JP2012159436A - Position and posture measuring instrument and three-dimensional shape measuring instrument - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow accurate and easy measurement of a position and posture of an implement like an imaging apparatus or a contact piece of a three-dimensional shape measuring instrument, which is necessary for three-dimensional shape measurement and has a large influence upon measurement data due to the position and posture thereof.SOLUTION: A position and posture measuring instrument utilizes, for example, laser beams forming first and second linear images 19A and 19B orthogonal to each other respectively and includes a reflector 11 which crosses the first and second images 19A to reflect the laser beams toward specific directions. The reflector 11 has three reflecting parts 23a to 23c made of a retroreflective material, and the reflecting parts 23a to 23c are provided so that they are disposed at vertexes of a triangle and quantities of light of reflected laser beams are different from each other. Thus, the position and posture of an imaging apparatus or the like can be accurately measured by using a spherical coordinate system.

Description

  The present invention relates to a position and orientation measurement apparatus that measures the position and orientation of an object in a three-dimensional space, and a three-dimensional shape measurement apparatus that measures the three-dimensional shape of an object.

  Conventionally, as shown in Patent Documents 1 and 2, a lattice image obtained by projecting a lattice pattern onto a measurement object having a three-dimensional shape is imaged, and 3 of the measurement object is obtained based on image data obtained by the imaging. Measuring devices for measuring dimensional shapes are known. That is, according to the measurement apparatus of Patent Documents 1 and 2, a curve appears in the lattice image according to the unevenness of the surface of the measurement object, and numerical image data can be obtained by imaging and processing the curve. .

  By the way, according to the measuring apparatus of Patent Documents 1 and 2, an imaging apparatus that captures a lattice image is required. Even if the obtained image data indicates the same part of the measurement object, It depends on the position and posture. For this reason, when the shape of the measurement object is complex or the size of the measurement object is huge compared to the projection range of the grid pattern, it is necessary to change the position and orientation of the imaging device. Therefore, accurate image data cannot be obtained unless the position and orientation of the imaging device are reflected in the image data.

  Further, apart from the measurement device based on capturing a grid image as in Patent Documents 1 and 2, a contact-type measurement device that measures the shape of the contacted part by bringing a contact into contact with the measurement object is also known. It has become. And according to this measuring apparatus, in order to reflect the position and attitude | position of a contactor in the numerical data which show a shape, the light emitting element is integrated with the contactor. And this measuring apparatus grasps | ascertains the position and attitude | position of a contact based on the information of the light obtained from a light emitting element.

  However, according to this measuring device, since the light emitting element is integrated with the contact, it is necessary to connect the electrical wiring to the contact and route the electrical wiring in accordance with the movement of the contact. turn into.

Japanese Patent Laid-Open No. 10-246612 JP-A-6-249624

  The present invention has been made to solve the above-described problems, and an object of the present invention is to accurately and simply measure the position and orientation of an object in a three-dimensional space, and in particular, a three-dimensional shape measuring apparatus. It is necessary to measure the position and posture of instruments and the like that are necessary for measuring a three-dimensional shape and whose position and posture greatly affect the measurement data, such as imaging devices and contacts It is in.

[Means of Claim 1]
According to the first aspect of the present invention, the position / orientation measuring apparatus varies the position of connecting the linear image by radiating the light connecting the linear image and the radiation direction of the light by the radiating unit. A radiation control means, a reflector that reflects the light emitted from the radiation means and directs it in a specific direction by crossing the linear image by controlling the light emission direction by the radiation control means, and a reflector Reflector information grasping means for receiving the reflected light and grasping the position and posture of the reflector based on the received light information.

  The radiation means can form a first image and a second image that are non-parallel to each other. The reflector has three or more reflecting portions provided by a retroreflecting material, and the three or more reflecting portions occupy the apex of the polygon, and the amount of reflected light is They are provided differently.

