 66. FIG. 13 shows a front view of the projection mechanism 66. The front view is a view showing by observing the projection mechanism 66 from the projection optical system 32 side in the direction along the optical axis O _2.

The projection mechanism 66 includes a light modulator 200 that extends in a plate shape in a direction perpendicular to the optical axis O ₂ . The light modulator 200 is attached to the carriage 202. The carriage 202 is reciprocated linearly along the longitudinal direction of the light modulator 200 by the feed motor 65.

  In addition, the projection mechanism 66 includes a housing 204. The housing 204 may be a part of the housing of the measuring head MH, for example. A feed motor 65 is attached to the housing 204. A main guide 210 and a sub guide 212 are installed between two opposing support portions 206 of the housing 204 in a posture extending in parallel to each other with a gap in the radial direction.

The main guide 210 and the sub guide 212 are respectively supported by two support portions 206 at both ends. Both the main guide 210 and the sub guide 212 have the same circular cross section and extend straight. The material is stainless steel, for example. The outer shape is processed with an accuracy of, for example, a cylindricity of about 3 μm. Main guide 210 and the sub-guide 212 serves as a feed guide extending linearly in a direction perpendicular to the optical axis O _2.

  The carriage 202 is guided linearly and reciprocally by the main guide 210 and the sub guide 212. In order to realize the guidance, the carriage 202 includes a fitting portion 214 and a slider 216 as shown in FIG. The fitting portion 214 and the slider 216 are disposed so as to be separated from each other in a direction orthogonal to the moving direction of the carriage 202.

  The carriage 202 is supported by the main guide 210 at the fitting portion 214 so as to be slidable around the axis of the main guide 210. Specifically, for example, a sliding bearing 218 is fixed to the fitting portion 214, and the main guide 210 is slidably fitted to the sliding bearing 218 via a lubricant (such as grease). The slide bearing 218 is made of, for example, an oil-immersed porous metal body, and enables sliding using a liquid interface with the main guide 210.

  The main guide 210 and the plain bearing 218 are managed and manufactured with a component shape accuracy so that the fitting clearance accuracy between them is 12 μm at the maximum. By adopting such a configuration, it is possible to suppress the positional deviation of the light modulator 200 due to the fitting clearance between the main guide 210 and the slide bearing 218 within 12 μm. As a result, it is possible to accurately project the pattern light on the subject S with little deviation.

  When the magnification of the projection optical system 32 is 40 times, for example, the positional deviation of the pattern light on the subject S does not exceed 0.48 mm unless the positional deviation of the light modulator 200 exceeds 12 μm. As described above, it is easy to improve the three-dimensional input accuracy of the subject S by an appropriate combination of the highly accurate linear motion mechanism with less play and the moving light modulator 200.

  On the other hand, the carriage 202 is slid in the axial direction of the sub guide 212 along the outer peripheral surface of the slider 216 while being in contact with the outer peripheral surface of the sub guide 212. The slider 216 is slidably pressed against the outer peripheral surface of the sub guide 212 via a lubricant (such as grease). The pressing is performed using a tension applied in advance to a feed belt 220 described later.

  In this embodiment, the carriage 202 is fitted around the main guide 210 so as to be slidable in both forward and reverse directions. On the other hand, the slide rotation in both forward and reverse directions is mechanically prevented in one direction by the contact between the slider 216 and the sub guide 212. Although described in detail later, the light modulator 200 includes a plurality of planar optical elements 260 (see FIG. 16) corresponding to a plurality of types of pattern light projections to be selectively realized. The planar optical elements 260 are arranged in series in the same plane. In the present embodiment, the carriage 202 is arranged so that incident light from the light source unit 68 enters the planar optical element 260 substantially perpendicularly while the carriage 202 is in contact with the sub guide 212.

  In this embodiment, both the main guide 210 and the sub guide 212 are configured as rods having a cylindrical outer peripheral surface. However, it is not essential to make such a configuration at least for the sub guide 212. For example, the sub guide 212 may be configured to have a flat surface portion extending in parallel with the axis thereof. In this case, the sub-guide 212 can receive the slider 216 at the plane portion.

  The projection mechanism 66 has a drive mechanism 222 as shown in FIG. The drive mechanism 222 is a mechanism for driving the carriage 202 along the main guide 210 and the sub guide 212. The drive mechanism 222 includes a feed motor 65 and a feed belt 220 (an example of a transmission medium that forms a closed curve).

  The feed belt 220 is disposed along the longitudinal direction in a space formed by the main guide 210 and the sub guide 212. In the space, a driving gear (an example of a driving rotator) 224 and a driven gear (an example of a driven rotator) 226 are installed so as to be separated in the longitudinal direction of the carriage 202. The feed belt 220 is wound around the drive gear 224 and the driven gear 226. A plurality of teeth are formed on the inner peripheral surface of the feed belt 220. On the other hand, a plurality of teeth are also formed on the outer peripheral surfaces of the drive gear 224 and the driven gear 226. The teeth of the feed belt 220 and the teeth of the drive gear 224 and the driven gear 226 are meshed with each other.

  As a result of the feed belt 220 being wound around the drive gear 224 and the driven gear 226, two linear portions are formed on the feed belt 220. A carriage 202 is fixed to one of the two straight portions. Specifically, one end of the feed belt 220 is fixed to one of the two connecting portions 230 arranged to be separated from each other in the moving direction in the carriage 202. The other end is fixed to the other of the two connecting portions 230.

  The drive gear 224 is driven by the feed motor 65. Thereby, the reciprocating linear motion of the feed belt 220 is realized. On the other hand, the driven gear 226 is rotatably supported by a support shaft 234 fixed to the housing 204.

In FIG. 14, the light modulator 200 and the carriage 202 are shown in plan view together with the light source unit 68 and the projection optical system 32. The plan view is a view observed in a direction perpendicular to the optical axis O _2.

  The light source unit 68 has a collimating lens 240 held by a collimating lens barrel 242. The collimating lens 240 is configured to include the illumination stop 63 and the light source lens 64 shown in FIG.

  The projection optical system 32 has a lens barrel 24 held by a lens barrel holder 250. As shown in FIG. 10, a plurality of projection lenses 34 and a diaphragm 36 are incorporated in the lens barrel 24. A recess 252 is formed in the housing 204. The lens barrel holder 250 is attached to the housing 204 in a state where the lens barrel holder 250 is fitted and positioned in the recess 252.

  As shown in FIGS. 13 and 14, a plurality of planar optical elements 260 are formed in a line on the substrate 264 of the light modulator 200.

  Here, the manufacturing process of the light modulator 200 will be outlined. By pressing a mold (not shown) in which the inverted shapes of the plurality of planar optical elements 260 are formed with high accuracy against the surface of the substrate 264 (surface to be the emission surface 108), the shape of the mold is made with high accuracy. An imprint molding technique for transferring to the surface of the substrate 264 is performed. By this transfer, a plurality of planar optical elements 260 are formed on the substrate 264. The shape, optical action, and manufacturing method of the planar optical element 260 will be described in detail later.

  As shown in FIGS. 13 to 15, the projection mechanism 66 adjusts the inclination of the light modulator 200 with respect to a plane parallel to the moving direction of the light modulator 200 (hereinafter referred to as “moving plane”). An adjustment mechanism 270 is provided. The rotation angle adjustment mechanism 270 includes a support mechanism 272 and a rotation mechanism 274. The support mechanism 272 supports the substrate 264 on the carriage 202 so as to be rotatable with respect to the moving plane. The rotation mechanism 274 rotates the substrate 264 relative to the carriage 202. In the present embodiment, the substrate 264 functions as a linear movable member that supports the plurality of planar optical elements 260.

  As shown in FIGS. 13 and 14, the support mechanism 272 includes a pair of holders 280 that hold the substrate 264. The pair of holders 280 hold both ends of the substrate 264 in the moving direction of the light modulator 200. In FIG. 15, only the holder 280 located on the right side in FIG. 14 is typically shown in a front view enlarged with the peripheral elements.

  As shown in FIG. 14, each holder 280 holds the end portion of the substrate 264 so as to sandwich a small gap from both sides in the plate thickness direction. The light modulator 200 is installed on the back side of the carriage 202 by the pair of holders 280. Light emitted from the light modulator 200 side passes through a through hole 284 formed in the carriage 202 and proceeds to the projection optical system 32.

  The substrate 264 is allowed to relatively move (including relative rotational movement) on a plane parallel to the substrate 280 by each holder 280. Here, a fixing screw 286 that can function as a fixing tool is attached to each holder 280. When the fixing screw 286 is screwed into the substrate 264, the substrate 264 is mechanically fixed at the current position.

