JP2011112579A - Shape-measuring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a shape-measuring device which can be visually confirmed on a result of measurement of a measurement object, at all times, irrespective of the position or the attitude of the person measuring. <P>SOLUTION: The shape-measuring device 100 includes a probe 12, which measures the shape of the measuring object 51 and outputs measurement information; a movement mechanism section which has arm sections 11a and two or more joint sections 11b and supports the probe 12 movably in a prescribed space; encoders 21 which are provided at the joint sections 11b and detect angle information formed between the arm sections 11a or by the arm section 11a and the probe 12, which are connected by the joint sections 11b, a display section 30; and a control section 20 which calculates shape information on the measuring object 51 from the measurement information and the angle information and outputs this shape information to the display section 30. The display section 30 is constituted of a head mount display which is mounted on the head of the measuring person and has a projection section 35 which projects the shape information to at least one side, in front of the eyes of this measuring person. <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 an object to be inspected with such a manual measuring machine, especially when performing non-contact measurement by laser scanning, in order to confirm which region of the object to be inspected has been acquired. It is necessary to visually check the monitor operation screen (screen of the display unit) connected to the control device. In this case, due to the size of the object to be measured, the positional relationship with the manual measuring machine, or the measurement location of the object to be measured, the measurement area and the operation screen cannot be observed at the same time. Therefore, there is a problem that the measurement efficiency is deteriorated.

  The present invention has been made in view of such problems, and it is desirable to provide a shape measuring device that can always visually confirm the measurement result of an object to be measured regardless of the position and orientation of the measurer. Objective.

  In order to solve the above-described problems, a shape measuring apparatus according to the present invention includes a probe that measures the shape of an object to be measured and outputs measurement information, an arm portion, and between these arm portions, or an arm portion and a probe. Two or more connecting portions that connect to each other in a rotatable manner, and a moving mechanism portion that supports the probe movably in a predetermined space, and an arm portion that is provided in the connecting portion and to which the connecting portion connects, or The angle information detection unit that detects the angle information between the arm unit and the probe, the display unit, and the control unit that calculates the shape information of the measured object from the measurement information and the angle information, and outputs the shape information to the display unit The display unit is configured by a head mounted display that is mounted on the head of the measurer and has a projection unit that projects shape information in front of at least one eye of the measurer.

  In such a shape measuring apparatus, when the shape information is displayed, the control unit is preferably configured to display the surface from which the shape information has been acquired from a point of view.

  Further, in such a shape measuring apparatus, the head mounted display has a camera capable of acquiring an image in the substantially same direction as the visual field direction of the measurer wearing the head mounted display, and the control unit is covered by the camera. It is preferable that three or more images obtained by measuring the measurement object from different directions are acquired, and a schematic shape of the measurement object is generated using the images.

  At this time, it is preferable that the control unit is configured to acquire a direction in which the probe is directed as an image orientation, and to generate a schematic shape from the image using the orientation.

  Further, at this time, it is preferable that the control unit is configured to be aligned with the approximate shape and to display the shape information superimposed on the display unit.

  When the shape measuring apparatus according to the present invention is configured as described above, the measurement result of the measured object can be visually confirmed regardless of the position and orientation of the measurer.

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 structure of the head mounted display which concerns on 1st Embodiment. It is explanatory drawing which shows the structure of the head mounted display which concerns on 2nd Embodiment. It is a block diagram which shows the structure of the control part which concerns on 2nd 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 position calculation unit 23 for calculating 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”) and the image sensor 44 output And a shape calculation unit 24 that calculates shape information of the measurement object 51 using the line image (hereinafter referred to as “measurement information”) and the position information output from the position calculation unit 23. Yes. Note 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. Moreover, the control part 20 is implement | achieved by the computer, for example, and the process part 22, the position calculating part 23, and the shape calculating part 24 are mounted as a program run with this 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, the three-dimensional coordinates (spatial coordinates) and the posture of the probe 12 in space (in the following description, the three-dimensional coordinates and The postures are collectively referred to as “spatial coordinates”). 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. The operator operates the probe 12 of the shape measuring apparatus 100 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 detecting that the operation switch 25 is turned on (step S100), the processing unit 22 turns on the light source 41 and irradiates the object to be measured 50 with line light (step S110). 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 S120), 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 S130), and stores the shape information in the storage unit 26 each time (step S140). 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 S150). When the operation switch 25 is turned off by the measurer, the processing unit 22 turns off the light source 41 (step S160), 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 S170) and output to the display unit 30 (step S180). 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.

  By the way, when the display unit 30 for displaying the measurement result (three-dimensional image) is a stationary display, the position of the measured object 51 and the shape measuring device 100 when the measured object 51 is larger than the display unit 30. As a result, the measurer may not be able to see the display unit 30 due to being blocked by the measured object 51. In some cases, the object to be measured 51 must be measured with the back facing the display unit 30. In such a case, the measurer must change the posture when measuring the object to be measured 51 and when viewing the display unit 30, and the measurement efficiency deteriorates. Therefore, in the shape measuring apparatus 100 according to the present embodiment, a head mounted display as shown in FIG. Hereinafter, the shape measuring apparatus 100 using such a head mounted display will be described.