  Further, the radiation control means rotates the first image about the first axis that is not perpendicular to the first image as the rotation center axis, thereby sequentially intersecting the three or more reflecting portions with the first image. The second image is rotated by rotating the second image about the first radiation control means and a second axis that is non-perpendicular to the second image and non-parallel to the first axis, so that the second image becomes 3 And second radiation control means for sequentially intersecting the two or more reflecting portions. The reflector information grasping means grasps the position and posture of the reflector based on the light information obtained by the execution of the first radiation control means and the second radiation control means.

  Thereby, based on the light information obtained by the execution of the first and second radiation control means, two angle data related to the three-dimensional space coordinates for each of at least three reflecting portions, that is, a total of six angle data are obtained. Obtainable. For this reason, using the six angle data obtained based on the light information and the length of three sides of the triangle formed by at least three reflecting portions (that is, the distance between the three reflecting portions), 3 A three-dimensional space coordinate can be calculated for each of the two reflecting portions. Therefore, the position and orientation of the object in the three-dimensional space can be measured accurately and simply without the complexity of handling the electrical wiring.

  In addition, since more angle data can be obtained by attaching four or more reflectors to the reflector, the position and posture of the object in the three-dimensional space can be easily measured with higher accuracy. .

[Means of claim 2]
According to the means of claim 2, the three or more reflecting portions are provided in a circular shape having different diameters.
Thereby, the information on the light obtained by the execution of the first and second radiation control means changes according to the diameter of each reflecting portion. For this reason, it is possible to accurately and easily identify which of the plurality of reflection portions the obtained light information corresponds to.

[Means of claim 3]
According to the third aspect of the present invention, the three-dimensional shape measuring apparatus includes an image pickup apparatus that picks up an image related to a three-dimensional shape measurement object. The reflector is attached to the imaging device or an indirect object that is relatively stationary with respect to the imaging device. The three-dimensional shape measuring device measures the three-dimensional shape of the measurement object based on image data obtained by imaging using the imaging device and the position and orientation of the reflector grasped by the position and orientation measuring device. .

This means is obtained by providing a position and orientation measuring device to a three-dimensional shape measuring device including an imaging device.
As a result, the position and orientation of the imaging device can be measured accurately and simply, so that the three-dimensional shape of the measurement object can be accurately and simply measured even if the position and orientation of the imaging device are changed.

[Means of claim 4]
According to the means of claim 4, the three-dimensional shape measuring apparatus includes a contactor operated so that a specific part contacts the three-dimensional shape measurement object, and the reflector is attached to the contactor or the contactor. It is attached to an indirect object that is relatively stationary. The three-dimensional shape measurement apparatus measures the three-dimensional shape of the measurement object based on the contact of the contact with the measurement object and the position and orientation of the reflector grasped by the position and orientation measurement apparatus.

This means is obtained by providing a position and orientation measuring device to a three-dimensional shape measuring device having a contact.
As a result, the position and orientation of the contact can be measured accurately and simply, so that the three-dimensional shape of the measurement object can be accurately measured by changing the position and orientation of the contact. For this reason, for example, when it is difficult to acquire image data by the imaging apparatus, the three-dimensional shape of the measurement object can be accurately measured without acquiring the image data.

[Means of claim 5]
According to the means of claim 5, the reflector is mounted on the three-dimensional measuring object or an indirect object that is relatively stationary with respect to the measuring object. Then, the three-dimensional shape measuring apparatus measures the three-dimensional shape of the measurement object based on the position and posture of the reflector grasped by the position / orientation measuring apparatus.

This means measures the three-dimensional shape of a measurement object by directly attaching a reflector to the measurement object or its indirect object.
As a result, for example, it is possible to accurately and easily measure the deflection of a huge object such as a bridge, a building beam, or an airplane wing.

It is a block diagram of a three-dimensional shape measuring apparatus (Example 1). It is a block diagram of the apparatus unit of a position and orientation measuring apparatus (Example 1). (Example 1) which is a perspective view which shows the relationship between the 1st, 2nd image tied with a position and orientation measuring apparatus, and a reflector. (A) is a block diagram of the reflector of a position and orientation measurement apparatus, (b) is explanatory drawing which shows the effect | action of a position and orientation measurement apparatus (Example 1). 6 is a flowchart illustrating a measurement procedure by the position and orientation measurement apparatus (Example 1). It is a principal part block diagram of a three-dimensional shape measuring apparatus (Example 2). (Example 3) which is explanatory drawing which shows the mounting | wearing aspect of a reflector.