  The rotation mechanism 274 is mainly composed of an adjustment piece 290. The adjustment piece 290 has an adjustment screw 292 and a main body portion 294 to which the adjustment screw 292 is screwed. The main body 294 is formed with a female screw, and the adjusting screw 292 is formed with a male screw corresponding thereto. The adjusting screw 292 can be rotated about an axis parallel to the moving plane and can be screwed into the female screw.

  The main body 294 is fixed to the substrate 264. The adjustment screw 292 protrudes from the main body 294 at the tip thereof. The protrusion of the adjustment screw 292 is engaged with the carriage 202. The adjustment screw 292 is screwed by an operator with a tool applied to the head. In accordance with the screwing operation amount, the protruding amount of the adjusting screw 292 from the main body portion 294 changes. As a result, the distance between the main body 294 and the carriage 202 changes.

  Therefore, according to the adjustment piece 290, the rotation angle of the light modulator 200, that is, the inclination with respect to the moving plane is finely adjusted according to the operation amount by the operator. The fine adjustment amount is set within a tolerance range of, for example, about 12 μm parallelism with respect to the movement straight line of the linear motion device (carriage 202). As a result, it becomes easy to improve the three-dimensional input accuracy of the subject S.

  Although not shown, the fixing screw 286 and the adjusting screw 292 are applied with a fixing adhesive at the screwed portions. This prevents loosening of these screws.

  The housing 204 is formed so as to locally protrude toward the carriage 202. Specifically, the housing 204 has a guide portion 296. The guiding portion 296 is inserted into the carriage 202 and extends to the vicinity of the emission surface 108 of the light modulator 200. The guiding portion 296 has a light shielding property and has a thin pyramid shape.

  A window portion 297 is formed at the tip of the guide portion 296. In the window portion 297, the guide portion 296 optically communicates only with a selected one of the plurality of planar optical elements 260. The guide part 296 and the window part 297 are integrally formed with the housing 204. A typical example of the material is glass fiber reinforced polycarbonate with high molding accuracy.

  Only the pattern light emitted from the selected planar optical element 260 passes through the window portion 297 having light permeability and enters the space in the guiding portion 296. The entered pattern light enters the projection optical system 32 without leaking outside the guiding portion 296. The guiding unit 296 acts to prevent disturbance light from entering and entering the projection optical system 32.

  As shown in FIG. 13, a positioning post 298 is fixed to the housing 204. A photo interrupter 300 that functions as a position sensor is attached to the positioning post 298. The photo interrupter 300 optically detects a positioning claw (detector) 302 that moves integrally with the carriage 202. Thereby, it is detected that the carriage 202 is in a specific position.

  As shown in FIG. 12, the photo interrupter 300 is electrically connected to the processing unit 16. The photo interrupter 300 outputs a PI signal to the processing unit 16 according to the detection state of the positioning claw 302. When the positioning claw 302 is not detected, the photo interrupter 300 outputs a PI signal indicating a low level. When the positioning claw 302 is detected, the photo interrupter 300 outputs a PI signal indicating a high level.

  Here, the light modulator 200 will be described in detail with reference to FIG.

  FIG. 16 shows an enlarged front view of the light modulator 200. The planar optical element 260 is positioned so as to face the window 297 shown in FIG. 14, for example.

  In this embodiment, eight types of pattern light are sequentially projected onto the subject S. These pattern lights are projected when the subject S is imaged in order to measure the three-dimensional shape of the subject S by a spatial encoding method described later. In order to perform such projection, the light modulator 200 includes eight planar optical patterns 260 corresponding to each of the eight types of pattern light as metal plating light-shielding patterns. In FIG. 16, pattern numbers PN0 to PN7 of the eight planar optical elements 260 are indicated as codes 0 to 7, respectively.

  The light modulator 200 is a plate-like lithography process product using a blue plate or white plate glass as a base material.

  By employing the known lithography process technique, the accuracy of the metal plating light-shielding pattern of the light modulator 200 is improved. Accordingly, the three-dimensional input accuracy of the three-dimensional information measuring apparatus 10 is also improved. This process is suitable for mass production of the light modulator 200. An example of this type of lithography process is to use a master mask on which a pattern is formed with 1 micron accuracy. In this process, the metal on the base material and the resist on the metal are exposed while the masked base material is closely exposed with an exposure machine. Next, the exposed base material is developed, rinsed, washed and dried, and the metal part is chemically etched by wet etching. By such a simple and inexpensive process, it is possible to transfer and form a metal light-shielding pattern with 1 micron accuracy. For this reason, there are significant effects that the accuracy of the light modulator 200 can be increased to the limit and the production cost of the light modulator 200 can be reduced.

  The light emitted from the light source unit 68 is incident on the light modulator 200. The incident light is shielded according to the pattern by the action of the planar optical element 260 and is emitted as predetermined pattern light.

  The pattern light emitted from the planar optical element is projected onto the subject S by the lens barrel 24 (including the projection lens 34 and the diaphragm 36) to form a stripe pattern on the surface thereof.

  Here, as illustrated in FIG. 12, the processing unit 16 is configured mainly by a computer 400. The computer 400 is configured to include a CPU 402, a ROM 404, a RAM 406, and a bus 408.

  The CPU 402 develops the program stored in the ROM 404 on the RAM 406 and executes it. As a result, various processes such as detection of the operation state of the release button 40, acquisition of image data from the CCD 70, transfer and storage of the acquired image data, and detection of the operation state of the mode switch 42 are performed.

  The ROM 404 includes a camera control program 404a, an imaging processing program 404b, a luminance image generation program 404c, a code image generation program 404d, a code boundary extraction program 404e, a lens aberration correction program 404f, a triangulation calculation program 404g, and a table motor control program. 404j is stored.

  The camera control program 404a is used to control the entire three-dimensional information measuring apparatus 10. The main process shown by the flowchart in FIG. 17 is performed by the camera control program 404a.

  When the imaging processing program 404b is executed, the subject S onto which the pattern light is projected is imaged and a pattern light existence image is acquired. Further, the subject S on which no pattern light is projected is imaged, and a pattern light no-image is acquired.

  When the luminance image generation program 404c is executed, a plurality of luminance images respectively corresponding to the plurality of patterned light images are generated based on the RGB values of each pixel acquired for the subject S by the imaging processing program 404b. The

  In the present embodiment, a plurality of types of pattern light are sequentially projected onto the same subject S. The subject S is imaged each time each pattern light is projected. The RGB value of each pixel is acquired for each of the plurality of patterned light-captured images thus captured. As a result, the same number of luminance images as the pattern light types are generated.

  When the code image generation program 404d is executed, a binarized image is generated by threshold processing for each of the plurality of luminance images generated by the luminance image generation program 404c. A code image in which a spatial code is assigned to each pixel is generated from the generated binary image.

  In brief, when the code image generation program 404d is executed, the interval between pattern lines in the luminance image of the subject S onto which specific pattern light is projected is acquired as a cycle. This specific pattern light is the one having the smallest interval between pattern lines among a plurality of types of pattern light. Next, a distribution in the entire luminance image of that period is acquired as a period distribution.

  When the code image generation program 404d is executed, a variable window whose size changes according to the acquired periodic distribution is set locally in the luminance image for each pattern light. A threshold value is locally calculated and set for the entire luminance image by the filtering process using the variable window. A binarized image is generated for each pattern light from the relationship between the threshold image representing the threshold distribution set in this way and the luminance image for each pattern light.

  Note that a technique for locally calculating a threshold value for the entire luminance image by filter processing using a variable window is disclosed in detail in Japanese Patent Application No. 2004-285736 of the present applicant. In the present embodiment, the technology described in the above publication is employed.

  When the code boundary extraction program 404e is executed, code boundary coordinates are calculated with subpixel accuracy based on the code image generated by the code image generation program 404d and the luminance image generated by the luminance image generation program 404c. The

  When the lens aberration correction program 404f is executed, aberration correction of the imaging optical system 20 is performed with respect to the code boundary coordinates obtained with subpixel accuracy by the code boundary extraction program 404e.

  When the triangulation calculation program 404g is executed, the three-dimensional coordinates of the real space related to the boundary coordinates are calculated from the boundary coordinates of the code subjected to aberration correction by the lens aberration correction program 404f.

  When the feed motor control program 404h is executed, the feed motor 65 is controlled to sequentially project a plurality of types of pattern light onto the subject S. This feed motor control program 404h is shown in the flowchart of FIG. 20 together with other processes.

  When the table motor control program 404j is executed, the table motor 194 is controlled to rotate the subject S. This table motor control program 404j is shown in the flowchart of FIG. 19 together with other processes.

