JP2012078105A - Attitude controller, control method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control the attitude of an imaging device so that a viewpoint position which is a relative positional relation between a test object and the imaging device becomes identical to a reference viewpoint position.SOLUTION: A characteristic line extraction unit 105 extracts a characteristic line of a test object from data of a test object image taken by an imaging device being in a predetermined attitude. Next, a movement amount calculation unit 109 calculates a movement amount from the present viewpoint position to a reference viewpoint position on the basis of a position of the characteristic line and a position of a reference characteristic line. A reflection unit 110 reflects the movement amount in attitude control information.

Description

  The present invention relates to an attitude control apparatus, a control method, and a control method for controlling the attitude of the imaging apparatus so that a viewpoint position indicating a relative position between the inspection object and an imaging apparatus that images the inspection object becomes a predetermined viewpoint position. Regarding the program.

  Turbine blades used in gas turbines may suffer defects such as damage during operation. Conventionally, in order to inspect defects of an inspection target such as a turbine blade, the surface of the inspection target is photographed from a predetermined viewpoint position by an imaging device including a camera and illumination, and the obtained image is analyzed Therefore, the presence or absence of a defect to be inspected is determined (for example, see Patent Documents 1 to 3).

  When inspecting a defect to be inspected having a complicated shape such as a turbine blade, the presence / absence of a defect is determined using a difference between an image to be inspected as a reference in advance and an image taken by an imaging device. In this case, it is necessary to match the position of the inspection target included in the reference image with the position of the inspection target included in the image captured by the imaging device.

JP-A-9-145340 Japanese Patent No. 2982163 Japanese Patent No. 3032606

However, when installing an inspection target such as a turbine blade on an installation jig, it is difficult to install the inspection target at the same position as the reference installation position, and there is a problem that it takes time for the installation work.
The present invention has been made in view of the above problems, and the orientation of the imaging device is set so that the viewpoint position, which is the relative positional relationship between the inspection target and the imaging device, is the same as the reference viewpoint position. It is an object to provide an attitude control device, a control method, and a program for controlling.

  The present invention has been made to solve the above-described problem, and the imaging is performed so that a viewpoint position indicating a relative position between an inspection target and an imaging device that images the inspection target is a predetermined viewpoint position. A posture control device for controlling the posture of the apparatus, a plurality of control information storage means for storing posture control information for controlling the posture of the imaging device when imaging the inspection target, and a plurality of portions that characterize the inspection target Three-dimensional data storage means for storing three-dimensional data indicating the positional relationship between the characteristic portions of the image acquisition means, image acquisition means for acquiring image data obtained by imaging the inspection object in a predetermined posture, and the image acquisition means And a three-dimensional data when the three-dimensional data stored in the three-dimensional data storage means is perspective-projected. A viewpoint specifying means for specifying a viewpoint position where the position of the characteristic part and the position of the characteristic part extracted by the characteristic part extraction means match, and a predetermined viewpoint position determined in advance from the viewpoint position specified by the viewpoint specifying means A movement amount calculation unit that calculates a movement amount to a reference viewpoint position, and a reflection unit that reflects the movement amount calculated by the movement amount calculation unit in the attitude control information stored in the control information storage unit. And

  In the present invention, the control information storage unit stores attitude control information for controlling the attitude of the imaging apparatus in association with identification information of a plurality of attitudes of the imaging apparatus when imaging the inspection target. The reflecting means preferably reflects the movement amount calculated by the movement amount calculating means in each of the posture control information stored in the control information storage means.

  Further, in the present invention, reference storage means for storing reference image data obtained when an object of the same type as the inspection object and having a reference shape is imaged from the reference viewpoint position, and the reference A deformation amount calculating means for calculating a deformation amount of a portion other than the feature portion between corrected image data obtained by imaging the inspection object at a viewpoint position and reference image data stored in the reference storage means; The reflecting means includes the deformation amount calculated by the deformation amount calculating means in posture control information associated with posture identification information when the imaging device images a portion other than the characteristic portion to be inspected. It is preferable to reflect it.

  In the present invention, the control information storage unit further stores light amount control information for controlling the amount of light incident on the imaging device when imaging in the posture in association with identification information of a plurality of postures of the imaging device. And the light amount control associated with the posture identification information so that the average lightness of a predetermined area of the image data captured by the image pickup device in the posture stored in the control information storage means becomes a predetermined reference lightness. It is preferable to include a light amount correction unit that corrects information.

  In addition, the present invention is an attitude control apparatus that controls the attitude of the imaging apparatus so that a viewpoint position indicating a relative position between the inspection object and an imaging apparatus that images the inspection object becomes a predetermined viewpoint position. Control information storage means for storing attitude control information for controlling the attitude of the imaging apparatus when imaging the inspection object, and a reference viewpoint in which the imaging apparatus for imaging the inspection object is a predetermined viewpoint position Feature part storage means for storing the positions of a plurality of feature parts indicating the part characterizing the inspection object included in the image data picked up from the position, and an image for acquiring the image data picked up by the image pickup apparatus in the predetermined posture Using the acquisition unit, the position of the feature stored in the feature storage unit and the position of the feature of the image data acquired by the image acquisition unit, from the viewpoint position of the imaging device to the reference viewpoint A movement amount calculating means for calculating a movement amount of up location, the movement amount calculating means said control information storage means movement amount calculated is characterized in that it comprises a reflection means for reflecting the posture control information stored.

  In the present invention, the feature storage unit stores the position of the feature in association with viewpoint position information indicating a plurality of viewpoint positions, and the image acquisition unit is configured to store the initial position. Image data captured from each viewpoint position indicated by the viewpoint position information stored in the storage unit is acquired, and the movement amount calculation unit calculates the position of the feature amount and the position for each viewpoint position information stored in the position storage unit. It is preferable to calculate a movement amount from the viewpoint position of the imaging device to the viewpoint position indicated by the viewpoint position information using the position of the feature amount of the image data acquired by the image acquisition unit.

  Further, in the present invention, the inclination that stores the image data obtained by the imaging device, which is obtained by imaging the inspection target tilted with respect to an axis orthogonal to the optical axis direction of the imaging device, in association with the inclination angle of the inspection target. Information storage means, and inclination information reading means for comparing the image data acquired by the image acquisition means with the image data stored by the inclination information storage means and reading the inclination angle associated with the closest image data. The moving amount creation means uses the position of the feature stored in the feature storage means, the position of the feature of the image data acquired by the image acquisition means, and the inclination information read out by the inclination information reading means. It is preferable to calculate a movement amount from the viewpoint position of the imaging device to the viewpoint position indicated by the viewpoint position information.

  Further, the present invention controls the posture of the imaging device so that a viewpoint position indicating a relative position between the inspection target and an imaging device that images the inspection target is a predetermined viewpoint position, Control information storage means for storing attitude control information for controlling the attitude of the imaging device when taking an image, and three-dimensional data for storing three-dimensional data indicating the positional relationship between a plurality of features that indicate a part characterizing the inspection object And a data storage unit, wherein the image acquisition unit acquires image data obtained by imaging the inspection object in a predetermined posture, and the feature extraction unit includes the image The feature part to be inspected is extracted from the image data acquired by the acquisition unit, and the viewpoint specifying unit performs the characteristic projection of the three-dimensional data when perspectively projecting the three-dimensional data stored in the three-dimensional data storage unit. A viewpoint position where the position of the part matches the position of the feature part extracted by the feature part extraction means, and the movement amount calculation means is a predetermined viewpoint position determined in advance from the viewpoint position specified by the viewpoint specification means The movement amount to the reference viewpoint position is calculated, and the reflection means reflects the movement amount calculated by the movement amount calculation means in the attitude control information stored in the control information storage means.