  The position / orientation measurement apparatus provided in the three-dimensional shape measurement apparatus according to Embodiment 1 radiates light that connects linear images, and connects linear images by controlling the radiation direction of light by the radiating means. A radiation control means for changing the position, and a reflector that reflects the light emitted from the radiation means and directs it in a specific direction by intersecting the linear image by controlling the radiation direction of the light by the radiation control means; Reflector information grasping means for receiving the light reflected by the reflector and grasping the position and posture of the reflector based on the information of the received light.

  The radiation means can form a first image and a second image that are non-parallel to each other. The reflector has three or more reflecting portions provided by a retroreflecting material, and the three or more reflecting portions occupy the apex of the polygon, and the amount of reflected light is They are provided differently.

Further, the radiation control means rotates the first image about the first axis that is not perpendicular to the first image as the rotation center axis, thereby sequentially intersecting the three or more reflecting portions with the first image. The second image is rotated by rotating the second image about the first radiation control means and a second axis that is non-perpendicular to the second image and non-parallel to the first axis, so that the second image becomes 3 And second radiation control means for sequentially intersecting the two or more reflecting portions. The reflector information grasping means grasps the position and posture of the reflector based on the light information obtained by the execution of the first radiation control means and the second radiation control means.
Note that the three or more reflecting portions are provided in a circular shape having different diameters.

  The three-dimensional shape measuring apparatus includes an imaging device that picks up an image related to a three-dimensional shape measurement object. Further, the reflector is attached to the imaging device or an indirect object that is relatively stationary with respect to the imaging device. The three-dimensional shape measuring device measures the three-dimensional shape of the measurement object based on image data obtained by imaging using the imaging device and the position and orientation of the reflector grasped by the position and orientation measuring device. .

  The three-dimensional shape measuring apparatus according to the second embodiment includes a contact that is operated so that a specific part contacts a three-dimensional shape measurement object, and the reflector is relatively to the contact or the contact. Mounted on stationary indirect objects. The three-dimensional shape measurement apparatus measures the three-dimensional shape of the measurement object based on the contact of the contact with the measurement object and the position and orientation of the reflector grasped by the position and orientation measurement apparatus.

  According to the three-dimensional shape measurement apparatus of the third embodiment, the reflector is attached to the three-dimensional shape measurement object or the indirect object that is relatively stationary with respect to the measurement object. Then, the three-dimensional shape measuring apparatus measures the three-dimensional shape of the measurement object based on the position and posture of the reflector grasped by the position / orientation measuring apparatus.

[Configuration of Example 1]
The configuration of the three-dimensional shape measuring apparatus 1 according to the first embodiment will be described with reference to FIGS.
Here, the three-dimensional shape measurement apparatus 1 includes, for example, an image pickup apparatus 3 that picks up a lattice image obtained by projecting a lattice pattern onto a measurement object 2 having a three-dimensional shape, and is based on image data obtained by the image pickup. Thus, the three-dimensional shape of the measuring object 2 is measured. The imaging device 3 is, for example, a well-known CCD camera, and is attached to the tip of a multi-joint support body 5 integrated with the carriage 4, and 3 according to the movement of the carriage 4 and the refraction of the support body 5. The position and orientation in the dimensional space can be changed.

The three-dimensional shape measuring apparatus 1 includes a position / orientation measuring apparatus 6 for measuring the position and orientation of the imaging apparatus 3.
Here, the position / orientation measurement apparatus 6 is used to obtain accurate image data by reflecting the position and orientation of the imaging apparatus 3 in the image data, and the shape of the measurement object 2 is complicated. In the case where the size of the measurement object 2 is larger than the projection range of the grid pattern, accurate image data can be obtained even if the position and orientation of the imaging device 3 are changed. is there. The position and orientation measurement device 6 obtains information necessary for measuring the position and orientation of the imaging device 3 by using the radiation and reflection of laser light having excellent directivity and convergence.