  In the present embodiment, the above-described series of pattern light projection onto the subject S and imaging of the subject S are performed every time the rotation position of the subject S is determined at equal intervals. Specifically, the rotational position of the subject S is intermittently determined by 90 degrees. At each indexing position, a series of pattern light is projected and the subject S is imaged. As a result, the entire area of the outer surface of the subject S is divided into four partial areas. Then, a stereoscopic image (three-dimensional shape information) is acquired for each partial region. Next, these stereoscopic images are subjected to a process of removing portions that overlap each other, and are combined with each other. Thereby, one whole image corresponding to the subject S is generated as a stitch image.

  Further, in the present embodiment, surface color information measured for the same subject S is mapped to the generated stitch image. After mapping, the aforementioned three-dimensional color shape data is generated. Thus, a series of three-dimensional input processes for the subject S is completed.

  As shown in FIG. 12, the RAM 406 has a pattern light existence image storage unit 406a, a pattern light no image storage unit 406b, a luminance image storage unit 406c, a code image storage unit 406d, a code boundary coordinate storage unit 406e, and aberration correction coordinates. Storage unit 406g, three-dimensional coordinate storage unit 406h, period distribution storage unit 406p, threshold image storage unit 406q, binarized image storage unit 406r, stitch image storage unit 406s, three-dimensional color shape data storage unit 406t, and working area Reference numerals 410 are assigned as storage areas.

  The pattern light existence image storage unit 406a stores the pattern light existence image data. Pattern light existence image data is data showing the image by which the pattern light imaged by the imaging process program 404b was projected. The pattern light no-image storage unit 406b stores pattern light no-image data. The pattern light non-image data is data representing an image on which the pattern light imaged by the imaging processing program 404b is not projected.

  The luminance image storage unit 406c stores data representing the luminance image generated by the luminance image generation program 404c. The code image storage unit 406d stores data representing a code image generated by the code image generation program 404d. The code boundary coordinate storage unit 406e stores data representing the boundary coordinates of each code extracted with subpixel accuracy by the code boundary extraction program 404e.

  The aberration correction coordinate storage unit 406g stores data representing the boundary coordinates of the code subjected to aberration correction by the lens aberration correction program 404f. The three-dimensional coordinate storage unit 404h stores data representing the three-dimensional coordinates of the real space calculated by the triangulation calculation program 404g.

  The period distribution storage unit 406p, the threshold image storage unit 406q, and the binarized image storage unit 406r store data representing the period distribution, the threshold image, and the binarized image acquired by the code image generation program 404d, respectively.

  The stitch image storage unit 406s stores the above-described stitch image. The three-dimensional color shape data storage unit 406t stores the above-described three-dimensional color shape data. The working area 410 stores data that the CPU 402 temporarily uses for its operation.

  Here, the camera control program 404a will be described with reference to FIG. When the camera control program 404a is executed by the computer 400, the main process described above is executed.

  In this main process, first, in step 101 (step is abbreviated as “S” in the following specification and drawings), the power source including the battery 74 is turned on. In step S102, the processing unit 16, peripheral interfaces, and the like are initialized.

  Subsequently, in S103, a key scan is performed to determine the operation state of the mode switch 42. Next, in S104, it is determined whether or not the SLOW mode has been selected by operating the mode switch 42. Here, if the SLOW mode is selected, the determination is YES. Thereby, the above-described non-decimated image processing mode is set in S105. After execution of S105, S108, which will be described in detail later, is executed, and the process returns to S103.

  On the other hand, if the SLOW mode is not selected by operating the mode switch 42, the determination in S104 is NO. Accordingly, the process proceeds to S106. In S106, it is determined whether or not the FAST mode is selected by operating the mode changeover switch 42. Here, if the FAST mode is selected, the determination is YES. Thereby, the above-described thinned image processing mode is set in S107. After execution of S107, S108, which will be described in detail later, is executed, and the process returns to S103.

  On the other hand, if the FAST mode is not selected by operating the mode switch 42, the determination in S106 is NO. Accordingly, the process proceeds to S112. In S112, it is determined whether or not the off mode is selected by operating the mode changeover switch 42. Here, if the off mode is selected by operating the mode changeover switch 42, the determination is YES, and the current main process is immediately terminated. On the other hand, if the off mode is not selected by operating the mode switch 42, the determination is no and the process returns to S103.

  In FIG. 18, S108 of FIG. 17 is conceptually represented by a flowchart as a stereoscopic image processing routine. By executing the stereoscopic image processing routine, the three-dimensional shape of the subject S is detected as a stereoscopic image. In the stereoscopic image processing, the surface color of the same subject S is also detected. The three-dimensional image and the detection result of the surface color are combined in association with the position, which is the three-dimensional color shape detection result.

  In the stereoscopic image processing, first, a finder image is displayed on the monitor LCD 44 in S1001. The viewfinder image is the same image as the image in the range that can be seen through the imaging optical system 30. The user can confirm the captured image (imaging range) before actual imaging by looking at the image displayed on the monitor LCD 44.

  Next, in S1002, the operation state of the release button 40 is scanned. Next, in S1003, it is determined whether or not the release button 40 is in a half-pressed state based on the scan result. If it is in the half-pressed state, the determination is YES, and the autofocus (AF) and automatic exposure (AE) functions are activated in S1004. Thereby, the focus, aperture, and shutter speed are adjusted. If the release button 40 is not half-pressed, the determination in S1003 is NO, and the flow proceeds to S1010.

  After the execution of S1004, the operation state of the release button 40 is scanned again in S1005. Next, in S1006, it is determined whether the release button 40 is fully pressed based on the scan result. If the release button 40 is not fully pressed, the determination in S1006 is NO and the process returns to S1002.

  If the release button 40 shifts from the half-pressed state to the fully-pressed state, the determination in S1006 becomes YES, and a later-described three-dimensional color shape detection process is executed in S1007. Thereby, the three-dimensional shape and surface color of the subject S are detected.

  Briefly described, a three-dimensional color shape detection result of the subject S is generated by this three-dimensional color shape detection process. Here, the three-dimensional color shape detection result is a set of vertex coordinates obtained as a result of converting a plurality of spatial code boundary images detected in a spatial code image, which will be described later, into three-dimensional coordinates. It means that color shape information and polygon information are associated with each other. The color shape information is information representing a combination of real space coordinates and RGB values. The polygon information is information that represents a combination of a plurality of vertices that should be connected to each other to form a solid that three-dimensionally represents the subject S.

  Thereafter, in S1008, the three-dimensional color shape detection result is stored in the external memory 78. In step S1009, the three-dimensional color shape detection result is displayed on the monitor LCD 44 as a three-dimensional computer graphic image.

  Thereafter, in S1010, key scanning is performed in the same manner as in S103 of FIG. Subsequently, in S1011, it is determined whether or not the operation state of the mode switch 42 has changed. If there is no change, determination of S1011 will be YES and will return to S1001. On the other hand, if there is a change, the determination in S1011 is NO, and the current stereoscopic image processing ends.

  In the three-dimensional color shape detection process executed in S1007 in FIG. 18, the three-dimensional shape of the subject S is detected using a spatial coding method.

  In FIG. 19, S1007 of FIG. 18 is conceptually represented by a flowchart as a three-dimensional color shape detection processing routine. A table motor control program 404i is incorporated in the three-dimensional color shape detection processing routine. The table motor control program 404i is configured to include S1201 and S1221 to S1223 of FIG.

  In this three-dimensional color shape detection processing routine, first, the rotational phase PH of the rotational mounting surface 190 is initialized to 0 in S1201. In this embodiment, the rotation mounting surface 190 is stopped four times during one rotation. For this reason, four rotation phases PH are set discretely on the rotation mounting surface 190. Specifically, the rotation phase PH includes “0” representing the initial rotation phase PH, “1” representing the next rotation phase PH, “2” representing the next rotation phase PH, and the last rotation phase. It is discretely changed to “3” representing PH.

  Next, the imaging processing program 404b is executed in S1210. Thereby, an imaging process is executed for the current rotational phase PH. In this imaging process, striped pattern light is sequentially projected from the projection unit 12 onto the subject S. Furthermore, a plurality of patterned light images obtained by imaging the subject S on which a plurality of types of pattern light are projected, and a single patterned light non-image obtained by imaging the same subject S on which pattern light is not projected are acquired. Is done. This S1210 will be described in detail later with reference to FIG.

  When the imaging process ends, in S1220, a three-dimensional measurement process is executed for the current rotational phase PH. When this three-dimensional measurement process is executed, the three-dimensional information of the subject S is actually measured by using a plurality of patterned light images and a single patterned light non-image. This S1220 will be described in detail later with reference to FIG.

  When this three-dimensional measurement process is completed, the rotational phase PH is incremented by 1 in S1221 in preparation for the next imaging. Subsequently, in S1222, it is determined whether or not the current value of the rotational phase PH is greater than 4, that is, whether or not a series of imaging for the subject S has already been completed.