  Further, the present invention controls the posture of the imaging device so that a viewpoint position indicating a relative position between the inspection target and an imaging device that images the inspection target is a predetermined viewpoint position, Control information storage means for storing attitude control information for controlling the attitude of the imaging device when taking an image, and image data taken from a reference viewpoint position, which is a predetermined viewpoint position determined in advance by the imaging apparatus that images the inspection target And a feature storage means for storing the positions of a plurality of feature parts indicating the part characterizing the inspection object, wherein the image acquisition means captures the image in the predetermined orientation. The movement amount calculating means uses the position of the characteristic portion stored in the characteristic portion storage means and the position of the characteristic portion of the image data acquired by the image acquisition means. It calculates the amount of movement from the point position to the reference viewpoint position, reflecting means, a moving amount of the moving amount calculation means has calculated the control information storage means, characterized in that to reflect the attitude control information stored.

  Further, the present invention controls the posture of the imaging device so that a viewpoint position indicating a relative position between the inspection target and an imaging device that images the inspection target is a predetermined viewpoint position, Control information storage means for storing attitude control information for controlling the attitude of the imaging device when taking an image, and three-dimensional data for storing three-dimensional data indicating the positional relationship between a plurality of features that indicate a part characterizing the inspection object An attitude control device comprising data storage means; image acquisition means for acquiring image data obtained by imaging the inspection object in a predetermined attitude by the imaging apparatus; and a characteristic portion of the inspection object from the image data acquired by the image acquisition means A feature portion extracting means for extracting the three-dimensional data stored in the three-dimensional data storage means, and the feature portion extracting means extracts the position of the feature portion of the three-dimensional data and the feature portion extracting means. Viewpoint identifying means for identifying a viewpoint position that coincides with the position of the feature portion; movement amount calculation for calculating a movement amount from the viewpoint position identified by the viewpoint identifying means to a reference viewpoint position that is a predetermined predetermined viewpoint position And a program for causing the movement amount calculated by the movement amount calculation unit to function as a reflection unit that reflects the posture control information stored in the control information storage unit.

  Further, the present invention controls the posture of the imaging device so that a viewpoint position indicating a relative position between the inspection target and an imaging device that images the inspection target is a predetermined viewpoint position, Control information storage means for storing attitude control information for controlling the attitude of the imaging device when taking an image, and image data taken from a reference viewpoint position, which is a predetermined viewpoint position determined in advance by the imaging apparatus that images the inspection target A posture control device comprising: a feature storage unit that stores the positions of a plurality of feature portions that indicate portions that characterize the inspection target, and acquires image data captured by the image pickup device in the predetermined posture Using the image acquisition means, the position of the feature stored in the feature storage means and the position of the feature of the image data acquired by the image acquisition means, the reference viewpoint from the viewpoint position of the imaging device Movement amount calculating means for calculating a movement amount of up location, a program for functioning as a reflecting unit for reflecting the movement amount which the movement amount calculating means has calculated the attitude control information the control information storage means for storing.

  According to the present invention, the posture control device extracts the feature portion of the inspection target from the image data obtained by the imaging device capturing the inspection target in a predetermined posture, and sets the position of the feature portion and the position of the reference feature portion. Based on this, the amount of movement from the current viewpoint position to the reference viewpoint position is calculated. Then, the posture control device reflects the movement amount in posture control information for controlling the posture of the imaging device when imaging the inspection target. Thus, by controlling the posture of the imaging device using the posture control information after reflection, the viewpoint position that is the relative positional relationship between the inspection target and the imaging device is the same as the reference viewpoint position. The attitude of the imaging device can be controlled.

It is a figure which shows the structure of the defect determination system containing the attitude | position control apparatus by one Embodiment of this invention. It is a schematic block diagram which shows the structure of the attitude | position control apparatus by one Embodiment of this invention. It is a figure which shows the method of deriving | reducing the equation which shows the feature line in three-dimensional space using the feature line extracted from several image data. It is a flowchart which shows operation | movement of the attitude | position control apparatus by 1st Embodiment. It is a figure which shows the example of a deformation | transformation of a turbine blade. It is a schematic block diagram which shows the structure of the attitude | position control apparatus by 2nd Embodiment. It is a schematic block diagram which shows the structure of the attitude | position control apparatus by 3rd Embodiment. It is a flowchart which shows operation | movement of the attitude | position control apparatus by 3rd Embodiment. It is a schematic block diagram which shows the structure of the attitude | position control apparatus by 4th Embodiment. It is a figure which shows the extraction method of the feature point by the feature point extraction part. It is a flowchart which shows operation | movement of the attitude | position control apparatus by 4th Embodiment. It is a schematic block diagram which shows the structure of the attitude | position control apparatus by 5th Embodiment. It is a figure which shows the reference | standard attitude | position which the control information storage part by 5th Embodiment memorize | stores. It is a schematic block diagram which shows the structure of the attitude | position control apparatus by 6th Embodiment. It is a figure which shows operation | movement of 6th Embodiment.

<< First Embodiment >>
Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a diagram showing a configuration of a defect determination system including an attitude control device 2 according to an embodiment of the present invention.
The defect determination system is a system that measures the presence or absence of defects such as cracks included in the inspection object 3, and includes an imaging device 1 and an attitude control device 2.
The imaging device 1 receives the control signal from the imaging unit 11 that images the inspection object 3, the arm 12 that fixes the position and line-of-sight direction of the imaging unit 11, and the attitude control device 2, and the imaging device 1 of the imaging device 1 according to the control signal. A control unit for controlling the posture.
The posture control device 2 outputs a control signal for controlling the posture of the imaging device 1 to the imaging device 1 so that the imaging device 1 can take an image of the inspection object 3 at a predetermined viewpoint position. The viewpoint position is a relative positional relationship between the inspection object 3 and the imaging device 1.

FIG. 2 is a schematic block diagram showing the configuration of the attitude control device 2 according to one embodiment of the present invention.
The posture control device 2 includes a control information storage unit 101 (control information storage unit), a posture control unit 102, an image acquisition unit 103 (image acquisition unit), a three-dimensional data storage unit 104 (three-dimensional data storage unit), and a feature line extraction. Unit 105 (feature part extraction unit), input unit 106 (input unit), viewpoint identification unit 107 (viewpoint identification unit), reference feature line storage unit 108, movement amount calculation unit 109 (movement amount calculation unit), reflection unit 110 ( A reflection unit), a reference image storage unit 111 (reference storage unit), a deformation amount calculation unit 112 (deformation amount calculation unit), and a three-dimensional data generation unit 113.

The control information storage unit 101 stores attitude control information for controlling the attitude in association with identification information indicating the attitude of the imaging apparatus 1 when imaging the inspection object 3. The control information storage unit 101 stores posture control information of a reference posture that is a posture capable of capturing at least the entire inspection object 3. Further, the “posture of the imaging device 1” refers to the position and the line-of-sight direction of the imaging unit 11 of the imaging device 1 and is determined by the angle of the arm 12.
The attitude control unit 102 controls the attitude of the imaging apparatus 1 based on the attitude control information stored in the control information storage unit 101.
The image acquisition unit 103 acquires image data captured by the imaging apparatus 1 with the attitude controlled by the attitude control unit 102.

