JP2011112578A - Shape-measuring system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a shape-measuring system which can assist (support) a person measuring, as to the position of a probe with respect to a measuring object and the irradiation angle of linear light. <P>SOLUTION: The shape-measuring system 100 includes the probe 12, which measures the shape of the measuring object 51 by an optical sensor and outputs measurement information; a movement mechanism part 11 which has two or more joint parts 11b, rotatably connecting a plurality of arm parts 11a and the probe 12 and supports the probe 12 movably in a prescribed space; encoders 21, which are provided at the jointing parts 11b and detect the angle information formed between the arm parts 11a or by the arm part 11a and the probe 12, which are connected by the jointing parts 11b, a display part 30; and a control part 20, which calculates the shape information on the measuring object 51 from the measurement information and the angle information and outputs the shape information to the display part 30. The control part 20 is so constituted as to make the display part 30 display assisting displays for supporting the operation of the probe 12. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a shape measuring apparatus.

  A shape measuring device in which a probe having a non-contact sensor is attached to the tip of an articulated arm, and a device configured to measure the shape of an object to be inspected by manual operation by a measurer (hereinafter, “ (Referred to as Patent Document 1).

JP 2009-192401 A

  When measuring the shape of the object to be inspected with such a manual measuring machine, especially when performing non-contact measurement by laser scanning, the laser beam for scanning from a specific direction depends on the shape of the object to be inspected and the installation direction. If irradiation is not performed, there is a problem that data quality may be deteriorated such that the data density of acquired data is low, or data may not be acquired at all.

  The present invention has been made in view of such a problem, and provides a shape measuring apparatus that can assist the user by presenting information on the position of the probe with respect to the object to be measured and the irradiation angle of the line light to the measurer. The purpose is to provide.

  In order to solve the above problems, a shape measuring apparatus according to the present invention includes a probe that measures the shape of an object to be measured by an optical sensor and outputs measurement information, and an arm unit, and between these arm units, or An arm having two or more connecting portions that rotatably connect the arm portion and the probe, and supporting the probe so that the probe can move within a predetermined space, and an arm that is provided in the connecting portion and to which the connecting portion connects The shape information of the object to be measured is calculated from the angle information detection unit that detects the angle information between the parts or between the arm unit and the probe, the display unit, the measurement information, and the angle information, and the shape information is displayed on the display unit. A control unit for outputting, and the control unit is configured to display on the display unit an assist display that supports the operation of the probe.

  Such a shape measuring apparatus has a storage unit that stores the three-dimensional information of the object to be measured, and the control unit reads the three-dimensional information from the storage unit to generate the approximate shape of the object to be measured, and the approximate shape In addition, it is preferable that the assist display is configured to be displayed on the display unit.

  Alternatively, in such a shape measuring apparatus, the display unit is mounted on the head of the measurer, and the projection unit that projects the shape information in front of at least one eye of the measurer and the measurer wearing the display unit A head-mounted display having a camera capable of acquiring an image in substantially the same direction as the visual field direction, and the control unit acquires three or more images obtained by measuring the object to be measured from different directions with the camera, and It is preferable that an approximate shape of the object to be measured is generated using the image, and an assist display is displayed on the display unit together with the approximate shape.

  At this time, it is preferable that the control unit obtains the direction in which the probe is directed as the orientation of the image, and generates a schematic shape from the image using the orientation.

  Moreover, in such a shape measuring apparatus, it is preferable that the control unit is configured to display the shape information superimposed on the approximate shape of the assist display and superimposed on the display unit.

  In such a shape measuring apparatus, the assist information is preferably information related to the position of the probe with respect to the object to be measured.

  Moreover, in such a shape measuring apparatus, it is preferable that the control unit is configured to determine whether or not to update the assist display every time the shape information of the object to be measured is calculated.

  At this time, the control unit is preferably configured to detect the change in the distance between the probe and the scanning surface of the object to be measured and update the assist display.