Hereinafter, the position / orientation measurement apparatus 6 will be described in detail.
The position / orientation measuring apparatus 6 includes a radiation unit 9 that emits laser light, a radiation direction varying unit 10 that varies the radiation direction of the laser light, and a laser beam emitted from the radiation unit 9 to reflect the laser beam in a specific direction. The reflecting tool 11 to be dodged, the light receiving means 12 for receiving the laser beam reflected by the reflecting tool 11, and the microcomputer for controlling the radiation direction changing means 10 and receiving the information of the laser light received from the light receiving means 12. 13, mainly devices other than the reflector 11 are configured as a single movable device unit 14.

  The radiating means 9 has, for example, a well-known laser oscillator 17 and a cylindrical mirror 18 and reflects the laser light incident on a cylindrical mirror surface. Thereby, the laser beam is emitted so as to extend in a line perpendicular to the optical axis of the reflected laser beam, for example, and a linear image 19 is formed.

The radiating means 9 has two combinations of the laser oscillator 17 and the cylindrical mirror 18.
In the following description, of the two combinations of the laser oscillator 17 and the cylindrical mirror 18, the radiating means 9 made of one combination is called the radiating means 9A, and the radiating means 9 made of the other combination is called the radiating means 9B. Sometimes. The image 19 connected by the radiating means 9A may be referred to as a first image 19A, and the image 19 connected by the radiating means 9B may be referred to as a second image 19B.
Note that the laser oscillator 17 turns on and off the oscillation of the laser beam in accordance with, for example, a command from the microcomputer 13.

  The radiation direction varying means 10 is, for example, a well-known electric motor, and is provided for each of the radiation means 9A and 9B (hereinafter, the radiation direction varying means 10 provided for each of the radiation means 9A and 9B is provided. The cylindrical mirror 18 is attached to the output shaft 20 of each of the electric motors 10A and 10B.

  Thus, when the electric motor 10A operates and the cylindrical mirror 18 of the radiating means 9A rotates, the first image 19A rotates using the output shaft 20 of the electric motor 10A as the rotation center axis. When the electric motor 10B operates and the cylindrical mirror 18 of the radiating means 9B rotates, the second image 19 rotates with the output shaft 20 of the electric motor 10B as the rotation center axis.

  Here, the relative arrangement of the electric motors 10A and 10B, the mounting mode of the cylindrical mirror 18 with respect to each of the electric motors 10A and 10B, the incident mode of the laser beam with respect to the cylindrical mirror 18 and the like are the outputs of the electric motors 10A and 10B. The axis 20 is set to be parallel to the first and second images 19A and 19B, respectively, and to be perpendicular to each other, and so that the first and second images 19A and 19B are perpendicular to each other.

  The reflector 11 is attached to the imaging device 3 and is stationary relative to the imaging device 3, and takes a position and orientation corresponding to the position and orientation of the imaging device 3. In addition, the reflector 11 has a flat light receiving surface 22 that receives laser light, and is provided on the light receiving surface 22 so that the three reflecting portions 23a, 23b, and 23c occupy the apex of the triangle.

  When the radiation direction is controlled so that the laser light emitted from the radiation means 9A intersects the light receiving surface 22, the first image 19A is formed on the light receiving surface 22, and the laser emitted from the radiation means 9B. When the radiation direction is controlled so that the light intersects the light receiving surface 22, the second image 19 </ b> B is formed on the light receiving surface 22. Further, when the first and second images 19A and 19B connected to the light receiving surface 22 intersect with the reflecting portions 23a to 23c, the laser light is reflected by the reflecting portions 23a to 23c.

  Here, the reflection parts 23a-23c are provided with the retroreflection material. For this reason, the laser light emitted from the radiation means 9A and incident on the reflecting portions 23a to 23c is reflected in the direction opposite to the incident direction and travels toward the radiation means 9A. Similarly, the laser light emitted from the radiating means 9B and incident on the reflecting portions 23a to 23c is reflected toward the radiating means 9B.