  If the current value of the rotational phase PH is not greater than 4, the determination in S1222 is NO and a predetermined drive signal is output to the table motor 194 in S1223. As a result, the rotary mounting surface 190 rotates 90 degrees clockwise. Thus, the subject S is opposed to the measurement head MH in a partial area different from that at the previous imaging. Thereafter, S1210 and S1220 are executed. Thereby, the above-described imaging process and three-dimensional measurement process are performed for the next rotational phase PH.

  As a result of executing the loop of S1210 to S1223 as many times as necessary, if the determination in S1222 is YES, a 3D color shape detection result is generated by combining the 3D shape measured for the subject S in S1230 and the surface color. Is done. This S1230 will be described in detail later with reference to FIG.

  When this three-dimensional color shape detection result is generated, the current three-dimensional color shape detection process ends.

  Here, S1210 in FIG. 19 will be described in detail with reference to FIG. In FIG. 20, S1210 is conceptually represented by a flowchart as the imaging processing program 404b.

  This imaging processing program 404b incorporates a feed motor control program 404h. The processing of S2002 to S2005, S2010, S2016, and S2017 in FIG. 20 is executed by the feed motor control program 404h.

  In the imaging processing program 404b, first, in S2001, a pattern number PN indicating a pattern light number to be generated this time is initialized to zero. This pattern number PN corresponds to the number (“code” in FIG. 15) of the selected optical element 260 to be selected at this time among the plurality of planar optical elements 260. The selection optical element 260 to be selected this time is positioned on the window 297 in order to project the current pattern light onto the subject S.

  Next, in S2002, the feed motor 65 is driven in a preset direction. Subsequently, in S2003, the PI signal is read from the photo interrupter 300. Thereafter, in S2004, it is determined whether or not the level of the read PI signal has changed from a low level to a high level. That is, it is determined whether or not the carriage 202 has moved to the specific position described above.

  If the level of the PI signal has not changed from the low level to the high level, the determination in S2004 is NO, and the execution of the loop from S2002 to S2004 is resumed. As a result of the loop being executed a plurality of times, if the level of the PI signal changes from the low level to the high level, the determination in S2004 is YES, and the process proceeds to S2005.

  In S2005, a preset drive signal (for example, drive pulse) is supplied to the feed motor 65 in order to further move the carriage 202 at the above-mentioned specific position and position it at the home position. When the carriage 202 is positioned at the home position, the light modulator 200 generates a pattern light having the current pattern number PN among the plurality of planar optical elements 260 (the aforementioned selected optical element). It will face 297.

  After that, in S2006, projection of the PN-th pattern light to which the number equal to the current value of the pattern number PN is started.

  Subsequently, in S2007, a projection process for projecting the PN-th pattern light onto the subject S is performed. FIG. 21 conceptually shows the details of S2007 as a projection processing subroutine in a flowchart. By executing the projection processing subroutine, the projection processing for projecting the PN-th pattern light from the projection unit 12 onto the subject S is realized by the cooperative action with the projection mechanism 66.

  In this projection processing, first, the light source driver 84 is driven in S3004. Subsequently, in S3005, the LED 62 emits light by an electrical signal from the light source driver 84. This is the end of the current projection process.

  The light emitted from the LED 62 reaches the projection mechanism 66 through the light source lens 64. In the projection mechanism 66, spatial modulation is performed according to the surface shape of the selection optical element 260. As a result, light incident on the projection mechanism 66 is converted into pattern light and emitted. This pattern light is projected as a projection image onto the subject S via the projection optical system 32.

  When the PN-th pattern light is projected onto the subject S as described above, the subject S on which the PN-th pattern light is projected is imaged by the imaging unit 14 in S2008 of FIG.

  A PN-th pattern light existence image is acquired by the imaging. The acquired pattern light existence image is stored in the pattern light existence image storage unit 406a in association with the corresponding pattern number PN.

  When the imaging is finished, the projection of the PN-th pattern light is finished in S2009. In step S2010, the feed motor 65 feeds the carriage 202 by one pitch in preparation for projecting the next pattern light. In step S2011, the pattern number PN is incremented by 1 to prepare for projecting the next pattern light.

  Subsequently, in S2012, it is determined whether or not the current value of the pattern number PN is smaller than the maximum value PNmax. The maximum value PNmax is determined according to the total number of mask patterns used. For example, when eight types of mask patterns are used, the maximum value PNmax is set to 8.

  If the current value of the pattern number PN is smaller than the maximum value PNmax, the determination in S2012 is YES, and the execution of the loop from S2006 to S2012 is resumed for projection of the pattern light having the current pattern number PN.

  If the current value of the pattern number PN becomes larger than the maximum value PNmax as a result of repeating the loop of S2006 to S2012 as many times as the number of types of pattern light, the determination in S2012 is NO and the current imaging process is terminated. . Therefore, the same number of patterned light images as the maximum value PNmax are acquired by one imaging process.

  Subsequently, in S2013, it is determined whether or not the flash mode is selected. If the flash mode is selected, the determination is YES, and the white LED group 26 emits light in S2014. As a result, the subject S is illuminated uniformly as described above. On the other hand, if the flash mode is not selected, the determination in S2013 is NO and S2014 is skipped. In any case, the subject S is then imaged in S2015.

  This imaging is performed without projecting pattern light from the projection unit 12 onto the subject S for the purpose of measuring the surface color of the subject S. As a result, one pattern light no image is acquired for the subject S. The acquired pattern light no image is stored in the pattern light no image storage unit 406b. Since the subject S is uniformly illuminated, the subject S included in the non-patterned light image receives a uniform illuminance and illumination direction and is emitted by the subject S. An image having luminance and chromaticity close to the values is obtained, and a shadowed portion is considerably reduced. Therefore, color information with high color reproduction and accurate luminance and chromaticity can be obtained. This means that, in the three-dimensional color information obtained by stitching color information from a plurality of directions three-dimensionally, the color step at the stitch boundary line can be reduced by a considerable amount, and high-quality three-dimensional color shape content data can be obtained. Has a remarkable effect.

  Subsequently, in S2016, the feed motor 65 is driven so as to return the carriage 202 to the aforementioned home position. Thereafter, in S2017, the feed motor 65 stops and shifts to a standby state.

  This completes one execution of the imaging processing program 404b.

  FIG. 22 is a timing chart showing an example of the operation of the three-dimensional information measuring apparatus 10 accompanying one execution of the imaging processing program 404b. This example of operation is executed by the three-dimensional information measuring apparatus 10 when the release button 40 is operated in the fully pressed state when the FAST mode is selected.

  FIG. 22A shows a state in which the CCD 70 is continuously exposed a plurality of times by the incident light from the subject S. In FIG. 22B, a signal output timing at which the optical image from the subject S is converted into a light source for each pixel by the CCD 70 and output for each of the multiple exposures is shown in a timing chart. FIG. 22C shows a timing chart at which the image processing mode of the imaging unit 14 is switched to one of the above-described thinned-out image processing mode or non-thinned-out image processing mode.

  Further, in FIG. 22D, timings at which the state of the imaging unit 14 is switched between a standby state and an operation state for imaging and signal extraction are shown in a timing chart. In FIG. 22E, the timing at which each planar optical element 260 is determined in the light modulator 200 to form each pattern light is shown in a timing chart. FIG. 22F shows the timing at which the white LED group 26 is switched between the OFF state and the ON state in a timing chart. FIG. 22G shows the timing at which the release button 40 switches between a non-operation state (OFF state) and an operation state (ON state) in a timing chart.

  In the present embodiment, the CCD 70 is in an exposure state, receives the subject S image, and then a signal reflecting the exposure is taken out from the CCD 70. One signal extraction corresponds to one exposure. These exposure and signal extraction cooperate with each other to form a single individual imaging process.

  In the present embodiment, acquisition of three-dimensional shape information and surface color information for the same subject S is performed sequentially and continuously.

  As described above, eight types of pattern light (pattern numbers PN = 0 to 7) are sequentially projected onto the subject S. An individual imaging process is performed once for each pattern light projection. That is, in order to acquire the three-dimensional shape information of the subject S, the individual imaging processing for the subject S is sequentially performed a total of eight times. In FIG. 22, the pattern light number PN corresponding to each individual imaging process for acquiring the three-dimensional shape information is indicated by numerals “0” to “7”.

  In order to acquire the surface color information of the subject S, the CCD 70 is exposed once by the incident light from the subject S, and then the signal is extracted. That is, in order to acquire the surface color information of the subject S, the individual imaging process is performed once. In FIG. 22, a single individual imaging process for acquiring surface color information is indicated by a symbol “c”.

  Therefore, in the present embodiment, eight individual imaging processes for acquiring three-dimensional shape information and one individual imaging process for acquiring surface color information are continuously performed. That is, a total of nine individual imaging processes are continuously performed. In the present embodiment, these nine individual imaging processes cooperate with each other to form one whole imaging process.