The three-dimensional data storage unit 104 stores the three-dimensional data generated by the three-dimensional data generation unit 113. Here, the three-dimensional data is data representing a plurality of feature lines (feature portions) indicating the edge portion of the inspection object 3. Specifically, the three-dimensional data storage unit 104 stores an equation indicating the position of the characteristic line of the inspection object 3 as three-dimensional data. Further, the information of each feature line stored in the three-dimensional data includes a function of the feature line and identification information for identifying the feature line.
The feature line extraction unit 105 extracts the feature line of the inspection target 3 from the image data acquired by the image acquisition unit 103. Specifically, the feature line extraction unit 105 extracts edge portions from the respective image data acquired by the image acquisition unit 103 as feature lines. Examples of the edge portion extraction method include a method of executing Hough conversion processing on image data and a method of receiving input of the start and end points of a straight line from the user via the input unit 106.
The input unit 106 receives input of identification information for identifying the feature line extracted by the feature line extraction unit 105.

When the perspective identification unit 107 perspectively projects the 3D data stored in the 3D data storage unit 104, the position of the feature line indicated by the 3D data matches the position of the feature line extracted by the feature line extraction unit 105. Identify the viewpoint position that will be used. In addition, the viewpoint specifying unit 107 generates an equation indicating each characteristic line when the specified viewpoint position is used as a reference.
The reference feature line storage unit 108 stores an equation indicating each feature line when a reference viewpoint position that is a predetermined viewpoint position at which the imaging apparatus 1 can image the entire inspection object 3 is used as a reference.

The movement amount calculation unit 109 calculates the movement amount from the viewpoint position of the imaging apparatus 1 to the reference viewpoint position in the reference posture using the data generated by the viewpoint specifying unit 107 and the data stored in the reference feature line storage unit 108. .
The reflection unit 110 reflects the movement amount calculated by the movement amount calculation unit 109 in each posture control information stored in the control information storage unit 101. Further, the reflection unit 110 inputs the deformation amount of the portion other than the feature line of the inspection target 3 from the deformation amount calculation unit 112, and identifies the posture when the imaging device 1 images the portion other than the characteristic line of the inspection target 3. The deformation amount is reflected in the posture control information associated with the information.

The reference image storage unit 111 stores reference image data obtained when an object (for example, an unused turbine blade) that is the same type as the inspection object 3 and has a reference shape is imaged from the reference viewpoint position. Remember. The reference image data may be image data actually captured by the imaging device 1 from the reference viewpoint position, and is image data obtained by modeling the 3D data of the inspection target 3 with the reference viewpoint position as the viewpoint. May be.
The deformation amount calculation unit 112 acquires image data (corrected image data) captured by the imaging apparatus 1 in the posture controlled by the posture control unit 102 based on the posture control information in which the movement amount is reflected by the reflecting unit 110. Obtained from the unit 103. Further, the deformation amount calculation unit 112 calculates the deformation amount of a portion other than the feature line between the image data and the reference image data stored in the reference image storage unit 111.

The three-dimensional data generation unit 113 generates three-dimensional data using the posture control information input from the posture control unit 102 and the feature line extracted by the feature line extraction unit 105, and stores the three-dimensional data in the three-dimensional data storage unit 104. Record dimensional data.
Here, a method for generating three-dimensional data stored in the three-dimensional data storage unit 104 will be described.
First, the posture control unit 102 controls the posture of the imaging apparatus 1 to a posture that can image the entire inspection object 3, and the image acquisition unit 103 acquires image data captured in the posture. By executing the same process a plurality of times, the image acquisition unit 103 acquires image data obtained by imaging the entire inspection object 3 from different viewpoint positions. At this time, the attitude control unit 102 outputs attitude control information indicating the attitude of controlling the imaging device 1 to the three-dimensional data generation unit 113.

FIG. 3 is a diagram illustrating a method of deriving an equation indicating a feature line in a three-dimensional space using feature lines extracted from a plurality of image data.
Next, the feature line extraction unit 105 extracts edge portions from the respective image data acquired by the image acquisition unit 103 as feature lines. Since the platform of the turbine blade has an edge, the edge appears as a straight line in the image data.
Next, the user gives unique identification information to each of the extracted feature lines. The input unit 106 receives input of the identification information from the user. Similar processing is executed for all image data. In the example shown in FIG. 3A, identification information of l ₁ ⁽ⁿ⁾ , l ₂ ⁽ⁿ⁾ , and l ₃ ⁽ⁿ⁾ is given to each feature line. Here, the subscripts “1”, “2”, and “3” indicate identification numbers that are unique to the feature lines, and the subscript “(n)” indicates the identification number of the image data. At this time, the user assigns the same identification number to the characteristic line indicating the same portion of the inspection object 3.

The feature line extraction unit 105 outputs information indicating the correspondence between the identification information and the feature line from the input unit 106 to the three-dimensional data generation unit 113. Further, the three-dimensional data generation unit 113 projects the feature lines indicated by the respective image data on the three-dimensional space from the posture control information input from the posture control unit 102 and the feature line information extracted by the feature line extraction unit 105. A plane equation indicating the plane of the time is derived. Next, the three-dimensional data generation unit 113 derives an equation indicating a feature line in the three-dimensional space from the plurality of derived plane equations.
In the example shown in FIG. 3B, the three-dimensional data generation unit 113 uses the plane equation g (l ⁾ indicating the characteristic line l ₁ ⁽¹⁾ from the coordinate system when the imaging device 1 captures the first image data. ₁ ⁽¹⁾ ) and the plane equation g (l ₁ ⁽ⁿ⁾ ) indicating the characteristic line l ₁ ⁽ⁿ ) are derived from the coordinate system when the imaging device 1 images the n-th image data. Then, the three-dimensional data generation unit 113 calculates an equation g (l ₁ ⁽¹⁾ ) × g (l indicating the straight line L ₁ from the derived plane equations g (l ₁ ⁽¹⁾ ) and g (l ₁ ⁽ⁿ⁾ ). ₁ ⁽ⁿ⁾ ) is derived.
By repeating the above procedure for each feature line, an equation indicating each feature line can be derived. Then, the three-dimensional data generation unit 113 records the derived equations in the three-dimensional data storage unit 104 as three-dimensional data in association with the feature line identification information.

With the above configuration, the attitude control device 2 performs the following operation.
The image acquisition unit 103 acquires image data obtained by the imaging apparatus 1 capturing an image of the inspection target 3 in a predetermined posture. The feature line extraction unit 105 extracts the feature line of the inspection target 3 from the image data acquired by the image acquisition unit 103. The viewpoint specifying unit 107 is a viewpoint in which the position of the feature line of the three-dimensional data coincides with the position of the feature line extracted by the feature line extraction unit 105 when the three-dimensional data stored in the three-dimensional data storage unit 104 is perspective-projected. Identify the location. The movement amount calculation unit 109 calculates a movement amount from the viewpoint position specified by the viewpoint specifying unit 107 to a reference viewpoint position that is a predetermined viewpoint position determined in advance. The reflection unit 110 reflects the movement amount calculated by the movement amount calculation unit 109 in the posture control information stored in the control information storage unit 101.
Accordingly, the posture control device 2 controls the posture of the imaging device 1 so that the viewpoint position of the imaging device 1 is the same as the reference viewpoint position by controlling the imaging device 1 using the posture control information. Can do.

Next, the operation of the attitude control device 2 according to the present embodiment will be described.
FIG. 4 is a flowchart showing the operation of the attitude control device 2 according to the first embodiment.
First, the posture control unit 102 reads the posture control information of the reference posture from the control information storage unit 101, and controls the posture of the imaging device 1 to the reference posture based on the posture control information (step S1). Thereby, the imaging device 1 images the inspection object 3 in the reference posture.
Next, the image acquisition unit 103 acquires image data captured by the imaging device 1 from the imaging device 1 (step S2). Next, the feature line extraction unit 105 extracts feature lines from the image data acquired by the image acquisition unit 103 (step S3).

