JP2010091549A - Laser vision module and non-contact measuring instrument using same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a laser vision module and non-contatct measuring instrument using the same, capable of eliminating necessity of rotation for measuring a member to be measured and preventing generation of distortion during development of 3D shape measurement data even while minimizing rise in the manufacturing cost of a non-contatct measuring instrument. <P>SOLUTION: The laser vision module includes: a laser generator for irradiating the member to be measured with cross-shaped laser beam, a pair of cameras for photographing a laser beam image by cross-shaped laser beam with which the member to be measured is irradiated; and a single fixed body on which the pair of cameras are installed integrally with the laser generator. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a laser vision module and a non-contact measurement apparatus using the same, and more particularly to an apparatus for measuring a shape of a member to be measured in a non-contact manner and a laser vision module therefor.

  Usually, an outer panel of a ship is composed of a curved plate member having a complicated non-developable curved surface shape with a thickness of about 10 mm to 30 mm in order to reduce the propulsion resistance and efficiently navigate underwater. In order to form this curved outer panel, the surface of the steel sheet is locally heated with a gas burner or the like using a processing method generally called linear heating, and the out-of-plane angle of the steel sheet due to plastic deformation generated at that time. It is processed into a desired shape using deformation and in-plane shrinkage deformation.

  Further, for a workpiece such as a curved plate member of a ship processed in this way, it is necessary to measure whether or not it has been accurately processed into a desired form. For measurement, an operator performs measurement using a tape measure, a hand tool, a wooden mold, or the like.

  Such measurement of the curved plate member is used for processing completion evaluation, heating wire generation, cutting line marking work after processing completion, and the like.

  However, when a large curved plate member is manually measured by a measurement technique performed manually by an operator, there are many problems such as a long measurement time and low accuracy of measurement data. In particular, curved plate members used at the stern of a ship have various shapes, and are processed and measured using a wooden die that has been manufactured in advance for each part. In order to accurately process a desired curved surface shaped member, it is repeatedly used several times until one curved plate member is completed. For this reason, it is difficult to perform accurate processing and measurement, such as plastic deformation due to various peripheral factors such as ambient temperature and operator management mistakes, resulting in shape errors.

  On the other hand, in order to solve such problems of the manual measurement technique, a non-contact measurement device that measures the shape of the member to be measured by a non-contact method has been proposed.

  Such a non-contact measuring device is also called a laser vision system, which is a single laser generator that irradiates a member to be measured with a linear laser beam, and a laser beam image that has been irradiated to the member to be measured. The laser generator and the camera are integrated into a single fixed body and modularized. The modularized laser generator, camera, and stationary body are referred to as a laser vision module.

  FIG. 1 is a view showing a situation in which the shape of a curved plate member is measured using a non-contact measuring device according to the prior art.

  In order to measure the edge surface of the curved plate member 10 when measuring the quadrangular shape of the member to be measured or the shape of the curved plate member 10 having a similar shape, first, one side of the curved plate member 10 is measured. A laser beam image irradiated on the curved plate member 10 is picked up using a camera (not shown) in a state where the linear laser beam 21 is irradiated in the direction by the laser generator 20, and the laser generator 20 is mechanically operated. The curved plate member 10 is rotated using a camera (not shown) in a state in which the linear laser beam 21 from the laser generator 20 is irradiated in the other direction of the curved plate member 10. An image of the laser beam irradiated on the is taken. Here, to rotate the laser generator 20 means to mechanically rotate the laser vision module in which the laser generator 20 and the camera are modularized.

  Predetermined measurement point data is extracted from the image obtained by the camera in this way, and the measurement point data is expressed as a curved surface by modeling, and laser is generated when generating the three-dimensional shape measurement data of the curved plate member 10. Used with vision module rotation information.

Japanese Unexamined Patent Publication No. 1996-086616 Korean Patent Registration No. 10-0292610 Japanese Unexamined Patent Publication No. 2000-046529 Japanese Unexamined Patent Publication No. 1997-159418

  As described above, according to the non-contact measuring apparatus using the conventional technique, the laser vision module needs to be rotated in order to measure the edge of the member to be measured, and the laser vision is generated when generating the three-dimensional shape measurement data. Module rotation information must be used.

  However, the rotation of the laser vision module is performed by a mechanical method, and even if precise rotation control is performed, the rotation information is uncertain due to mechanical characteristics.

  Further, the uncertainty of the rotation information for the laser vision module has a problem that it causes distortion when generating the three-dimensional shape measurement data.

  On the other hand, as another example, a method for obtaining an image on one side of a member to be measured and an image on the other side from separate laser vision modules using a pair of laser vision modules is conceivable. cost) increases, which is not preferable.