  In these nine individual imaging processes, nine exposures of the same subject S are sequentially performed. These nine exposures are performed at the same speed and the same cycle as the video rate, for example. The period in which these nine exposures are continuously performed is a period in which the influence appears in the imaging result of the CCD 70 when the relative position between the subject S and the three-dimensional information measuring apparatus 10 changes. This period is the imaging time of the three-dimensional information measuring apparatus 10. It means that the moving image imaging capability of the three-dimensional information measuring apparatus 10 is higher as the imaging time is shorter.

  In one example of operation shown in FIG. 22, signal extraction in eight individual imaging processes for acquiring three-dimensional shape information is performed as thinned image processing. Accordingly, in each individual imaging process for acquiring three-dimensional shape information, an electrical signal is output from the CCD 70 after the necessary signal extraction time t1 has elapsed following exposure of the CCD 70. The signal extraction time t1 is also referred to as one frame extraction time. The three-dimensional shape required until one frame of three-dimensional shape information is output from the CCD 70 after the exposure of the CCD 70 is completed for each pattern light projection. It means the information output time.

  In the example illustrated in FIG. 22, signal extraction in one individual imaging process for obtaining surface color information is executed as non-decimated image processing. Accordingly, in one individual imaging process for obtaining surface color information, an electrical signal is output from the CCD 70 after the signal extraction time t2 required after the exposure of the CCD 70 has elapsed. The signal extraction time t2 is also called one frame extraction time, and means the surface color information output time required until the surface color information is output from the CCD 70 for one frame after the exposure of the CCD 70 is completed.

  The signal extraction time t1 required for the thinned-out image processing is shorter than the signal extraction time t2 required for the non-thinned-out image processing. For example, while the signal extraction time t1 is about 33 ms, the signal extraction time t2 is about 0.5 s.

  As shown in FIGS. 22A and 22B, in one individual imaging process, signal extraction is started after the exposure is completed. The exposure in the next individual imaging process is started before the signal extraction in the previous individual imaging process is completed. That is, signal extraction in a certain individual imaging process is executed so as to partially overlap with exposure in the next individual imaging process. However, the signal extraction in a certain individual imaging process ends before the exposure in the next individual imaging process ends.

  Therefore, in this embodiment, as shown in FIG. 22B, eight times of signal extraction for acquiring the three-dimensional shape information are continuously performed with no time gap.

  Each signal extraction is completed in about 33 ms if it is executed as a thinned image process. Therefore, eight signal extractions are completed in about 0.26 s. Therefore, the length of the part (hereinafter referred to as “partial imaging time”) necessary for imaging for acquiring the three-dimensional shape information in the imaging time (total imaging time) shown in FIG. 22 is the length of the signal extraction time. Since it is governed by the total value, the length of about 0.26 s is sufficient.

  On the other hand, if each signal extraction is executed as non-decimated image processing, about 0.5 s is required. Therefore, about 5 seconds are required for eight times of signal extraction. Thus, the corresponding partial imaging time also needs to be as long as that.

  As described above, when the signal extraction from the CCD 70 is executed as the thinned image processing, the imaging time is shortened. As a result, the influence of the movement of the subject S and the shake of the three-dimensional information measuring apparatus 10 is reduced, and the three-dimensional shape of the subject S can be measured with high accuracy.

  Furthermore, as shown in FIG. 22, in this embodiment, the exposures immediately before the second to eighth exposures for acquiring the three-dimensional shape information and the exposures for acquiring the surface color information are respectively preceded. The processing is started without waiting for the end of the signal extraction corresponding to. The signal extraction corresponding to the preceding exposure and the subsequent exposure are performed in parallel with each other. That is, nine times of signal extraction are continuously performed with no time gap. Therefore, the imaging time shown in FIG. 22, that is, the time necessary to continuously perform both the imaging for acquiring the three-dimensional shape information and the imaging for acquiring the surface color information is shortened.

  Specifically, each signal extraction is completed in about 33 ms when it is executed as a thinned image process. For this reason, nine signal extractions are completed in about 0.3 s. As a result, the corresponding total imaging time can be as long as that.

  For example, when performing surface color measurement imaging processing and 3D measurement imaging processing in this order, the first exposure for acquiring 3D shape information must be waited until signal extraction in the preceding surface color measurement imaging processing is almost completed. I must. The waiting time is approximately equal to the length of the signal extraction time t2 and is about 0.5 s. In the surface color measurement imaging process, signal extraction is executed as non-decimated image processing. In the three-dimensional measurement imaging process, signal extraction is executed as a thinned image process.

  In this case, a slightly longer time interval exists between the exposure for acquiring the surface color information and the first exposure for acquiring the three-dimensional shape information. Therefore, the entire imaging time shown in FIG. 22 becomes long. On the other hand, when the relative displacement between the measuring head MH and the subject S does not exist or is sufficiently small, it is not a problem that the entire imaging time is slightly long. On the other hand, when the relative displacement between the measuring head MH and the subject S is large, if the entire imaging time is long, the surface color information and the three-dimensional shape information are sufficiently accurately matched with respect to the pixel position. I will not. That is, the texture mapping accuracy is lowered.

  On the other hand, in this embodiment, as shown in FIG. 22, eight individual imaging processes for acquiring three-dimensional shape information are performed first, and one individual imaging process for acquiring surface color information is performed later. Done. As a result, the eighth exposure for obtaining the preceding three-dimensional shape information and the subsequent exposure for obtaining the surface color information are performed eight times for obtaining the preceding three-dimensional shape information. It becomes possible to carry out continuously with the same period. Therefore, according to the present embodiment, it is possible to reduce the total imaging time to about 0.3 s.

  Therefore, according to the present embodiment, it is possible to continuously perform exposure for acquiring three-dimensional shape information and exposure for acquiring surface color information at sufficiently short time intervals. As a result, high texture mapping accuracy is realized without being affected by the presence or absence of relative displacement between the measurement head MH and the subject S.

  According to the present embodiment, when the signal extraction from the CCD 70 for obtaining the three-dimensional shape information is executed in the thinned image processing mode (when the user selects the FAST mode), high texture resolution, that is, surface color measurement accuracy 3D information measuring apparatus 10 suitable for capturing a moving image with high texture mapping accuracy is provided.

  Further, in the present embodiment, the user appropriately changes the image processing mode for acquiring the three-dimensional shape information to any one of the thinned image processing mode, that is, the FAST mode, or the non-thinned image processing mode, that is, the SLOW mode. Is possible. If the user selects the FAST mode in an environment where there is a concern about the decrease in texture mapping accuracy, the texture mapping accuracy does not decrease in spite of such an environment. On the other hand, if the user selects the SLOW mode in an environment where there is no concern about the decrease in texture mapping accuracy, not only high texture mapping accuracy but also high three-dimensional shape measurement accuracy is realized.

  According to the present embodiment, the user can arbitrarily set the three-dimensional information measuring device 10 according to the usage environment of the three-dimensional information measuring device 10 and the user's request for each of the three-dimensional shape measurement accuracy and the texture mapping accuracy. Can be changed. Therefore, according to the present embodiment, an easy-to-use three-dimensional information measuring apparatus 10 is provided.

  Here, S1220 of FIG. 19 will be described in detail with reference to FIG. In FIG. 23, S1220 is conceptually represented by a flowchart as a three-dimensional measurement processing subroutine.

  In this three-dimensional measurement processing subroutine, first, in S4001, a luminance image is generated by executing the luminance image generation program 404c.

In S4001, the luminance value is defined as the Y value in the YCbCr space. Luminance value from RGB value of each pixel,
Y = 0.2989 · R + 0.5866 · G + 0.1145 · B
It is calculated using the following formula. By obtaining the Y value for each pixel, a plurality of luminance images corresponding to the plurality of patterned light images are generated. These generated luminance images are stored in the luminance image storage unit 406c in association with the pattern number PN. However, the formula used for calculating the luminance value is not limited to the above formula, and can be appropriately changed to another formula.

  In step S4002, the code image generation program 404d is executed. When the code image generation program 404d is executed, the plurality of generated luminance images are combined using the above-described spatial encoding method. As a result, a code image in which a spatial code is assigned to each pixel is generated. The code image is generated by binarization processing by comparing a luminance image related to a plurality of types of patterned light-stored images stored in the luminance image storage unit 406c and a threshold image to which a luminance threshold is assigned for each pixel. The generated code image is stored in the code image storage unit 406d.

  FIG. 23 conceptually shows the details of the code image generation program 404d in a flowchart. As described above, the technique employed in the code image generation program 404d is described in detail in Japanese Patent Application No. 2004-285736 of the present applicant, and is also employed in this embodiment.