Next, the input unit 106 receives an input of feature line identification information extracted by the feature line extraction unit 105 from the user (step S4). At this time, the user inputs identification information for the feature line corresponding to the feature line stored in the three-dimensional data storage unit 104. Next, the feature line extraction unit 105 outputs the identification number received by the input unit 106 to the viewpoint specifying unit 107 in association with each extracted feature line.
Next, the viewpoint specifying unit 107 outputs a feature line (a feature line on a two-dimensional plane) input from the feature line extraction unit 105 and a feature line (in the three-dimensional space) indicated by the three-dimensional data stored in the three-dimensional data storage unit 104. The characteristic line) is used to derive an equation indicating the positional relationship between the characteristic lines when the position of the imaging device 1 in the reference posture is used as a reference (step S5). In other words, the viewpoint specifying unit 107 matches the position of the feature line of the three-dimensional data with the position of the feature line extracted by the feature line extraction unit 105 when the three-dimensional data stored in the three-dimensional data storage unit 104 is perspective-projected. The viewpoint position to be identified is specified, and an equation of each feature line with respect to the viewpoint position is derived. Here, “match” does not only indicate complete match, but means that the total sum of shift amounts of feature lines indicated by the same identification information is minimized.

  When the viewpoint identifying unit 107 derives a feature line equation based on the viewpoint position of the imaging device 1 in the reference posture, the movement amount calculation unit 109 stores the feature line equation and the reference feature line storage unit 108. The amount of movement from the viewpoint position of the imaging apparatus 1 to the reference viewpoint position is calculated using the characteristic line equation (step S6). Specifically, the parallel movement distance and rotation angle when the feature line derived by the viewpoint specifying unit 107 matches the feature line stored by the reference feature line storage unit 108 are determined from the viewpoint position of the imaging apparatus 1 in the reference posture. The amount of movement to the reference viewpoint position is calculated by a numerical analysis method.

  Next, the reflection unit 110 reflects the movement amount calculated by the movement amount calculation unit 109 in each posture control information stored in the control information storage unit 101 (step S7). For example, the reflection unit 110 moves the movement amount in the x-axis direction calculated by the movement amount calculation unit 109 in the left-right direction of the arm 12 of the imaging device 1 in the posture control information (when the left-right direction corresponds to the x-axis). Add to the quantity. Similar processing is performed for the movement amount in the y-axis direction, the movement amount in the z-axis direction, the rotation angle in the x-axis direction, the rotation angle in the y-axis direction, and the rotation angle in the z-axis direction.

Next, the posture control unit 102 reads the posture control information of the reference posture from the control information storage unit 101, and controls the posture of the imaging device 1 to the reference posture based on the posture control information (step S8). Thereby, the imaging device 1 images the inspection object 3 with the reference posture reflecting the movement amount calculated by the movement amount calculation unit 109.
Next, the image acquisition unit 103 acquires image data captured by the imaging device 1 from the imaging device 1 (step S <b> 9) and outputs the image data to the deformation amount calculation unit 112.

  Next, the deformation amount calculation unit 112 reads the reference image data stored in the reference image storage unit 111 (step S10). The reference image data is data indicating an image obtained when an object having the same shape as the inspection object 3 and having a reference shape is imaged from the reference viewpoint position as described above. The image data acquired by the image acquisition unit 103 in step S9 is data indicating an image obtained by capturing the inspection target 3 with a reference posture reflecting the movement amount calculated by the movement amount calculation unit 109. Therefore, at least the position of the feature line matches between the image data acquired by the image acquisition unit 103 and the reference image data stored by the reference image storage unit 111.

  Next, the deformation amount calculation unit 112 calculates the deformation amount of a portion other than the feature portion between the image data input from the image acquisition unit 103 and the reference image data stored in the reference image storage unit 111 (step S11). . For example, the deformation amount calculation unit 112 may calculate the deformation amount by using a template matching method or the like.

FIG. 5 is a diagram illustrating an example of deformation of the turbine blade.
When the inspection object 3 is a turbine blade, the blade portion of the turbine blade is often deformed by operation in a gas turbine. For example, in the example illustrated in FIG. 5, when the reference image data and the image data acquired by the image acquisition unit 103 are compared, the platform portion including the feature line matches, but is transformed into a blade portion that is a portion other than the feature portion. It can be seen that
Therefore, the deformation amount calculation unit 112 performs template matching processing on a portion other than the feature line of the image data acquired by the image acquisition unit 103 and a portion other than the feature line of the reference image data, and performs the parallel movement distance and rotation as the deformation amount. Calculate the corner.

  Next, the reflection unit 110 captures the deformation amount calculated by the deformation amount calculation unit 112 in the posture control information stored in the control information storage unit 101, and the imaging device 1 images a portion other than the feature line of the inspection target 3. The deformation amount is reflected in the posture control information associated with the identification information of the posture at the time (step S12).

  Thus, according to the present embodiment, the feature line extraction unit 105 extracts the feature line of the inspection target 3 from the image data obtained by capturing the inspection target 3 with the imaging device 1 in a predetermined posture. Next, the movement amount calculation unit 109 calculates a movement amount from the current viewpoint position to the reference viewpoint position based on the position of the feature line and the position of the reference feature line. Then, the reflection unit 110 reflects the movement amount in the posture control information. As a result, the posture control unit 102 controls the posture of the imaging device 1 using the posture control information after reflection, so that the viewpoint position that is the relative positional relationship between the inspection target 3 and the imaging device 1 is the reference viewpoint position. The posture of the imaging device 1 can be controlled so as to be the same.

  Further, according to the present embodiment, the deformation amount calculation unit 112 calculates the deformation amount between the image data after matching the positions of the feature lines and the reference object of the same type as the inspection target 3. . Then, the reflecting unit 110 reflects the movement amount in the posture control information indicating the posture in which the portion other than the feature line is imaged in the posture control information. As a result, the posture control unit 102 controls the posture of the imaging device 1 using the posture control information after reflection, so that the relative positional relationship between the inspection target 3 and the imaging device 1 when the deformed portion is imaged. The posture of the imaging apparatus 1 can be controlled so that a certain viewpoint position is the same as the reference viewpoint position.

<< Second Embodiment >>
Hereinafter, a second embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 6 is a schematic block diagram showing the configuration of the attitude control device 2 according to the second embodiment.
The posture control device 2 according to the second embodiment of the present invention includes a three-dimensional data storage unit 104, a viewpoint specifying unit 107, a movement amount calculation unit 109, and a deformation amount calculation unit 112 of the posture control device 2 according to the first embodiment. Instead of this, a three-dimensional data storage unit 201, a viewpoint specifying unit 202, a movement amount calculation unit 203, and a deformation amount calculation unit 204 having different stored data and operations are provided. Further, the posture control device 2 according to the second embodiment of the present invention does not include the reference feature line storage unit 108 and the reference image storage unit 111 of the posture control device 2 according to the first embodiment, and instead stores the reference viewpoint position storage. The unit 205 is provided. Further, the posture control device 2 according to the second embodiment of the present invention does not include the three-dimensional data generation unit 113 provided in the posture control device 2 according to the first embodiment.
Note that in the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

The three-dimensional data storage unit 201 stores three-dimensional data indicating a three-dimensional model representing the appearance of the inspection target 3.
When the viewpoint specifying unit 202 reads out the three-dimensional data from the three-dimensional data storage unit 201 and perspectively projects the three-dimensional model indicated by the three-dimensional data, the position of the feature line of the three-dimensional model and the feature line extraction unit 105 A viewpoint position that matches the position of the extracted feature line is specified.
The reference viewpoint position storage unit 205 stores the reference viewpoint position.
The movement amount calculation unit 203 calculates the movement amount from the viewpoint position specified by the viewpoint specification unit 202 to the reference viewpoint position stored in the reference viewpoint position storage unit 205.