  In such a shape measuring apparatus, it is preferable that the control unit is configured to display on the display unit an assist display for the measurement surface of the object to be measured according to the viewpoint of the measurer.

  Furthermore, in such a shape measuring apparatus, the optical sensor provided in the probe includes a light source, a line light forming optical system that irradiates the object to be measured as light from the light source, and reflected light of the line light. An imaging optical system that images the image of the reflected light and an image sensor that detects the image of the reflected light, and the control unit calculates the shape of the object to be measured based on the principle of triangulation from the image detected by the image sensor It is preferable to be configured to do so.

  When the shape measuring apparatus according to the present invention is configured as described above, it is possible to assist (support) by presenting information regarding the position of the probe and the irradiation angle of the line light to the object to be measured.

It is explanatory drawing which shows the structure of a shape measuring apparatus. It is a block diagram which shows the basic composition of the control part of a shape measuring apparatus. It is explanatory drawing which shows the structure of the optical sensor provided in the probe. It is a flowchart which shows the shape measurement process by a shape measuring apparatus. It is explanatory drawing which shows the assist display which concerns on 1st Embodiment. It is a flowchart which shows the shape measurement process containing the assist display which concerns on 2nd Embodiment. It is explanatory drawing which shows the structure of the head mounted display used for the assist display which concerns on 3rd Embodiment. It is a block diagram which shows the structure of the control part which concerns on 3rd Embodiment. It is a flowchart which shows a rough shape acquisition process.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. First, the configuration of the shape measuring apparatus according to the present embodiment will be described with reference to FIGS. The shape measuring apparatus 100 includes, for example, a shape measuring unit 10 that measures the shape of the object to be measured 51 placed on the stage 50, and the angle information and measurement information output from the shape measuring unit 10. The control unit 20 calculates shape information related to the measurement object 51, and a display unit 30 that outputs the calculated shape information as a three-dimensional image, for example. The object to be measured 51 can be measured even if it is not placed on the stage 50. The shape measuring apparatus 100 is a manual measuring machine configured such that the measurer operates the shape measuring unit 10 to acquire the shape information of the measured object 51.

  The shape measuring unit 10 includes a multi-joint structure moving mechanism 11 in which a plurality of arm portions 11a are connected by a plurality of joint portions (connecting portions) 11b, and a distal end portion (an arm located at the most distal end side) of the moving mechanism portion 11. The probe 12 is configured to be detachable with respect to the distal end portion of the portion 11a via the attachment portion 14, and the proximal end portion of the moving mechanism portion 11 (the proximal end portion of the arm portion 11a located on the most proximal side). And an attached base 13. The joint portion 11b connects the arm portions 11a to each other and rotates (swings) the other arm portion 11a with respect to one arm portion 11a, or an arm portion on the proximal end side with respect to the base 13. There is one that rotates 11a around an axis perpendicular to the ground surface, or one that swings or rotates the probe 12 attached to the attachment portion 14 with respect to the arm portion 11a on the distal end side. .

  Each of the rotation shafts of the joint portion 11b has an angle formed by the arm portion 11a or the probe 12 located on the distal end side connected to the joint portion 11b with respect to the base 13 or the arm portion 11a located on the proximal end side. In order to detect this, an encoder (angle information detection unit) 21 that measures the amount of rotation of the rotating shaft is attached, and the measured values (hereinafter referred to as “angle information”) by these encoders 21 are shown in FIG. As shown, it is output to the control unit 20.

  On the other hand, as shown in FIG. 3, the probe 12 has a light source 41 such as a laser diode and the object to be measured on the stage 50 as a line light by using a toric lens optical system such as a cylindrical lens. 51, a line light forming optical system 42 for irradiating 51, an imaging optical system 43 for forming an image of line light projected on the object 51 to be measured (hereinafter referred to as “line image”), and detecting this line image. An image sensor 44 and an optical sensor 40 are provided. As shown in FIG. 1, the probe 12 is provided with an operation switch 25 for the measurer to instruct the control unit 20 to start and stop the shape measurement of the object 51 to be measured. In addition, in order to convert the light radiated | emitted from the light source 41 into line light, the structure irradiated with a galvano scanner etc. as line light is also realizable.