  The code image generation program 404d will be described below, but will be described in principle prior to that.

  In the present embodiment, a plurality of luminance images are generated for the same subject S (three-dimensional object) based on a plurality of types of pattern light. Each of these pattern lights is formed such that a bright pattern line having a bright part, that is, a width, and a dark part, that is, a dark pattern line having a width, are alternately repeated at a constant period. These pattern lights are different from each other with respect to their periods, and are each referred to as a pattern light having a pattern number PN. Among these pattern lights, the pattern light having the shortest cycle is a pattern light having a pattern number PN of 0, and the pattern light having the longest cycle is a pattern light having a pattern number PN of (PNmax-1). is there.

  Since any luminance image is acquired under the corresponding pattern light, it is formed as a pattern image in which bright pattern lines and dark pattern lines are alternately arranged. The interval, that is, the period of the pattern lines depends on the relative geometric relationship between the three-dimensional information measuring apparatus 10 and the subject S (the relationship regarding the position and orientation). For this reason, it is not necessarily constant at all positions in each luminance image. A plurality of luminance images respectively acquired under a plurality of types of pattern light are specified using the corresponding pattern light pattern number PN.

  In the present embodiment, any one of the plurality of luminance images is selected as the representative pattern image. A typical example of the representative pattern image is a luminance image corresponding to an image having a minimum pattern line cycle among a plurality of types of pattern light. That is, it is a luminance image whose pattern number PN is 0.

  In the luminance image obtained by imaging the subject S on which the pattern light is projected, the luminance value changes spatially and periodically in the direction of the pixel column. There is an envelope that touches the lower peak point (lowest luminance point) in the graph representing the periodic change. This envelope represents a spatial change in the luminance value in the luminance image obtained by imaging the same subject S in the non-irradiated state, that is, the luminance value of the background light of the subject S. For a luminance image in which such an envelope exists, it is desirable to change the threshold value according to the pixel position in order to accurately binarize the luminance value of each pixel by threshold processing. That is, it is desirable to adaptively change the threshold value by tracking the actual luminance value change of the luminance image.

  Based on such knowledge, in this embodiment, a filter window for calculating a threshold value by performing filter processing on the luminance image is locally set. By performing the filtering process, a threshold value suitable for the position is set locally for the luminance image. If a window is set at a certain local position in the luminance image, the luminance values of the pixels existing in the window among the plurality of pattern lines constituting the luminance image are extracted and referred to. Thereby, a threshold value corresponding to the certain local position is set.

  The window used in this embodiment is a rectangular window. When this rectangular window is adopted, the luminance values of the pixels constituting the plurality of pattern lines existing in the rectangular window are extracted, and the threshold value is calculated by using the same weighting coefficient for these luminance values. Is done. The window function of the rectangular window is defined by the weight coefficient.

  When a rectangular window is used, the number of pixels existing in the line direction within the rectangular window can be changed according to the size of the rectangular window in the line direction in which the pattern line extends (hereinafter referred to as “line direction size”). It can be. On the other hand, the number of pattern lines existing in the column direction in the rectangular window according to the size of the rectangular window in the column direction in which a plurality of pattern lines are arranged in a row (hereinafter referred to as “column direction size”). The number of pixels can also be variable.

  Therefore, when a rectangular window is adopted, the threshold value calculated from the luminance image changes by setting the window in the luminance image according to the column-direction size of the rectangular window. For example, when the threshold value needs to be changed as appropriate, the column direction size of the rectangular window may be changed as appropriate.

  In the present embodiment, the size of the window configured as a rectangular window is set so that the number of pattern lines existing in the window is an integral multiple of the interval, that is, the period (for example, the period in which bright pattern lines are repeated). It is desirable. That is, it is desirable to set the size of the window so that the same number of bright pattern lines and dark pattern lines exist in the window. With this setting, it is possible to obtain a desired threshold with high accuracy by calculating the average value of the luminance values of a plurality of pattern lines existing in the window.

  However, even on the same luminance image, the period of the pattern line may vary depending on the location. For this reason, when the size of the window is fixed, the number of pattern lines existing in the window varies depending on the location, and the threshold setting accuracy decreases.

  In the present embodiment, among a plurality of luminance images, an image captured under the pattern light having the minimum pattern line period, that is, a luminance image having a pattern number PN of 0 is selected as the representative pattern image. . Furthermore, in this embodiment, the window VW set locally with respect to the representative pattern image is configured as a variable window whose size is variable. Thereby, the size of the variable window VW is changed in accordance with the actual pattern line period of the representative pattern image.

  Therefore, according to the present embodiment, even if the pattern line period in the representative pattern image varies according to the position in the column direction, the size of the variable window VW is changed so as to follow it. As a result, the number of bright and dark pattern lines existing in the variable window VW is maintained constant without being affected by variations in the pattern line period. In the present embodiment, the threshold value TH is acquired for each local position where the variable window VW is set for the representative pattern image. The threshold value TH for each local position is accurately obtained based on the variable window VW having the optimum size for each local position.

  Further, the size of the variable window VW that keeps the number of pattern lines of the bright part and the dark part constant is minimum in the luminance image whose pattern number PN is 0. Accordingly, the size of the variable window VW can be minimized by selecting a pattern number PN of 0 as the representative pattern image. Thereby, the calculation burden of the filter process after using the variable window VW is suppressed.

  In the present embodiment, the variable window VW is configured as a rectangular window whose size is variable. The size of the variable window VW is set to be variable in the column direction of the representative pattern image. On the other hand, it is set to be fixed in the line direction.

  In the present embodiment, the size of the variable window VW, that is, the size in the column direction of the representative pattern image is set so as to adaptively reflect the actual pattern line period of the representative pattern image. Therefore, in order to set the size of the variable window VW, it is necessary that the actual pattern line period distribution of the representative pattern image is known in advance.

  Therefore, in this embodiment, prior to setting the size of the variable window VW, a fixed window with a fixed size is set for the representative pattern image. A plurality of continuous pixels captured by the set fixed window are selected as a plurality of target pixels. Based on the luminance value of the selected target pixel, the actual pattern line period distribution of the representative pattern image is acquired.

  In the present embodiment, an FFT (Fast Fourier Transform) process is further performed on the luminance values of a plurality of target pixels in the representative pattern image. Thereby, the intensity (for example, power spectrum) is acquired for each frequency component of the luminance value change in the column direction of the representative pattern image. Here, the “frequency component” means the number of repetitions in which the change in luminance value is repeated when a plurality of target pixels captured by one fixed window are traced in the column direction.

  In the present embodiment, each of a plurality of continuous pixels continuously arranged in the column direction in the representative pattern image is sequentially selected as a target pixel. A pattern line period is acquired for each selected target pixel based on the luminance value distribution of the representative pattern image.

  The code image generation program 404d has been described in principle above, but will be described below with reference to FIG.

  In the code image generation program 404d, first, in S5001, the luminance image of the subject S onto which the pattern light with the pattern number PN0 is projected is read from the luminance image storage unit 406c as a representative pattern image.

  Next, in S5002, the pattern line period is calculated for each pixel continuously arranged in the column direction in the representative pattern image based on the read luminance image by the above-described approach based on the FFT conversion. . The calculated plurality of pattern line periods are stored in the period distribution storage unit 406p in association with each pixel (each column direction pixel position).

  Subsequently, in S5003, the characteristics of the variable window VW are locally set based on the plurality of calculated pattern line periods. In the present embodiment, the line direction size of the variable window VW is set so as not to change regardless of the position on the representative pattern image where the variable window VW is set. On the other hand, the column direction size of the variable window VW is set so as to correspond to an integral multiple of the pattern line period calculated in association with each column direction pixel position.

  Thereafter, in S5004, a variable window VW is set in association with each pixel in a plane along the line direction and the column direction with respect to the representative pattern image. Thereby, for each pixel, the average value of the luminance values of a plurality of pixels existing in the variable window VW is calculated as a local threshold value. In S5004, a threshold image in which the calculated threshold is assigned to each pixel is further generated. The generated threshold image is stored in the threshold image storage unit 406q.

  Subsequently, in S5005, the pattern number PN is initialized to 0. Next, in S5006, it is determined whether or not the current value of the pattern number PN is smaller than the maximum value PNmax. Here, since the current value of the pattern number PN is 0, the determination is no, and the process proceeds to S5007.

  In S5007, the luminance value of the luminance image assigned the pattern number PN equal to the current value of the pattern number PN and the threshold value of the generated threshold image are compared with each other for each pixel. The comparison result is reflected in the binarized image for each pixel. Specifically, when the luminance value of the luminance image is larger than the threshold value, data representing “1” is stored in the binarized image storage unit 406r in association with the corresponding pixel position in the binarized image. . On the other hand, when the luminance value of the luminance image is not greater than the threshold value, data representing “0” is stored in the binarized image storage unit 406r in association with the corresponding pixel position in the binarized image.