  The deformation amount calculation unit 204 renders the three-dimensional model indicated by the three-dimensional data stored in the three-dimensional data storage unit 201 using the reference viewpoint position stored in the reference viewpoint position storage unit 205. In addition, the deformation amount calculation unit 204 captures images with the posture controlled by the posture control unit 102 based on the image data (reference image data) obtained by rendering and the posture control information in which the movement amount is reflected by the reflection unit 110. A deformation amount of a portion other than the feature portion between the image data (corrected image data) captured by the apparatus 1 is calculated.

  As described above, according to the present embodiment, the three-dimensional model indicating the appearance of the inspection object 3 is used instead of the three-dimensional data generated using the image data obtained by imaging the entire inspection object 3 from different viewpoint positions. The posture can be controlled using the data.

<< Third Embodiment >>
Hereinafter, the third embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 7 is a schematic block diagram showing the configuration of the attitude control device 2 according to the third embodiment.
The attitude control device 2 according to the third embodiment of the present invention includes a control information storage unit 301 having different stored data instead of the control information storage unit 101 of the attitude control device 2 according to the first embodiment. Moreover, the attitude control device 2 according to the second embodiment of the present invention further includes a light amount correction unit 302 in addition to the attitude control device 2 according to the first embodiment.
Note that in the third embodiment, identical symbols are assigned to components similar to those in the first embodiment and detailed description thereof is omitted.

The control information storage unit 301 is associated with identification information indicating the attitude of the imaging apparatus 1 when imaging the inspection object 3 and is incident on the imaging apparatus 1 when imaging with the attitude and the attitude control information for controlling the attitude. Light quantity control information for controlling the quantity of light to be stored is stored. The light amount control information indicates information such as the light amount of illumination, the aperture, and the shutter speed.
The light amount correction unit 302 is associated with the posture identification information so that the average lightness of a predetermined region of the image data captured by the imaging device 1 becomes a predetermined reference lightness in the posture stored in the control information storage unit 101. The received light amount control information is corrected. For example, when the inspection target 3 is a turbine blade, an image of the vicinity of the center of the blade portion is imaged, and the average brightness value of the region near the center of the image data when the amount of light is controlled so that the defective portion clearly appears in the image data is calculated. The reference brightness should be used.

Below, operation | movement of the attitude | position control apparatus 2 by this embodiment is demonstrated.
FIG. 8 is a flowchart showing the operation of the attitude control device 2 according to the third embodiment.
In addition, since the operation | movement of the said step S1-step S12 is the same as 1st Embodiment, description is abbreviate | omitted here.
When the reflecting unit 110 reflects the deformation amount in the posture control information in step S12, the posture control unit 102 reads the posture control information and the light amount control information associated with the identification information from the control information storage unit 301, and Based on the posture control information, the posture of the imaging device 1 is controlled to the reference posture (step S13). The imaging device 1 images the inspection object 3 with the posture.
Next, the image acquisition unit 103 acquires image data captured by the imaging device 1 from the imaging device 1 (step S14).

Next, the light quantity correction unit 302 calculates the average brightness value of the area near the center of the image data acquired by the image acquisition unit 103 (step S15). Then, the light quantity correction unit 302 determines whether or not the difference between the average brightness value and the reference brightness is within a predetermined threshold (step S16).
If the light amount correction unit 302 determines that the difference in brightness is not within a predetermined threshold (step S16: NO), it generates correction information for correcting the difference between the average brightness value of the image data and the reference brightness. (Step S17). That is, when the average brightness value is low, correction information indicating that the amount of illumination light is increased, the aperture of the diaphragm is increased, or the shutter speed is decreased so that a larger amount of light can be taken into the imaging apparatus 1. Is generated. On the other hand, when the average brightness value is high, correction information is generated to indicate that the amount of illumination light is reduced, the aperture of the diaphragm is reduced, or the shutter speed is increased so as to reduce the amount of light taken into the imaging apparatus 1. To do.

Then, the light amount correction unit 302 reflects the generated correction information in the light amount control information associated with the same identification information as the posture control information read out by the posture control unit 102 (step S18).
Next, the posture control unit 102 reads light amount control information associated with the same identification information as the posture control information read in step S13 from the control information storage unit 301, and controls the imaging device 1 using the light amount control information. (Step S19). When the imaging apparatus 1 images the inspection object 3 under the conditions indicated by the corrected light amount control information, the process returns to step S14, and brightness adjustment processing is performed.

On the other hand, when the light amount correction unit 302 determines in step S16 that the difference in brightness is within a predetermined threshold (step S16: YES), the posture control unit 102 stores all postures stored in the control information storage unit 301. It is determined whether or not the light quantity control information has been corrected (step S20). When it is determined that there is light amount control information that has not been corrected (step S20: NO), the process returns to step S13, and the imaging apparatus 1 is controlled based on the posture control information that has not yet been read. On the other hand, when it determines with all the light quantity control information having been correct | amended (step S20: YES), a process is complete | finished.
Accordingly, the posture control device 2 according to the present embodiment controls the imaging device 1 using the light amount control information after the reflection by the posture control unit 102, thereby making the brightness of image data captured in each posture constant. Can do.

<< Fourth Embodiment >>
Hereinafter, a fourth embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 9 is a schematic block diagram showing the configuration of the attitude control device 2 according to the fourth embodiment.
The attitude control device 2 includes a control information storage unit 401 (control information storage unit), an attitude control unit 402, an image acquisition unit 403 (image acquisition unit), a reference image storage unit 404 (feature unit storage unit), and a feature point extraction unit 405. (Characteristic part extraction means), a movement amount calculation section 406 (movement amount calculation means), and a reflection section 407 (reflection means).

  The control information storage unit 401 stores posture control information for controlling the posture in association with identification information indicating the posture of the imaging device 1 when the inspection target 3 is imaged. Note that the control information storage unit 401 stores posture control information of a reference posture, which is a posture capable of capturing at least a feature point (feature portion) indicating a part characterizing the inspection target 3, for each different feature point. It should be noted that the reference posture for imaging each feature point is such that the line-of-sight direction of the imaging unit 11 is the vertical direction and the height from the feature point to the imaging unit 11 (in the z-axis direction of the feature point in the camera coordinate system). (Value) indicates equal posture.

The posture control unit 402 controls the posture of the imaging apparatus 1 based on the posture control information stored in the control information storage unit 401.
The image acquisition unit 403 acquires image data captured by the imaging apparatus 1 with the attitude controlled by the attitude control unit 402.
The reference image storage unit 404 stores a plurality of pieces of information in which the reference image data that is image data captured by the imaging device 1 from a predetermined reference viewpoint position and the coordinates of the feature points included in the reference image data are associated with each other. The plurality of reference image data stored in the reference image storage unit 404 is captured from different reference viewpoint positions, and includes different feature points.