  Further, as shown in FIG. 2, the control unit 20 uses angle information output from each of the processing unit 22 that controls the shape measurement process of the object 51 to be measured by the shape measuring apparatus 100 and the encoder 21. The spatial coordinates of the probe 12 (coordinates having a predetermined point in the measurement space as the origin, and hereinafter referred to as “position information”. Note that the posture information of the probe 12 is also included in the position information). The shape information of the measured object 51 is obtained by using the position calculation unit 23 to calculate, the line image output from the image sensor 44 (hereinafter referred to as “measurement information”), and the position information output from the position calculation unit 23. A shape calculation unit 24 to calculate, and an assist display unit 27 that assists (measures) the measurer how to move the probe 12 relative to the object 51 to be scanned. ingNote that an output (operation signal) from the operation switch 25 is input to the processing unit 22, and the lighting / extinguishing operation of the light source 41 is controlled by the processing unit 22. Further, the shape information output from the shape calculation unit 24 is stored in, for example, a storage unit 26 provided in the control unit 20, and the shape information is processed by the processing unit 22 and is displayed on the display unit 30. Is output as Here, the measurement space refers to a range (space) in which the shape measuring device 100 can move the probe 12 and acquire the spatial coordinates of the measured object 51. The control unit 20 is realized by, for example, a computer, and the processing unit 22, the position calculation unit 23, the shape calculation unit 24, and the assist display unit 27 are implemented as programs executed by the computer.

  Here, since information such as the length of the arm portion 11a is known, the position calculation unit 23 of the control unit 20 is positioned on the base 13 or the base end side based on the angle information output from the encoder 21. By calculating the angle of the arm part 11a or the probe 12 connected to the distal end side with respect to the arm part 11a, three-dimensional coordinates (spatial coordinates) in the space of the probe 12 can be obtained. Similarly, since the positions (coordinates) of the light source 41, the line light forming optical system 42, the imaging optical system 43, and the imaging element 44 in the probe 12 are also known, the shape calculation unit 24 performs imaging based on the principle of triangulation. By processing the measurement information (line image) acquired by the element 44, the shape of the measured object 51 within the range that can be imaged by the imaging element 44 (the shape of the measured object 51 on which the line light is projected (for example, And expressed as a group of coordinates in the measurement space discretely represented in this range))).

  Note that the method for acquiring the shape information of the object 51 to be measured by the probe 12 is not limited to the above-described method by triangulation by light cutting, but also a method of acquiring a bright field image and measuring the shape by computer analysis, or a stereo image. The triangulation method used can be used as appropriate.