  Thereafter, in S5008, the pattern number PN is incremented by one. Subsequently, returning to S5006, it is determined whether or not the current value of the pattern number PN is smaller than the maximum value PNmax. Also in this time, it is determined that the current value of the pattern number PN is smaller than the maximum value PNmax, the result is NO, and the process proceeds to S5007.

  As a result of the execution of S5006 to S5008 being repeated the same number of times as the number of pattern light types, if the current value of the pattern number PN becomes a value greater than the maximum value PNmax, the determination in S5006 becomes YES, and the flow proceeds to S5009.

  In S5009, for each pixel, pixel values (“1” or “0”) are extracted from the same number of binarized images as the maximum value PNmax according to a predetermined order. This predetermined order is an order from a binary image corresponding to a luminance image having a pattern number PN of 0 to a binary image corresponding to a luminance image having a pattern number PN of (PNmax-1). . Thereby, spatial codes arranged in the order from the least significant bit LSM to the most significant bit MSB are generated. The number of bits of the spatial code for each pixel is the same as the maximum value PNmax. By generating a spatial code for each pixel, a spatial code image corresponding to the current subject S is generated. The generated spatial code is stored in the spatial code storage unit 116d in association with each pixel position. For example, when the maximum value PNmax is 8, the generated spatial code has a value in the range from 0 to 255.

  This completes one execution of the code image generation program 404d.

  Thereafter, a code boundary coordinate detection process is performed by executing the code boundary extraction program 404e in S4003 in FIG. Encoding by the above-described spatial encoding method is performed for each pixel. For this reason, the boundary line of light and dark in the actual pattern light and the boundary line of the spatial code in the generated code image (the boundary between the area assigned with one spatial code and the area assigned with another spatial code) An error of sub-pixel accuracy occurs between the line and the line. Therefore, this code boundary coordinate detection process is performed for the purpose of detecting the boundary coordinate value of the spatial code with subpixel accuracy.

  For example, 255 discrete reference line positions intersecting the line direction of each pattern light are set in the CCD coordinate system. At this time, if the maximum value PNmax is 8 (the boundary is 255 because it has 256 spatial codes), the boundary coordinate values of a maximum of about 65,000 spatial codes by S4003 (execution of the code boundary extraction program 404e) in FIG. Is detected.

  The detected code boundary coordinate value is stored in the code boundary coordinate storage unit 406e. The code boundary coordinate values are defined in a CCD coordinate system ccdx-ccdy, which is a two-dimensional coordinate system set on the imaging plane of the CCD 70.

  Subsequently, in S4004, a lens aberration correction process is performed by executing the lens aberration correction program 404f. This lens aberration correction process is a process of correcting an actual image formation position of a light beam incident on the image pickup optical system 30 and being affected by the aberration of the image pickup optical system 30 so as to approach the ideal image formation position. is there. The ideal imaging position represents a position to be imaged when the imaging optical system 30 is an ideal lens system (that is, a non-aberration lens system).

  By this lens aberration correction processing, the code boundary coordinate value detected in S4003 is corrected so that an error caused by distortion or the like of the imaging optical system 30 is removed. The code boundary coordinates corrected as described above are stored in the aberration correction coordinate storage unit 406g.

  Neither the code boundary coordinate detection process nor the lens aberration correction process is indispensable for understanding the present invention, and is disclosed in detail in Japanese Patent Application No. 2004-105426 of the present applicant. Therefore, the above publication should be referred to for a detailed description of the above process, and a detailed description thereof is omitted here.

  Thereafter, in S4005, real space conversion processing based on the principle of triangulation is performed by executing the triangulation calculation program 404g. If this real space conversion processing is performed, the code boundary coordinate values on the CCD coordinate system ccdx-ccdy and subjected to aberration correction are converted into three-dimensional coordinates set in the real space according to the principle of triangulation. It is converted into a three-dimensional coordinate value on the real space coordinate system XYZ which is a system. As a result, a three-dimensional coordinate value as a three-dimensional color shape detection result is acquired. The acquired three-dimensional coordinate value is associated with the rotation phase PH of the corresponding partial image and stored in the three-dimensional coordinate storage unit 406h.

  In S4005, in order to spatially discretely measure the three-dimensional shape of the subject S as a collection of a plurality of three-dimensional vertices, a plurality of discrete two-dimensional code images intersect with the line direction of each pattern light. Referenced spatially with respect to the reference line. As a result, not only a plurality of three-dimensional vertices respectively corresponding to a plurality of discrete points on the outer boundary of the code image are acquired, but also a plurality of discrete points (the code detected in S4003) inside the code image. A plurality of three-dimensional vertices respectively corresponding to the boundary coordinate point) are acquired.

  Here, S1230 in FIG. 19 will be described in detail with reference to FIG. FIG. 25 conceptually shows a flowchart of S1230 as a three-dimensional color shape detection result generation subroutine.

  In the three-dimensional color shape detection result generation subroutine, first, in S5501, a plurality of three-dimensional coordinate values are loaded from the three-dimensional coordinate storage unit 406h in association with the rotation phases PH0 to PH3. In the present embodiment, the entire outer surface of the subject S is divided into four partial surfaces (front, right side, left side, and back), and a stereoscopic image is generated for each partial surface. In S5501, for all four partial surfaces, a plurality of three-dimensional coordinate values belonging to each partial surface are loaded from the three-dimensional coordinate storage unit 406h.

  Next, in S5502, a rotation transformation corresponding to the rotation phase PH of each partial surface to which each three-dimensional coordinate value belongs is performed on the loaded plurality of three-dimensional coordinate values (vertex coordinate values). Thereby, a plurality of three-dimensional coordinate values belonging to the four partial surfaces are combined in anticipation of the rotational phase PH of each partial surface. As a result, four partial surfaces that are three-dimensionally expressed by a plurality of three-dimensional coordinate values are integrated, and an image showing the entire outer surface of the subject S is synthesized. However, at this stage, there is a spatially overlapping portion in the synthesized image due to the divided imaging method of the measuring head MH.

  In step S5503, a spatially overlapping portion is extracted from the generated composite image. Further, two overlapping portions in each region in the length direction of the composite image are combined into one portion by a method such as averaging of a plurality of three-dimensional coordinate values belonging to the two portions. As a result, spatial overlap is removed in the composite image. Thereby, a stitch image is completed. Data representing the stitch image is stored in the stitch image storage unit 406s.

  Thereafter, in S6001, the RGB values (R luminance value, G luminance value, and B luminance value) corresponding to each real coordinate space coordinate value of the three-dimensional vertex group coordinate-converted to the above-described real space three-dimensional coordinate system are converted to the above-described surface. Extracted from the color image.

  The relationship between the real space coordinate system and the plane coordinate system that defines the surface color image is geometrically associated with each other by the triangulation calculation described above. That is, there is a code image (that is, a function used to map a plane coordinate system defining a shape image, which is a two-dimensional image for measuring the three-dimensional shape of the subject S, to a real space three-dimensional coordinate system). In this case, by using an inverse function of the function, the real space three-dimensional coordinate system can be calculated and mapped to the plane coordinate system defining the surface color image. Therefore, in S6001, it is possible to extract the surface color value, that is, the RGB value, corresponding to each three-dimensional vertex from the two-dimensional surface color image.

  In step S6002, color shape information is generated for each vertex by combining corresponding real space coordinate values and RGB values. Further, the generated color shape information is stored locally in the working area 410 in association with the corresponding vertex directly or indirectly.

  Subsequently, in S6003, among a plurality of vertices acquired for the subject S, a plurality of vertices that are close in distance are grouped by three. This is performed to approximately represent the surface shape of the subject S by dividing it into triangles, which are examples of a plurality of polygons. Three vertices for each group are connected to each other to form one polygon.

  Thereafter, in S6004, for each polygon, a combination of three vertices to be connected to each other to form the polygon is locally stored in the working area 410 as polygon information in association with each polygon directly or indirectly. The polygon information is stored in the three-dimensional color shape data storage unit 406t as information representing the three-dimensional color shape of the subject S as necessary.

  Thus, one execution of this three-dimensional color shape detection result generation subroutine is completed. Accordingly, one execution of the three-dimensional color shape detection processing routine shown in FIG.

  Here, with reference to FIG. 26, an example in which the three-dimensional information measurement apparatus 10 is used to measure the three-dimensional information of the large subject S ′ will be described. The subject S ′ is, for example, a user's hand. FIG. 26 shows a state in which the user puts his hand in the white curtain 600 and places it on the rotary placement surface 190.