FIG. 10 is a diagram illustrating a feature point extraction method by the feature point extraction unit 405.
The feature point extraction unit 405 extracts feature points of the inspection target 3 from the image data acquired by the image acquisition unit 403.
Here, a feature point extraction method by the feature point extraction unit 405 will be described.
For example, as illustrated in FIG. 10A, when the installation position of the inspection target 3 is shifted from a predetermined position, the image acquisition unit 103 acquires image data as illustrated in FIG. . On the other hand, the reference image data is an image as shown in FIG. 10B, and the reference image storage unit 404 stores the coordinates of the feature points in association with the reference image data. Here, the feature point extraction unit 405 performs template matching processing on the image data acquired by the image acquisition unit 403 and the reference image data stored in the reference image storage unit 111, as shown in FIG. The coordinates corresponding to the feature points of the data are extracted as the coordinates of the image data acquired by the image acquisition unit 403.

The movement amount calculation unit 406 uses the feature point coordinates extracted by the feature point extraction unit 405 and the feature point coordinates stored in the reference image storage unit 111 to move from the viewpoint position of the imaging apparatus 1 to the reference viewpoint position. Calculate the amount.
The reflection unit 407 reflects the movement amount calculated by the movement amount calculation unit 406 in the posture control information stored in the control information storage unit 401.

With the above configuration, the attitude control device 2 performs the following operation.
The image acquisition unit 403 acquires image data captured by the imaging apparatus 1 in a predetermined posture. The movement amount calculation unit 406 uses the position of the feature point stored in the reference image storage unit 404 and the position of the feature point of the image data acquired by the image acquisition unit 403 from the viewpoint position of the imaging apparatus 1 to the reference viewpoint position. Is calculated. The reflection unit 407 reflects the movement amount calculated by the movement amount calculation unit 406 in the posture control information stored in the control information storage unit 401.
Accordingly, the posture control device 2 controls the posture of the imaging device 1 so that the viewpoint position of the imaging device 1 is the same as the reference viewpoint position by controlling the imaging device 1 using the posture control information. Can do.

Next, the operation of the attitude control device 2 according to the present embodiment will be described.
FIG. 11 is a flowchart showing the operation of the attitude control device 2 according to the fourth embodiment.
First, the posture control unit 402 reads one piece of posture control information of the reference posture from the control information storage unit 401, and controls the posture of the imaging device 1 to the reference posture based on the posture control information (step S21). Thereby, the imaging device 1 images the inspection object 3 in the reference posture.
Next, the image acquisition unit 403 acquires image data captured by the imaging device 1 from the imaging device 1 (step S22). Next, the feature point extraction unit 405 extracts feature points from the image data acquired by the image acquisition unit 403 (step S23).

Next, the posture control unit 402 determines whether or not the imaging apparatus 1 has been controlled with all the reference postures stored in the control information storage unit 101 (step S24). If the posture control unit 402 determines that there is a reference posture that is not used for control of the imaging device 1 (step S24: NO), the posture control unit 402 returns to step S21 and controls the imaging device 1 with posture control information of another reference posture. .
On the other hand, when the posture control unit 402 determines that the imaging apparatus 1 has been controlled with all the reference postures stored in the control information storage unit 101 (step S24: YES), the movement amount calculation unit 406 includes the feature point extraction unit. The extracted coordinate of the feature point in each reference posture and the coordinate of the feature point stored in the reference image storage unit 111 are each converted into the coordinates of the camera coordinate system of the imaging unit 11 (step S25). Here, the camera coordinate system indicates a coordinate system represented by orthogonal coordinate axes indicating the position and orientation of the imaging unit 11 in real space.

Hereinafter, a specific coordinate conversion method will be described.
In general, the relationship between the coordinates (x, y, z) of the camera coordinate system and the image coordinates (X, Y) is as shown in Expression (1).

Note that f is a value obtained by dividing the focal length of the imaging unit 11 by the size of the imaging device, and is a constant determined by the design of the imaging unit 11. Cx is the X coordinate of the center of the image data. Cy is the Y coordinate of the center of the image data.
In the present embodiment, the height from the feature point to the imaging unit 11 is the same h in the camera coordinate system. Therefore, an expression for converting the coordinates (X _s , Y _s ) of the feature points in the respective reference postures extracted by the feature point extraction unit 405 into the coordinates (x _s , y _s ) in the real space is shown in Expression (2). It is as follows.

However, x _c and y _c are the value of the x coordinate and the value of the y coordinate of the imaging unit 11 in the real space indicated by the attitude control information stored in the control information storage unit 401.
Similarly, an equation for converting the coordinates (X _e , Y _e ) of the feature points stored in the reference image storage unit 404 into the coordinates (x _e , y _e ) in the real space is as shown in equation (3).

When the coordinate of the feature point is converted from the image coordinate system to the camera coordinate system, the movement amount calculation unit 406 moves from the viewpoint position of the imaging apparatus 1 in the reference posture to the reference viewpoint position by using the converted coordinate information. The amount is calculated (step S26).
Specifically, the movement amount calculation unit 406 calculates the movement amount by the least square method using Expression (4) shown below.

Here, x _sn represents the coordinate obtained by converting the x coordinate of the feature point in the nth reference posture extracted by the feature point extraction unit 405 into the coordinate in the real space. Further, y _sn represents a coordinate obtained by converting the y coordinate of the feature point in the nth reference posture extracted by the feature point extraction unit 405 into a coordinate in the real space. Further, x _en shows coordinates in which the reference image storage unit 404 converts the n-th x-coordinate of feature points associated with the reference image data stored in the coordinate in the real space. Further, y _en indicates a coordinate obtained by converting the y coordinate of the feature point associated with the nth reference image data stored in the reference image storage unit 404 into a coordinate in the real space.
Dx represents the amount of parallel movement of the coordinate imaging apparatus 1 in the real space in the x-axis direction. Further, dy indicates the amount of parallel movement of the coordinate imaging apparatus 1 in the real space in the y-axis direction. Further, a and b are parameters indicating the enlargement ratio and the rotation angle of the imaging apparatus 1 and satisfy the following formula (5).
The subscript “+” at the upper right of the matrix in Expression (4) indicates a pseudo inverse matrix of the matrix.

Note that k represents an enlargement factor of the imaging apparatus 1, and θ represents a rotation angle of the imaging apparatus 1.
Thereby, the movement amount calculation unit 406 calculates the movement amount (dx, dy, k, θ) from the viewpoint position of the imaging device 1 to the reference viewpoint position in the reference posture in step S26.
The reflection unit 407 reflects the movement amount calculated by the movement amount calculation unit 406 in the posture control information stored in the control information storage unit 401 (step S27).

  Thereafter, the posture control unit 402 of the posture control device 2 controls the posture of the imaging device 1 using the posture control information stored in the control information storage unit 401, and performs imaging processing at that position. At this time, the posture of the imaging apparatus 1 changes, and thus there is a possibility that a positional deviation occurs even after the movement amount is reflected. In that case, it is desirable to perform the same process as in steps S21 to S27, and correct the posture so that the amount of the shift is small.

  As described above, according to the present embodiment, the feature point extraction unit 405 extracts the feature points of the inspection target 3 from the image data obtained by imaging the inspection target 3 with the imaging apparatus 1 in a predetermined posture. Next, the movement amount calculation unit 406 calculates a movement amount from the current viewpoint position to the reference viewpoint position based on the position of the feature point and the position of the reference feature point. Then, the reflection unit 407 reflects the movement amount in the posture control information. As a result, the posture control unit 402 controls the posture of the imaging apparatus 1 using the posture control information after reflection, so that the viewpoint position that is the relative positional relationship between the inspection target 3 and the imaging device 1 is the reference viewpoint position. The posture of the imaging device 1 can be controlled so as to be the same.