  The present invention has been made to solve such problems of the prior art, and includes a laser generator that irradiates a member to be measured with a cross-shaped laser beam, and a cross-shaped laser beam that has been irradiated to the member to be measured. By integrally providing a pair of cameras for capturing the laser beam image by the single fixed body, it is not necessary to rotate the laser vision module in order to measure the member to be measured.

  According to the present invention, after performing filtering processing to remove vertical image components on image data obtained by a laser vision module that does not require rotation for measurement of a member to be measured, the filtered image Measurement point data is extracted from the data, and is represented on a curved surface by modeling the measurement point data to generate three-dimensional shape measurement data.

  According to an embodiment of the present invention, a laser generator that irradiates a member to be measured with a cross-shaped laser beam, and a pair of laser beams that are captured by the cross-shaped laser beam irradiated to the member to be measured. There is provided a laser vision module including a camera, a single stationary body in which the laser generator and the pair of cameras are integrally provided.

  According to another embodiment of the present invention, a laser generator that irradiates a member to be measured with a cross-shaped laser beam, and a pair of images that capture a laser beam image by the cross-shaped laser beam irradiated to the member to be measured. Filtering is performed on the image data obtained by the laser vision module including the camera, the laser generator and the single fixed body integrally provided with the pair of cameras, and the pair of cameras. An image filtering unit that removes vertical image components, and measurement point data extracted from the image data filtered by the image filtering unit, and expressed as a curved surface by modeling of the measurement point data to generate three-dimensional shape measurement data Data generator, laser generator, pair of cameras, image filtering , And non-contact measurement apparatus including a control unit for managing the operation of the measurement data generating unit is provided.

  In the laser vision module according to one embodiment and the other embodiment of the present invention described above, the first imaginary line connecting the center of one of the pair of cameras to the center of the laser generator, and the other A second imaginary line connecting the center of one camera to the center of the laser generator is orthogonal to each other.

  The laser generator is provided so as to be rotatable about the cross axis of the cross-shaped laser beam inside a case integrally coupled to the fixed body.

  According to an embodiment of the present invention, a laser generator that irradiates a member to be measured with a cross-shaped laser beam, and a pair of cameras that capture a laser beam image by the cross-shaped laser beam irradiated to the member to be measured. By providing a single fixed body as a single unit, it is not necessary to rotate the laser vision module to measure the member to be measured, minimizing the cost of manufacturing a non-contact measuring device, and 3D shape measurement data. There is an effect that distortion does not occur when generating.

  It should be noted that the above summary of the invention does not enumerate all the necessary features of the present invention. In addition, a sub-combination of these feature groups can also be an invention.

It is drawing which shows the condition which measures the shape of a curved plate member using the non-contact measuring device by a prior art. 1 is a perspective view of a laser vision module of a non-contact measuring device according to an embodiment of the present invention. It is drawing which shows the condition which measures the shape of a curved plate member using the non-contact measuring device by one Example of this invention. It is a block block diagram of the non-contact measuring device by one Example of this invention.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Further, in the description of the present invention, when it is determined that the specific description of the known technology is not clear, the detailed description thereof will be omitted.

  FIG. 2 is a perspective view of a laser vision module of a non-contact measuring device according to an embodiment of the present invention.

  As shown in FIG. 2, a laser vision module 100 according to an embodiment of the present invention includes a laser generator 110 that irradiates a member to be measured with a cross-shaped laser beam 111, and a cross-shaped laser that irradiates the member to be measured. A pair of cameras 120 and 130 that capture the laser beam images 121 and 131 by the beam 111, and a single fixed body 140 in which the laser generator 110 and the pair of cameras 120 and 130 are integrally provided are included. The laser generator 110 is provided in a case 150 integrally coupled to the fixed body 140 so as to be rotatable around the cross axis of the cross-shaped laser beam 111. The pair of cameras 120 and 130 includes a first imaginary line that connects the center of the first camera 120 to the center of the laser generator 110 and a second imaginary line that connects the center of the second camera 130 to the center of the laser generator 110. Are provided on the fixed body 140 so as to be orthogonal to each other.

  According to such a laser vision module 100, the cross-shaped laser beam 111 is irradiated from the laser generator 110 to the curved plate member 10 of the member to be measured, as shown in FIG. Here, when the cross-shaped laser beam 111 emitted from the laser generator 110 is referred to as being separated into a vertical line beam and a horizontal line beam, one of the pair of cameras 120 and 130 is based on the vertical line beam. It becomes a means for obtaining a laser beam image, and the other camera becomes a means for obtaining a laser beam image by a horizontal line beam. For this purpose, one of the vertical line beam component and the horizontal line beam component must be selectively filtered.