  When a hand is submerged in the white curtain 600, as shown in FIG. 26, the edge hangs along the user's arm surface. That is, the white curtain 600 can surround an object protruding from a dark space formed by itself without any gap along the shape at the boundary of the space. This makes it possible to satisfactorily prevent disturbance light from entering the dark space at the interface between the white curtain 600 and the arm.

  That is, when a member having flexibility such as the white curtain 600 is used, there is an effect that the airtightness of the dark space is maintained even when a subject having a size exceeding the dark space is placed on the rotating placement surface 190. . That is, according to the three-dimensional information measuring apparatus 10 of the present embodiment, even if the measurement object is large, the measurement site can be included in a dark space that is not affected by ambient light. For this reason, the CCD 70 can capture a high-contrast projection pattern image and a subject image illuminated with a uniform amount of light. As a result, highly accurate three-dimensional information measurement can be realized.

  The above is the embodiment of the present invention. The present invention is not limited to these embodiments and can be modified in various ranges. For example, the means for forming the dark space is not limited to the white curtain 600.

  As an alternative to the white curtain 600, for example, a bellows-like curtain or a braided bag can be cited. FIG. 27 shows a three-dimensional information measuring apparatus 10y in which the white curtain 600 is replaced with a bellows-like curtain 700. FIG. 28 shows a three-dimensional information measuring apparatus 10z in which the white curtain 600 is replaced with a braided bag 800. In these three-dimensional information measuring devices 10y and z, the same components as those of the three-dimensional information measuring device 10 of the present embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  The bellows-like curtain 700 may be made of the same material as the white curtain 600, for example. Further, it may be made of a cloth having a high light shielding property. That is, the bellows-like curtain 700 is made of a material that is lightweight and excellent in flexibility. As shown in FIG. 27, the bellows-like curtain 700 has a bellows structure that can be expanded and contracted in the direction of arrow D. The bellows-like curtain 700 can be detached from the measuring head MH similarly to the white curtain 600 of the present embodiment. By removing from the measuring head MH and folding it in the direction of arrow D, the bellows-like curtain 700 becomes extremely compact.

  That is, even when the three-dimensional information measuring apparatus 10y is configured to form a dark space with the bellows-like curtain 700, the apparatus can be reduced in size and weight as in the present embodiment. Since the bellows-like curtain 700 is made of a flexible material like the white curtain, it can be freely deformed so as to maintain the airtightness of the dark space even when measuring a large subject. The bellows-shaped curtain 700 is difficult to be deformed by an external force received from a direction orthogonal to the arrow D direction. Therefore, in the three-dimensional information measuring apparatus 10y, the subject can be imaged satisfactorily without the support column 530.

  In the knitted bag 800, for example, yarns are densely knitted to an extent that has excellent light shielding properties. That is, it can be said that the braided bag 800 is also made of a material that is lightweight and excellent in flexibility. This braided bag 800 can also be removed from the measuring head MH, like the white curtain 600 of the present embodiment. By removing it from the measuring head MH and folding it, the braided bag 800 becomes extremely compact.

  That is, when the three-dimensional information measuring apparatus 10z is configured so as to form a dark space with the braided bag 800, the apparatus can be reduced in size and weight as in the present embodiment. Further, since the braided bag 800 is made of a flexible material like the white curtain, it can be freely deformed so as to maintain the airtightness of the dark space even when measuring a large subject.

  As described above, even when the three-dimensional information measuring device is configured to form a dark space using the bellows-shaped curtain 700 or the braided bag 800, the same effect as the three-dimensional information measuring device of the present embodiment is obtained. I can say that I play.

It is the perspective view which showed the external appearance of the three-dimensional information measuring apparatus which concerns on embodiment of this invention. It is the perspective view which showed the external appearance of the three-dimensional information measuring apparatus which concerns on embodiment of this invention. It is the side view which showed the external appearance of the three-dimensional information measuring apparatus which concerns on embodiment of this invention. It is the side view which showed the external appearance of the three-dimensional information measuring apparatus which concerns on embodiment of this invention. The development which observed the white curtain from the inner surface side is shown. Sectional drawing of a white curtain is shown. It is sectional drawing for demonstrating the coupling | bonding relationship of a curtain frame and a measurement head. The rear view of the measurement head of the state with which the curtain frame was mounted | worn is shown. The side view of the three-dimensional information measuring device for demonstrating the effect | action of a white curtain is shown. It is a plane sectional view showing an internal configuration of a measurement head. It is a top view which expands and shows a projection part. 1 is a block diagram conceptually showing an electrical configuration of a three-dimensional information measuring apparatus according to an embodiment of the present invention. It is a front view which shows a projection mechanism. It is a fragmentary sectional top view which shows the principal part of a projection mechanism. It is a front view which expands and shows a rotation angle adjustment mechanism partially. It is a front view which expands and shows a light modulator. 3 is a flowchart conceptually showing main processing executed in a camera control program. 18 is a flowchart conceptually showing stereoscopic image processing executed in S108 of FIG. FIG. 19 is a flowchart conceptually showing the three-dimensional color shape detection process executed in S1007 of FIG. 18 as a three-dimensional color shape detection process routine. FIG. 20 is a flowchart conceptually showing S1210 of FIG. 19 as an imaging processing program. FIG. 21 is a flowchart conceptually showing a projection process executed in S2007 of FIG. 20 as a projection process subroutine. It is a timing chart for demonstrating the action | operation of the three-dimensional information measuring apparatus which concerns on embodiment of this invention. FIG. 20 is a flowchart conceptually showing S1220 of FIG. 19 as a three-dimensional measurement processing subroutine. 24 is a flowchart conceptually showing a code image generation program executed in S4002 of FIG. FIG. 20 is a flowchart conceptually showing S1230 of FIG. 19 as a three-dimensional color shape detection result generation routine. A state in which the user puts his hand in the white curtain and places it on the rotating placement surface is shown. It is the side view which showed the external appearance of the three-dimensional information measuring apparatus provided with the bellows-like curtain. It is the side view which showed the external appearance of the three-dimensional information measuring apparatus provided with the braided bag.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 3D information measuring device 12 Projection part 14 Imaging part 16 Processing part 26 White LED group 510 Lever 520 Joint 530 Support | pillar 600 White curtain 610 Curtain frame MH Measurement head RT Rotary table unit

Claims (12)

In a 3D information measuring device that measures the 3D shape of a subject,
A mounting table having a rotatable rotating mounting surface on which a subject is mounted;
A light projecting unit that has a light source and an emission port, and projects light from the light source emitted from the emission port onto a subject on the rotating placement surface;
An image information generating unit that has an entrance and receives an image incident on the entrance among images of a subject to which the light is projected, and generates image information;
A light-shielding curtain for forming a substantially dark space, comprising at least the exit port, the entrance port, and a light-shielding curtain that encloses the subject on the rotating placement surface in the dark space. The three-dimensional information measuring device characterized by the above. The light projecting means is
An illumination means for illuminating a subject with illumination light emitted from the illumination light exit, the illumination light exit having an illumination light exit;
Pattern light projecting means for projecting predetermined pattern light, and pattern light projecting means for projecting the pattern light ejected from the pattern light exit to a subject on the rotating mounting surface,
The three-dimensional information measuring apparatus according to claim 1, wherein at least the illumination light exit and the pattern light exit are included in the dark space of the light projecting unit.   3. The illumination light is white light, and the image information generation unit is capable of generating color image information, and measures the three-dimensional color of the subject together with the three-dimensional shape of the subject. The three-dimensional information measuring device described in 1.   4. The three-dimensional information measuring apparatus according to claim 2, wherein a surface of the light shielding curtain that forms the dark space is a scattering surface that scatters the illumination light. 5.   5. The light-shielding curtain restricting means for restricting the movement of the light-shielding curtain so that the light-shielding curtain does not intervene on the optical path of the subject image toward the entrance. The three-dimensional information measuring device described in 1.   6. The three-dimensional information measuring apparatus according to claim 5, wherein the light shielding curtain restricting means is at least one support that supports a part of the light shielding curtain.   The three-dimensional information measuring apparatus according to claim 6, wherein the support column is erected so as to be housed on the mounting table.   The three-dimensional information measuring apparatus according to claim 6, wherein the support column is erected so as to be laid down on the mounting table. A housing holding at least the light projecting unit and the image information generating unit;
The three-dimensional information measuring apparatus according to claim 1, wherein the housing is fixed to the light-shielding curtain. A housing holding at least the light projecting unit and the image information generating unit;
The three-dimensional information measuring apparatus according to claim 1, wherein the housing is detachably held with respect to the light shielding curtain.   The three-dimensional information measuring apparatus according to claim 9, further comprising a connecting unit that mechanically connects the housing and the mounting table.   The three-dimensional information measuring apparatus according to claim 11, wherein the connecting unit supports the housing so as to be movable with respect to the mounting table.

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