[First Embodiment]
In the head mounted display 30, left and right headphones 31, 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. As described above, when a head mounted display is used as the display unit 30 of the shape measuring apparatus 100, the measurer visually observes the measured object 51 with the right eye and superimposes the measured object 51 on the measured object 51 with the left eye. An output image from 20, that is, a three-dimensional image that is a measurement result of the measured object 51 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. The connection between the head mounted display 30 and the control unit 20 may be a wired connection via a cable or a wireless connection using a wireless LAN.

  Such a three-dimensional image displayed on the display unit 30 is an image when the measured object 51 is viewed from either one direction (this direction is referred to as “view” in the following description). Therefore, after measuring the shape of the side surface of the measured object 51 viewed from a certain direction, when measuring the shape of the side surface viewed from another direction, the view (viewpoint with respect to the measured object 51) is switched to that direction and displayed. Otherwise, for example, it may be blocked by the already measured side surface and not displayed on the display unit 30. In order to cope with such a case, when the processing unit 22 of the control unit 20 of the shape measuring apparatus 100 according to the present embodiment displays a three-dimensional image of the measurement result in step S180, as shown in FIG. For example, a message as to whether to switch the view is displayed on the display unit 30, and the will of the measurer is confirmed (step S190). When the operation switch 25 provided on the probe 12 is operated by the measurer to determine that the view is to be switched, the processing unit 22 switches the view in a direction facing the plane of the three-dimensional image acquired in steps S120 to S150. Then, a three-dimensional image from this view is generated again (step S200) and redisplayed on the display unit 30 (step S210).

  In this way, by switching the view so as to face the measured surface of the object to be measured 51, the measurer can clearly see the location currently being measured. Therefore, for example, it is possible to accurately grasp the area where the measurement has already been completed and the area where the measurement has not been completed, among the surface of the measured object 51 currently being measured. In the above description, every time a measurement is completed and a three-dimensional image of the measurement result is displayed, the operator is confirmed whether to switch the view. It is also possible to determine whether or not to switch the view from the three-dimensional image and to switch automatically. In addition to the measurement process shown in FIG. 4, the view switching instruction can be configured so that the measurer can perform it at an arbitrary timing. Further, in the above description, the case where the switching of the view is performed by the operation switch 25 provided in the probe 12 has been described, but an operation unit 36 provided in the head mounted display 30 may be used. Further, the control unit 20 can be configured to reproduce the voice guidance of the shape measurement operation from the headphones 31 and 32 of the head mounted display 30.

[Second Embodiment]
According to the shape measurement method described in the first embodiment, the three-dimensional shape is displayed on the display unit 30 as a result of the measurement person measuring the measured object 51. Therefore, the measurer must determine which part of the measured object 51 is being measured from the displayed measurement result image. Therefore, in the shape measuring apparatus 100 according to the second embodiment, first, the shape of the object 51 to be measured is acquired and displayed on the display unit 30, and the shape is measured. A case will be described in which the images are displayed in a superimposed manner.

  A head cloak display 30 'shown in FIG. 6 shows a case where a camera 37 is attached to the right headphone 31 of the head cloak display 30 described in the first embodiment. Here, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted. Further, the camera 37 is attached so as to face substantially the same direction as the field of view of the measurer when the head capant display 30 'is attached to the head of the measurer. 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. As shown in FIG. 7, 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. The process of generating the shape is performed by the schematic shape generation unit 27 (this schematic shape generation unit 27 is also implemented as a program executed by a computer, for example).

  Now, a process for acquiring the schematic shape of the measured object 51 will be described with reference to FIG. Here, the measurement person's operation with respect to the control unit 20 is described as being performed from the operation unit 36 of the head cloak display 30 ', but the operation provided on the probe 12 as instructed to start and end the measurement. It is also possible to configure so as to start from the switch 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 operation signal for image acquisition (step S310), the processing unit 22 acquires a camera image (step S320), and further, angle information (as described above) output by the encoder 21 ( Alternatively, the azimuth (azimuth information) that the probe 12 faces is acquired from the position information output by the position calculation unit 23 (step S330), and these pieces of information are 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.

  Through the processing described above, before measuring the shape of the measured object 51, the approximate shape of the measured object 51 is acquired and displayed on the display unit 30, thereby aligning the measured shape with the approximate shape. Therefore, the measurer can easily determine the shape of which region of the measured object 51 has been acquired, and work efficiency can be improved. 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. The camera 37 can also be provided in the projection unit 35. When the camera 37 is provided on the projection unit 35, the camera 37 is preferably provided with a so-called blur correction function because blurring is likely to occur due to the bending of the support arm 34. 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)
30, 30 'display (head mounted display)
35 Projection Unit 37 Camera 51 Object to be Measured 100 Shape Measuring Device

Claims (5)

A probe that measures the shape of the object to be measured 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 is configured by a head-mounted display having a projection unit that is mounted on a measurement person's head and projects the shape information in front of at least one eye of the measurement person.   The shape measuring apparatus according to claim 1, wherein when the shape information is displayed, the control unit is configured to display the surface from which the shape information has been acquired from a point of view facing directly. The head-mounted display has a camera capable of acquiring an image in a direction substantially the same as the visual field direction of the measurer wearing the head-mounted display,
The said control part acquires the 3 or more image which measured the said to-be-measured object from the different direction with the said camera, and produces | generates the schematic shape of the to-be-measured object using the said image. Shape measuring device.   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.   The shape measuring apparatus according to claim 3, wherein the control unit is configured to align the shape information with the schematic shape and superimpose the shape information on the display unit.

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