  Next, a method for measuring the shape of the measured object 51 using the shape measuring apparatus 100 will be described with reference to FIG. In FIG. 3 described above, the direction in which the measured object 51 is scanned with line light is the x axis, the longitudinal direction of the line light is the y axis, and the direction orthogonal to the x axis and the y axis is the z axis. When the measurement of the measured object 51 is started, the processing unit 22 of the control unit 20 first assists how the probe 12 is moved and scanned with respect to the measured object 51 by the assist display unit 27. Assist display for the purpose is displayed on the display unit 30 (step S100). Details of the assist display will be described later. The operator operates the probe 12 of the shape measuring apparatus 100 according to the assist display, and moves the probe 12 to the measurement start position of the measured object 51. Then, the measurer places the probe 12 at a predetermined distance and angle with respect to the object to be measured 51 and turns on the operation switch 25. When the processing unit 22 detects the ON operation of the operation switch 25 (step S110), the processing unit 22 turns on the light source 41 and irradiates the measured object 51 with line light (step S120). In this state, the measurer scans the surface of the measured object 51 by moving the probe 12 along the measurement target surface of the measured object 51 (in the x-axis direction in FIG. 3). When the operation switch 25 is turned on, the processing unit 22 acquires position information from the position calculation unit 23 at predetermined time intervals (step S130), and further acquires measurement information (line image) from the image sensor 44. Then, the shape calculation unit 24 acquires the shape information of the object 51 to be measured (step S140), and stores the shape information in the storage unit 26 each time (step S150). Since the processing unit 22 repeats this process until the operation switch 25 is turned off, the shape information of the measured object 51 in the range scanned by the probe 12 while the operation switch 25 is turned on is stored in the storage unit 26. (Step S160). When the operation switch 25 is turned off by the measurer, the processing unit 22 turns off the light source 41 (step S170), reads the shape information acquired so far from the storage unit 26, and scans the object 51 to be measured. A three-dimensional image of the range is generated (step S180) and output to the display unit 30 (step S190). In this way, by displaying the three-dimensional image as the measurement result on the display unit 30, whether or not the shape information can be appropriately acquired, which part of the measured object 51 the shape information can be acquired, etc. The measurer can confirm appropriately by visual inspection.

[First Embodiment]
A first embodiment of assist display displayed on the display unit 30 by the control unit 20 in step S100 described above will be described. In the first embodiment, CAD data (hereinafter referred to as “model information”), which is three-dimensional information of the measured object 51 to be measured, is stored in the storage unit 26 in advance, and this model information is stored. The assist information is displayed on the display unit 30 by using. That is, the assist display unit 27 reads the model information of the measured object 51 from the storage unit 26 and displays the schematic shape G1a of the measured object 51 on the screen G1 of the display unit 30 as shown in FIG. Here, the three-dimensional image displayed on the display unit 30 is an image when the measured object 51 is viewed from any one direction (viewpoint) (this direction is referred to as “view” in the following description). ). This view is configured to be set in advance by a measurer using an input device (not shown) connected to the control unit 20. Therefore, the assist display unit 27 first divides the surface of the measured object 51 into a plurality of planes (regions) from the model information, and selects one of the planes of the measured object 51 displayed by the current view. And information on the position of the probe 12 with respect to the surface (distance to the surface to be measured, irradiation angle of line light, etc.) is displayed on the display unit 30. For example, in the case of FIG. 5, the position G1c of the probe 12 with respect to the measurement target surface G1b, the irradiation direction G1d of the line light, and the scanning direction G1e on the measurement target surface G1b are displayed as schematic diagrams. Alternatively, the distance between the probe 12 and the measured object 51 and the irradiation angle of the line light can be displayed on the display unit 30 as the character information G1f. The irradiation direction and distance of the line light are standard when a measurement person is located in the same direction as the view for scanning.

  By the way, depending on the shape of the object 51 to be measured, there may be a plurality of inclinations or shapes having different directions in the viewpoint (view) in the same direction. In some cases, the irradiation direction and distance of the line light may be different on the surface. For example, this is a case where the measurement target surfaces G1g and G1h in FIG. 5 are measured. When measuring different measurement target surfaces as described above, for example, the measurement operator freely switches the measurement target surface by operating the operation switch 25 provided on the probe 12, and an appropriate assist display is displayed accordingly. Displayed on the unit 30. For the calculation method of the irradiation angle and distance, the assist display unit 27 selects an algorithm optimal for each measurement target surface with reference to model information and the like. In addition to operating the operation switch 25, the measurement target surface is switched by, for example, instructing the control unit 20 by moving the probe 12 up and down in the z-axis direction in FIG. 3 with respect to the measurement target surface. It is also possible to configure.