<< Fifth Embodiment >>
Hereinafter, a fifth embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 12 is a schematic block diagram showing the configuration of the attitude control device 2 according to the fifth embodiment.
The posture control device 2 according to the fifth embodiment of the present invention is different from the control information storage unit 401 and the reference image storage unit 404 of the posture control device 2 according to the fourth embodiment in that the stored data is different. A storage unit 501 and a reference image storage unit 502 are provided.
Note that in the fifth embodiment, identical symbols are assigned to components similar to those in the fourth embodiment and detailed description thereof is omitted.

  The control information storage unit 501 stores posture control information for controlling the posture in association with identification information indicating the posture of the imaging device 1 when the inspection target 3 is imaged. Note that the control information storage unit 501 captures image plane information (start point position information) indicating an image plane for each feature point, with respect to posture control information of a reference posture, which is a posture capable of capturing at least a feature point indicating a part characterizing the inspection object 3. ) And remember it.

FIG. 13 is a diagram illustrating the reference posture stored in the control information storage unit 501 according to the fifth embodiment.
As shown in FIG. 13A, the control information storage unit 501 is a posture control that indicates a posture in which the line-of-sight direction of the imaging device 1 is the vertical direction (z-axis direction) and the values in the z-axis direction of the imaging device 1 are equal. Information is stored in association with imaging plane information indicating the “xy plane”. Further, the control information storage unit 501 is a direction (x-axis direction) in which the line-of-sight direction of the imaging apparatus 1 is orthogonal to the z-axis direction as illustrated in FIG. Are stored in association with imaging surface information indicating the “yz plane”. In addition, as shown in FIG. 13C, the control information storage unit 501 is configured such that the line-of-sight direction of the imaging device 1 is a direction (y-axis direction) orthogonal to the z-axis direction and the x-axis direction, and Posture control information indicating postures having the same value in the axial direction is stored in association with imaging surface information indicating the “xz plane”.

  The reference image storage unit 502 stores a plurality of pieces of information in which reference image data, which is image data captured by the imaging apparatus 1 from the reference viewpoint position, and the coordinates of feature points included in the reference image data are associated with each other. The plurality of reference image data stored in the reference image storage unit 502 is captured from the reference viewpoint position corresponding to the reference posture stored in the control information storage unit 501.

  Then, the movement amount calculation unit 406, for each viewpoint position information stored in the reference image storage unit 502, the coordinates of the feature points stored in the reference image storage unit 502 and the coordinates of the feature amounts of the image data acquired by the image acquisition unit 403. Are used to calculate the amount of movement for each imaging surface. Thereby, the posture control device 2 according to the present embodiment changes the posture of the imaging device 1 so that the viewpoint position becomes the same as the reference viewpoint position even when the installation position of the inspection object 3 is three-dimensionally shifted. Can be controlled.

<< Sixth Embodiment >>
Hereinafter, the sixth embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 14 is a schematic block diagram showing the configuration of the attitude control device 2 according to the sixth embodiment.
The posture control device 2 according to the sixth embodiment of the present invention is further added to the posture control device 2 according to the fourth embodiment in a tilt image storage unit 601 (tilt information storage unit) and a tilt information reading unit 602 (tilt information reading unit). ). Further, the posture control apparatus 2 according to the sixth embodiment includes a movement amount calculation unit 603 having different operations instead of the movement amount calculation unit 406 of the posture control apparatus 2 according to the fourth embodiment.
Note that in the sixth embodiment, identical symbols are assigned to components similar to those in the fourth embodiment and detailed description thereof is omitted.

In the tilted image storage unit 601, the imaging device 1 captures the inspection object 3 tilted with reference to the x axis and the y axis of the imaging device 1 from the reference viewpoint position where the reference image data stored in the reference image storage unit 404 is captured. The obtained image data is stored in association with the tilt angle.
The inclination information reading unit 602 compares the image data acquired by the image acquisition unit 103 with the image data stored by the inclination image storage unit 601 and reads the inclination angle associated with the closest image data.
In addition to the feature point coordinates extracted by the feature point extraction unit 405 and the feature point coordinates stored in the reference image storage unit 111, the movement amount calculation unit 603 further uses the inclination information read out by the inclination information reading unit 602. The amount of movement from the viewpoint position of the imaging device 1 to the reference viewpoint position is calculated.

FIG. 15 is a diagram illustrating the operation of the sixth embodiment.
When the installation position of the inspection object 3 is inclined in the elevation direction as shown in FIG. 15A, the image data picked up by the image pickup apparatus 1 is unevenly reflected as shown in FIG. 15B. . Therefore, the inclination information reading unit 602 compares the image data stored in the inclination image storage unit 601 as shown in FIG. 15C with the image data acquired by the image acquisition unit 103. Then, by reading out the inclination angle associated with the closest image data, the degree of inclination of the inspection object 3 in the elevation angle direction can be estimated. In the example shown in FIG. 15, it can be estimated that the inspection object 3 is inclined by θ around the x-axis direction.

  Thus, by estimating the inclination angle of the inspection object 3 in the elevation direction and calculating the amount of movement from the viewpoint position of the imaging device 1 to the reference viewpoint position, the installation position of the inspection object 3 is shifted in a three-dimensional manner. Even when the image capturing apparatus 1 is, the posture of the imaging device 1 can be controlled so that the viewpoint position is the same as the reference viewpoint position.

  As described above, the embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to the above, and various design changes and the like can be made without departing from the scope of the present invention. It is possible to

  The attitude control device 2 described above has a computer system inside. The operation of each processing unit described above is stored in a computer-readable recording medium in the form of a program, and the above processing is performed by the computer reading and executing this program. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

  The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

  DESCRIPTION OF SYMBOLS 1 ... Imaging device 2 ... Attitude control device 3 ... Inspection object 11 ... Imaging part 12 ... Arm 101, 301, 401, 501 ... Control information memory | storage part 102, 402 ... Attitude control part 103, 403 ... Image acquisition part 104, 201 ... Three-dimensional data storage unit 105 ... Feature line extraction unit 106 ... Input unit 107, 202 ... View point identification unit 108 ... Reference feature line storage unit 109, 203, 406, 603 ... Movement amount calculation unit 110, 407 ... Reflection unit 111, 404 Reference image storage unit 112, 204 ... Deformation amount calculation unit 205 ... Reference viewpoint position storage unit 302 ... Light amount correction unit 405 ... Feature point extraction unit 601 ... Inclined image storage unit 602 ... Inclination information reading unit

Claims (11)