  For such filtering, filtering means is provided on the image acquisition path by the cameras 120 and 130, or image data obtained by the cameras 120 and 130 is subjected to filtering processing. In one embodiment of the present invention, the latter method of filtering image data is adopted. Specifically, when one of the pair of cameras 120 and 130 obtains a vertical line beam of the cross-shaped laser beam 111 as a vertical image component and a horizontal line beam as a horizontal image component, With the other camera, the vertical line beam of the cross-shaped laser beam 111 is obtained as a horizontal image component, and the horizontal line beam is obtained as a vertical image component.

  Therefore, when the image data obtained by the pair of cameras 120 and 130 is subjected to the filtering process, if the vertical image component is filtered and removed in common on the basis of the pair of cameras 120 and 130, the curved plate member 10 Three-dimensional shape measurement data can be generated. Such a filtering process will be described later with reference to FIG.

  The reason why the laser generator 110 is rotatably provided around the cross axis of the cross-shaped laser beam 111 inside the case 150 integrally coupled to the fixed body 140 is that the laser generator 110 is rotated to form a cross shape. This is for aligning the optical axis of the vertical line beam or horizontal line beam forming the laser beam 111 with the optical axes of the cameras 120 and 130.

  FIG. 4 is a block diagram of the non-contact measuring apparatus according to the present invention.

  As shown in FIG. 4, the non-contact measuring apparatus according to an embodiment of the present invention includes a laser vision module 100 including a laser generator 110 and a pair of cameras 120 and 130, and image data obtained by the cameras 120 and 130. Filtering is performed on the image filtering unit 210 to remove vertical image components, and predetermined measurement point data is extracted from the image data filtered by the image filtering unit 210, and is expressed on a curved surface by modeling the measurement point data. A measurement data generation unit 220 that generates three-dimensional shape measurement data, and a control unit 230 that controls the operation of the entire system by controlling the laser generator 110, the cameras 120 and 130, the image filtering unit 210, and the measurement data generation unit 220. Including.

  Such a non-contact measuring apparatus includes a first imaginary line that connects the center of the first camera 120 to the center of the laser generator 110 and a second imaginary line that connects the center of the second camera 130 to the center of the laser generator 110. Since the lines are orthogonal to each other, for example, when the first camera 120 obtains the vertical line beam of the cross-shaped laser beam 111 as the vertical image component and the horizontal line beam as the horizontal image component, the second camera 130 The vertical line beam of the cross-shaped laser beam 111 is obtained as a horizontal image component, and the horizontal line beam is obtained as a vertical image component.

  The image filtering unit 210 filters and removes the vertical image component when filtering the image data obtained from the cameras 120 and 130 under the control of the control unit 230, and the measurement data generation unit 220 Predetermined measurement point data is extracted from the image data filtered by the control, and is represented by a curved surface by modeling the measurement point data to generate three-dimensional shape measurement data.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 100 Laser vision module 110 Laser generator 120,130 Camera 140 Fixed body 150 Case 210 Image filtering part 220 Measurement data generation part 230 Control part

Claims (6)

A laser generator that irradiates a member to be measured with a cross-shaped laser beam;
A pair of cameras for capturing a laser beam image by the cross-shaped laser beam irradiated on the member to be measured;
A single fixed body in which the laser generator and the pair of cameras are integrally provided;
Including laser vision module.   Of the pair of cameras, a first imaginary line connecting the center of one camera to the center of the laser generator, and a second imaginary line connecting the center of the other camera to the center of the laser generator; The laser vision module according to claim 1, wherein are orthogonal to each other.   2. The laser vision according to claim 1, wherein the laser generator is provided so as to be rotatable around a cross axis of the cross-shaped laser beam inside a case integrally coupled to the fixed body. module. A laser generator for irradiating a member to be measured with a cross-shaped laser beam, a pair of cameras for capturing a laser beam image by the cross-shaped laser beam irradiated to the member to be measured, and the laser generator and the pair of members A laser vision module including a single fixed body with which the camera is integrally provided; and
An image filtering unit that performs filtering on image data obtained by the pair of cameras to remove a vertical image component;
A measurement data generation unit that extracts measurement point data from the image data filtered by the image filtering unit, and that is expressed on a curved surface by modeling of the measurement point data to generate three-dimensional shape measurement data;
A control unit that manages operations of the laser generator, the pair of cameras, the image filtering unit, and the measurement data generation unit;
A non-contact measuring device comprising:   The laser vision module connects a first imaginary line connecting the center of one of the pair of cameras to the center of the laser generator, and connects the center of the other camera to the center of the laser generator. The non-contact measuring apparatus according to claim 4, wherein the second virtual line to be orthogonal to each other.   5. The non-laser according to claim 4, wherein the laser generator is rotatably provided around a cross axis of the cross-shaped laser beam inside a case integrally coupled to the fixed body. Contact measuring device.

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