  The shape information of the measured object 51 measured by the probe 12 is displayed in an aligned manner with the approximate shape of the measured object 51 being displayed in an assist manner, and the measurement of which part is completed. The measurer can recognize which part of the measurement has not been completed, and the measurement efficiency is improved. The control unit 20 also switches the view on the display unit 30 by operating the input device connected to the control unit 20 or the operation switch 25.

[Second Embodiment]
Further, depending on the shape of the object to be measured 51, there may be a different inclination even within one measurement target surface. Therefore, as shown in FIG. 6, it is possible to determine whether the assist display needs to be changed every time the shape information is acquired, and to change the display of the display unit 30. In FIG. 6, the same processes as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted. Specifically, when it is determined in step S160 that the shape measurement is not completed, the assist display unit 27 determines whether or not the assist display needs to be corrected (step S162). For example, when imaging is performed based on measurement information (line image) measured by the imaging device 44 of the probe 12, measurement is performed from the imaging device 44 due to a change in inclination of the measurement target surface as the imaging is performed. When the distance to the target surface is moving in a direction away from the imaging range of the image sensor 44 (when moving to the outside from the focus center of the image sensor 44, for example, measuring the object 51 to be measured) In the case where the target surface changes in the direction orthogonal to the scanning direction (the z-axis direction in FIG. 3), the line image is positioned in the center of the image sensor 44 accordingly before deviating from the effective focus range. Thus, the assist display of the irradiation direction and distance of the line light is changed. And the process part 22 displays the assist display corrected in this way on the display part 30 (step S164), returns to step S130, and repeats a measurement process. In this way, by appropriately correcting the assist display according to the shape of the measurement target surface, the measurer can appropriately operate the probe 12 and obtain the shape information of the measured object 51 more accurately. Can do.

  By the way, in the above description, the case where the view is switched by the measurement person's operation has been described. However, the control unit 20 may be configured to automatically switch the view. For example, a head-mounted display as shown in FIG. 7 can be used as the display unit 30, and the view can be switched according to an image of a camera 37 provided on the head-mounted display 30. In the head mounted display 30 shown in FIG. 7, left and right headphones 31 and 32 are connected by a connecting portion 33, and the connecting portion 33 has elasticity. When the head mounted display 30 is worn, it is worn on the head of the measurer in such a manner that both ears are sandwiched between the headphones 31 and 32 and pressed by the elasticity of the connecting portion 33. Further, a support arm 34 is attached to the left headphone 32 so as to be rotatable in the vertical direction with the left and right direction at the time of attachment as the rotation axis, and the left eye (not shown) of the measurer is attached to the tip of the support arm 34. A projection unit 35 for projecting an image is attached. An operation unit 36 for operating the head mounted display 30 is provided on the outer surface of the right headphone 31. Further, a camera 37 is attached to the right headphone 31. This camera 37 is attached so as to face substantially the same direction as the view of the measurer when the head cape display 30 is mounted on the measurer's head. The field of view of the camera 37 is set so that the entire measured object 51 arranged in the measurement space can be photographed. Note that the image output from the camera 37 and the operation signal generated by the operation of the operation unit 36 are configured to be input to the processing unit 22 of the control unit 20, as shown in FIG.

  In the shape measuring apparatus 100 having such a configuration, the assist display unit 27 compares the image acquired from the camera 37 with the schematic shape (CAD image) generated from the model information when performing the assist display, and is currently measuring. It is determined to which measurement surface of the measured object 51 the person's viewpoint is directly facing, and the view is switched so as to coincide with the person's viewpoint (CAD in the direction of the actual viewing and the direction of high matching rate) The direction of the shape of the measured object 51 based on the image is changed). Thus, by automatically changing the view of the image displayed on the display unit 30, the measurer does not need to perform an operation of switching the view, so that the measurement efficiency can be improved.