  Moreover, since the reflection parts 23a-23c are provided in the circular shape which has a mutually different diameter, the laser beam reflected from the reflection parts 23a-23c differs in a light quantity mutually. For example, in the case where the reflection units 23a to 23c are provided so that the diameter decreases in the order of the reflection unit 23a → the reflection unit 23b → the reflection unit 23c, the amount of laser light reflected from the reflection units 23a to 23c is The amount of light decreases in the order of reflected laser light by 23a → reflected laser light by the reflective portion 23b → reflected laser light by the reflective portion 23c.

  The light receiving means 12 is a well-known light receiving element that outputs an electrical signal corresponding to the amount of received laser light to the microcomputer 13. The light receiving means 12 is provided for each of the radiating means 9A and 9B (hereinafter, the light receiving means 12 provided for each of the radiating means 9A and 9B may be referred to as light receiving elements 12A and 12B. ), The light receiving elements 12A and 12B are disposed in the vicinity of the cylindrical mirrors 18 of the radiation means 9A and 9B so as to receive the laser beams reflected from the reflecting portions 23a to 23c, respectively.

  The microcomputer 13 is configured as, for example, a CPU having a control function and a calculation function, a microcomputer having a storage device such as a ROM and a RAM, an input device and an output device, and a radiation control means and reflector information grasping means described below. (In the following description, the control means 13 is referred to as a microcomputer 13).

  The radiation control means is mainly composed of the microcomputer 13 and the electric motors 10A and 10B, and is a position for connecting the linear images 19A and 19B by controlling the radiation direction of the laser light by the radiation means 9A and 9B. It is a function that changes Here, the microcomputer 13 controls the electric motors 10A and 10B at a constant speed so that the rotational speeds of the cylindrical mirrors 18 of the radiation units 9A and 9B are constant, and the output shafts 20 of the electric motors 10A and 10B are 360 respectively. Rotate.

  Thus, the first and second images 19A and 19B make a round around the output shaft 20 of the electric motors 10A and 10B, respectively, at a constant angular velocity. For this reason, the first and second images 19A and 19B sequentially intersect the reflecting portions 23a to 23c in the order corresponding to the position and posture of the reflector 11, respectively.

  As described above, the function of the radiation control means is to cause the first image 19A to sequentially intersect the reflecting portions 23a to 23c by rotating the first image 19A with the output shaft 20 of the electric motor 10A as the rotation center axis. 1 radiation control means and 2nd radiation control means which makes the 2nd image 19B cross | intersect the reflection parts 23a-23c sequentially by rotating the 2nd image 19B by making the output shaft 20 of the electric motor 10B into a rotation center axis. (In this case, the first radiation control means is mainly composed of the microcomputer 13 and the electric motor 10A, and the second radiation control means is mainly composed of the microcomputer 13 and the electric motor 10B. .)

  The reflector information grasping means is mainly composed of the microcomputer 13 and the light receiving elements 12A and 12B, receives the laser beam reflected by the reflector 11, and based on the information of the received laser beam. This is a function for grasping the position and posture of the reflector 11. And the microcomputer 13 grasps | ascertains the position and attitude | position of the reflector 11 based on the information of the laser beam obtained by execution of a 1st, 2nd radiation control means.

  More specifically, in the spherical coordinate system (r, θ, φ), the spherical coordinates of the reflecting portions 23a to 23c are (ra, θa, φa), (rb, θb, φb), (rc, θc, φc). ), For example, the microcomputer 13 obtains θa to θc among the components of the spherical coordinates based on the information of the laser light obtained by the execution of the first radiation control means, and is obtained by the execution of the second radiation control means. Of the spherical coordinate components, φa to φc are obtained based on the laser light information.

Next, the microcomputer 13 calculates the obtained θa to θc and φa to φc, and the known inter-reflector distance (that is, the distance rab between the reflectors 23a and 23b, the distance rbc between the reflectors 23b and 23c, and the reflector 23c). , 23a to obtain the remaining spherical coordinate components ra to rc.
As described above, the microcomputer 13 can obtain the spherical coordinates (ra, θa, φa) to (rc, θc, φc) of the reflecting portions 23a to 23c, so that the position and orientation of the reflector 11 can be grasped. Can do.