A posture control device that controls the posture of the imaging device such that a viewpoint position indicating a relative position between the inspection target and an imaging device that images the inspection target is a predetermined viewpoint position;
Control information storage means for storing attitude control information for controlling the attitude of the imaging device when imaging the inspection object;
Three-dimensional data storage means for storing three-dimensional data indicating the positional relationship between a plurality of features that indicate a portion that characterizes the inspection object;
Image acquisition means for acquiring image data obtained by imaging the inspection object in a predetermined posture by the imaging device;
Feature extraction means for extracting the feature to be inspected from the image data acquired by the image acquisition means;
A viewpoint for specifying a viewpoint position where the position of the feature portion of the three-dimensional data coincides with the position of the feature portion extracted by the feature portion extraction means when the three-dimensional data stored in the three-dimensional data storage means is perspective-projected Specific means,
A movement amount calculating means for calculating a movement amount from a viewpoint position specified by the viewpoint specifying means to a reference viewpoint position that is a predetermined viewpoint position determined in advance;
A posture control apparatus comprising: a reflecting unit that reflects the movement amount calculated by the movement amount calculating unit in the posture control information stored in the control information storage unit. The control information storage means stores posture control information for controlling the posture of the imaging device in association with identification information of a plurality of postures of the imaging device when imaging the inspection object,
The posture control apparatus according to claim 1, wherein the reflection unit reflects the movement amount calculated by the movement amount calculation unit in each piece of posture control information stored in the control information storage unit. Reference storage means for storing reference image data obtained when an object of the same type as the inspection object and having a reference shape is imaged from the reference viewpoint position;
A deformation amount calculating means for calculating a deformation amount of a portion other than the feature portion between corrected image data obtained by imaging the inspection object at the reference viewpoint position and reference image data stored in the reference storage means. When,
With
The reflecting means reflects the deformation amount calculated by the deformation amount calculating means in posture control information associated with posture identification information when the imaging device images a portion other than the characteristic portion to be inspected. The attitude control device according to claim 2, wherein: The control information storage means further stores light amount control information for controlling the amount of light incident on the imaging device when imaging in the posture in association with identification information of a plurality of postures of the imaging device,
The light amount control information associated with the posture identification information is set so that the average brightness of a predetermined area of the image data captured by the imaging device in a posture stored in the control information storage means becomes a predetermined reference lightness. The posture control device according to claim 2, further comprising: a light amount correction unit that corrects the light amount. A posture control device that controls the posture of the imaging device such that a viewpoint position indicating a relative position between the inspection target and an imaging device that images the inspection target is a predetermined viewpoint position;
Control information storage means for storing attitude control information for controlling the attitude of the imaging device when imaging the inspection object;
A feature storage that stores the positions of a plurality of feature portions indicating portions characterizing the inspection target included in image data captured from a reference viewpoint position, which is a predetermined viewpoint position, which is imaged by the imaging device that images the inspection target Means,
Image acquisition means for acquiring image data captured by the imaging device in the predetermined posture;
The amount of movement from the viewpoint position of the imaging device to the reference viewpoint position is calculated using the position of the feature section stored by the feature section storage section and the position of the feature section of the image data acquired by the image acquisition section. A movement amount calculating means;
A posture control apparatus comprising: a reflecting unit that reflects the movement amount calculated by the movement amount calculating unit in the posture control information stored in the control information storage unit. The feature storage means stores the position of the feature in association with viewpoint position information indicating a plurality of viewpoint positions,
The image acquisition unit acquires image data captured by the imaging device from each viewpoint position indicated by the viewpoint position information stored in the initial position storage unit;
The movement amount calculation unit uses the position of the feature amount and the position of the feature amount of the image data acquired by the image acquisition unit for each viewpoint position information stored in the position storage unit, and uses the viewpoint of the imaging device. The posture control apparatus according to claim 5, wherein a movement amount from a position to a viewpoint position indicated by the viewpoint position information is calculated. Inclination information storage means for storing image data obtained by imaging the inspection object, which is inclined with respect to an axis orthogonal to the optical axis direction of the imaging apparatus, in association with an inclination angle of the inspection object;
Inclination information reading means for comparing the image data acquired by the image acquisition means with the image data stored in the inclination information storage means and reading out the inclination angle associated with the closest image data,
The movement amount creating means uses the position of the characteristic portion stored in the characteristic portion storage means, the position of the characteristic portion of the image data acquired by the image acquisition means, and the inclination information read out by the inclination information reading means. The attitude control device according to claim 5 or 6, wherein a movement amount from a viewpoint position of the imaging device to a viewpoint position indicated by the viewpoint position information is calculated. Controlling the attitude of the imaging device so that the viewpoint position indicating the relative position between the inspection target and the imaging device that images the inspection target is a predetermined viewpoint position;
Control information storage means for storing attitude control information for controlling the attitude of the imaging device when imaging the inspection object;
Three-dimensional data storage means for storing three-dimensional data indicating the positional relationship between a plurality of features that indicate a portion that characterizes the inspection object;
A control method for an attitude control device comprising:
The image acquisition means acquires image data obtained by imaging the inspection object in a predetermined posture by the imaging device,
The feature extraction unit extracts the feature to be inspected from the image data acquired by the image acquisition unit,
The viewpoint specifying unit is a viewpoint in which the position of the feature portion of the three-dimensional data coincides with the position of the feature portion extracted by the feature portion extraction unit when the three-dimensional data stored in the three-dimensional data storage unit is perspective-projected. Identify the location,
The movement amount calculating means calculates a movement amount from the viewpoint position specified by the viewpoint specifying means to a reference viewpoint position that is a predetermined viewpoint position determined in advance.
The reflecting means reflects the movement amount calculated by the movement amount calculating means in the attitude control information stored in the control information storage means. Controlling the attitude of the imaging device so that the viewpoint position indicating the relative position between the inspection target and the imaging device that images the inspection target is a predetermined viewpoint position;
Control information storage means for storing attitude control information for controlling the attitude of the imaging device when imaging the inspection object;
A feature storage that stores the positions of a plurality of feature portions indicating portions characterizing the inspection target included in image data captured from a reference viewpoint position, which is a predetermined viewpoint position, which is imaged by the imaging device that images the inspection target A posture control device comprising:
The image acquisition means acquires image data captured by the imaging device in the predetermined posture,
The movement amount calculating means uses the position of the characteristic portion stored in the characteristic portion storage means and the position of the characteristic portion of the image data acquired by the image acquisition means, from the viewpoint position of the imaging device to the reference viewpoint position. Calculate the amount of movement
The reflecting means reflects the movement amount calculated by the movement amount calculating means in the attitude control information stored in the control information storage means. Controlling the attitude of the imaging device so that the viewpoint position indicating the relative position between the inspection target and the imaging device that images the inspection target is a predetermined viewpoint position;
Control information storage means for storing attitude control information for controlling the attitude of the imaging device when imaging the inspection object;
A posture control apparatus comprising: three-dimensional data storage means for storing three-dimensional data indicating a positional relationship between a plurality of characteristic portions indicating a portion characterizing the inspection object;
Image acquisition means for acquiring image data in which the imaging apparatus images the inspection object in a predetermined posture;
Feature extraction means for extracting the feature to be inspected from the image data acquired by the image acquisition means;
A viewpoint for specifying a viewpoint position where the position of the feature portion of the three-dimensional data coincides with the position of the feature portion extracted by the feature portion extraction means when the three-dimensional data stored in the three-dimensional data storage means is perspective-projected Specific means,
A movement amount calculating means for calculating a movement amount from the viewpoint position specified by the viewpoint specifying means to a reference viewpoint position that is a predetermined viewpoint position determined in advance;
A program for causing a movement amount calculated by the movement amount calculation unit to function as a reflection unit that reflects the posture control information stored in the control information storage unit. Controlling the attitude of the imaging device so that the viewpoint position indicating the relative position between the inspection target and the imaging device that images the inspection target is a predetermined viewpoint position;
Control information storage means for storing attitude control information for controlling the attitude of the imaging device when imaging the inspection object;
A feature storage that stores the positions of a plurality of feature portions indicating portions characterizing the inspection target included in image data captured from a reference viewpoint position, which is a predetermined viewpoint position, which is imaged by the imaging device that images the inspection target Means,
An attitude control device comprising:
Image acquisition means for acquiring image data captured by the imaging device in the predetermined posture;
The amount of movement from the viewpoint position of the imaging device to the reference viewpoint position is calculated using the position of the feature section stored by the feature section storage section and the position of the feature section of the image data acquired by the image acquisition section. Travel amount calculation means,
A program for causing a movement amount calculated by the movement amount calculation unit to function as a reflection unit that reflects the posture control information stored in the control information storage unit.