  In addition, in FIG. 7, although the case where one camera 37 was attached to the outer surface of the right headphone 31 was demonstrated, by attaching to the outer surface of the left headphone 32 and measuring the to-be-measured object 51 by two units, Since the shape of the object to be measured 51 can be detected by a method using a stereo image, the accuracy of specifying the viewpoint of the measurer can be improved, and the view switching accuracy can be improved.

  In addition, when a head-mounted display is used as the display unit 30 of the shape measuring apparatus 100 in this way, the measurer views the measured object 51 with the right eye and overlays the measured object 51 with the left eye. An output image from the control unit 20, that is, a three-dimensional image that is a measurement result of the measured object 51 and assist information can be visually observed. Therefore, regardless of the posture of the measurer, the object to be measured 51 and the measurement result can always be viewed at the same time, so that the efficiency of measurement work can be improved.

[Third Embodiment]
In the above description, the case where the assist display is performed from the model information (CAD data) of the measured object 51 stored in the storage unit 26 in advance has been described. However, the head mount with a camera shown in the second embodiment. By using the display 30, it is also possible to obtain an approximate shape of the measured object 51 from the image of this camera instead of CAD data, and to perform assist display. Hereinafter, the process for acquiring the schematic shape of the measured object 51 will be described with reference to FIG. Here, the measurement person's operation on the control unit 20 will be described as being performed from the operation unit 36 of the head cloak display 30, but an operation switch provided on the probe 12 as instructed to start and end the measurement. It is also possible to configure to start from 25.

  When the outline shape acquisition process is started, the processing unit 22 displays an image output from the camera 37 on the display unit 30 (step S300). Then, the measurer points the camera 37 toward the measured object 51 so that the image of the measured object 51 is displayed on the display unit 30. At this time, in order to detect from which direction the camera 37 is looking at the measured object 51 in the measurement space, the measurer operates the probe 12 to face the measured object 51 from the measurer side. To do. As described above, the position calculation unit 23 of the control unit 20 can calculate the spatial coordinates of the probe 12 using the angle information output from the encoder 21, and the arm 11 to which the probe 12 is attached. The azimuth of the probe 12 can also be calculated from the spatial coordinates on the tip side. Therefore, by directing the probe 12 in the same direction as the camera 37, the processing unit 22 can determine from which direction the image of the camera 37 is shooting the object 51 to be measured. When the measurer determines that the image of the measured object 51 displayed on the display unit 30 can be used as an image for acquiring the approximate shape, the measurer operates the operation unit 36 to give an image acquisition instruction. .

  When the operation unit 36 is operated to detect an image acquisition operation signal (step S310), the processing unit 22 acquires a camera image (step S320), and further, from the angle information output by the encoder 21 as described above. The orientation (azimuth information) that the probe 12 faces is acquired (step S330), and the information is stored in the storage unit 26 (step S340). Then, the processing unit 22 determines whether an instruction to end image acquisition has been given from the operation unit 36. If no instruction to end has been given, the processing unit 22 returns to step S300 and acquires the image of the measured object 51 from another direction. Is performed (step S350). On the other hand, when an instruction to end image acquisition is given, it is determined whether or not three or more images having different orientations have been taken. If there are not three or more images, the process returns to step S300 in the same manner (step S360). . This is because, in order to calculate the approximate shape of the measured object 51 from the image of the measured object 51 taken by the camera 37, at least three images having different orientations are required.

  If it is determined in step S360 that three or more images having different orientations have been acquired, the processing unit 22 reads out these images and orientation information from the storage unit 26 and generates a schematic shape of the measured object 51 (step S360). This is stored in the storage unit 26 (step S380) and displayed on the display unit 30 (step S390). Here, the approximate shape is, for example, a shape obtained by extracting the outer shape of the measured object 51 from an image taken by the camera 37 and synthesizing it as a three-dimensional image.

  The above-described assist display can be performed on the display unit 30 by acquiring the schematic shape of the object to be measured 51 by the processing as described above. In addition, by displaying the approximate shape in this way, the measured shape can be displayed on the display unit 30 while being aligned with the approximate shape and displayed on the display unit 30. It is possible to easily determine whether or not the shape has been acquired, and work efficiency can be improved. In place of the head-mounted display 30 having the camera 37, the probe 12 is replaced with a camera, and the moving mechanism unit 11 of the shape measuring unit 10 is operated to acquire an image of the object 51 to be measured. Can also be generated. In the above description, various inputs are performed using the operation unit 36. For example, a line-of-sight detection sensor is provided around the projection unit 35, and a display-type switch capable of line-of-sight input on the screen displayed on the display unit 30 is provided. It may be provided and various inputs may be performed by line-of-sight input. Moreover, the line light irradiated to the to-be-measured object 51 can also be made using a slit.

11 Movement mechanism part 11a Arm part 11b Joint part (connection part)
12 Probe 20 Control unit 21 Encoder (Angle information detection unit)
26 storage unit 30 display unit (head mounted display)
DESCRIPTION OF SYMBOLS 35 Projection part 37 Camera 40 Optical sensor 41 Light source 42 Line light formation optical system 43 Imaging optical system 44 Imaging element 51 Object to be measured 100 Shape measuring apparatus

Claims (10)

A probe that measures the shape of an object to be measured by an optical sensor and outputs measurement information;
A moving mechanism portion that has two or more connecting portions that rotatably connect the arm portion and between the arm portions or the arm portion and the probe, and supports the probe so as to be movable within a predetermined space. When,
An angle information detection unit that is provided in the connection unit and detects angle information between the arm units connected by the connection unit or between the arm unit and the probe;
A display unit;
A control unit that calculates shape information of the object to be measured from the measurement information and the angle information, and outputs the shape information to the display unit;
The shape measurement apparatus configured to display an assist display for assisting the operation of the probe on the display unit. A storage unit for storing three-dimensional information of the measured object;
The control unit is configured to read the three-dimensional information from the storage unit, generate a schematic shape of the object to be measured, and display the assist display together with the schematic shape on the display unit. The shape measuring device described in 1. The display unit is mounted on the head of the measurer, projects a projection unit that projects the shape information in front of at least one eye of the measurer, and an image in a direction substantially the same as the visual field direction of the measurer wearing the display unit. Comprising a camera, and a head-mounted display having
The control unit acquires three or more images obtained by measuring the object to be measured from different orientations with the camera, generates a schematic shape of the object to be measured using the image, and together with the schematic shape, the assist The shape measuring apparatus according to claim 1, configured to display a display on the display unit.   The shape measuring apparatus according to claim 3, wherein the control unit acquires a direction in which the probe is directed as an azimuth of the image, and generates the approximate shape from the image using the azimuth.   5. The shape measuring device according to claim 2, wherein the control unit is configured to align the shape information with the schematic shape of the assist display and to display the shape information on the display unit in an overlapping manner. .   The shape measuring apparatus according to claim 1, wherein the assist information is information related to a position of the probe with respect to the object to be measured.   The shape measuring apparatus according to claim 1, wherein the control unit is configured to determine whether or not to update the assist display every time the shape information of the object to be measured is calculated. .   The shape measuring apparatus according to claim 7, wherein the control unit is configured to detect a change in a distance between the probe and a scanning surface of the object to be measured and update the assist display.   The shape measurement according to any one of claims 1 to 8, wherein the control unit is configured to display the assist display on the measurement surface of the object to be measured according to the viewpoint of the measurer on the display unit. apparatus. The optical sensor provided in the probe includes a light source, a line light forming optical system that irradiates the object to be measured with light from the light source as line light, and imaging optical that forms an image of reflected light of the line light. A system and an image sensor for detecting an image of the reflected light,
The shape measuring apparatus according to claim 1, wherein the control unit is configured to calculate a shape of the object to be measured based on a principle of triangulation from the image detected by the imaging element. .

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