[Operation of Example 1]
The operation of the three-dimensional shape measuring apparatus 1 according to the first embodiment will be described focusing on the operation of the position / orientation measuring apparatus 6 with reference to FIGS.
Note that the flowchart in FIG. 5 is executed, for example, when a significant change occurs in at least one of the position and orientation of the imaging device 3.

First, at step S1, the first image 19A is sequentially crossed with the reflecting portions 23a to 23c by rotating the first image 19A with the output shaft 20 of the electric motor 10A as the rotation center axis.
As a result, the electrical signals Sθ1 to Sθ3 are input from the light receiving element 12A to the microcomputer 13 in step S2.

  That is, by executing step S1, for example, with respect to θ of the spherical coordinate component, the light receiving element 12A first starts receiving the laser beam at θ1, and ends the reception of the laser beam after the period of Δθ1 has elapsed, Next, laser light reception is started at θ2 and laser light reception is ended after a period of Δθ2 has elapsed, and finally laser light reception is started at θ3 and a period of Δθ3 has elapsed. Assume that the laser beam has been received.

  For this reason, the light receiving element 12A first inputs the electric signal Sθ1 in a pulsed manner in the period from θ1 to θ1 + Δθ1, then inputs the electric signal Sθ2 in a pulsed form in the period from θ2 to θ2 + Δθ2, and finally , .Theta.3 to .theta.3 + .DELTA..theta.3, the electric signal S.theta.3 is inputted in a pulse shape (step S2). At this time, Δθ1 to Δθ3 corresponding to the pulse widths of the electrical signals Sθ1 to Sθ3 input to the microcomputer 13 are assumed to be smaller in the order of Δθ1 → Δθ3 → Δθ2.

Next, in step S3, θa to θc are obtained based on the electrical signals Sθ1 to Sθ3.
First, the microcomputer 13 grasps which of the reflecting portions 23a to 23c is the information of the laser beam reflected by the electrical signals Sθ1 to Sθ3 based on the magnitude relationship of the pulse widths of the electrical signals Sθ1 to Sθ3.

  Specifically, since Δθ1 to Δθ3 corresponding to the pulse width are smaller in the order of Δθ1 → Δθ3 → Δθ2, the microcomputer 13 is the information of the laser light reflected by the reflecting portion 23a and the electric signal Sθ2 Is the information on the laser beam reflected by the reflecting portion 23c, and it is understood that the electric signal Sθ3 is the information on the laser beam reflected by the reflecting portion 23b.

Then, the microcomputer 13 determines θa to θc based on the correspondence relationship between the grasped electrical signals Sθ1 to Sθ3 and the reflecting portions 23a to 23c and θ1 to θ3 corresponding to the input start timings of the electrical signals Sθ1 to Sθ3. Ask.
That is, the microcomputer 13 obtains θa using θ1 and Δθ1 as information relating to the electric signal Sθ1, obtains θc using θ2 and Δθ2 relating to the electric signal Sθ2, and obtains information as information relating to the electric signal Sθ3. θb is obtained using θ3 and Δθ3.

Next, at step S4, the second image 19B is sequentially crossed with the reflecting portions 23a to 23c by rotating the second image 19B with the output shaft 20 of the electric motor 10B as the rotation center axis.
Thereby, electric signals Sφ1 to Sφ3 are input from the light receiving element 12B to the microcomputer 13 in step S5.

  That is, by executing step S4, for example, with respect to φ of the spherical coordinate component, the light receiving element 12B first starts receiving laser light at φ1 and ends receiving laser light after the period Δφ1 has elapsed, Next, laser light reception is started at φ2 and laser light reception is terminated after a period of Δφ2 has elapsed, and finally laser light reception is started at φ3 and a period of Δφ3 has elapsed. Assume that the laser beam has been received.

  For this reason, the light receiving element 12B first receives the pulsed electric signal Sφ1 in the period from φ1 to φ1 + Δφ1, then the pulsed electric signal Sφ2 in the period from φ2 to φ2 + Δφ2, and finally , Φ3 to φ3 + Δφ3, pulsed electric signal Sφ3 is input (step S5). At this time, Δφ1 to Δφ3 corresponding to the pulse widths of the electric signals Sφ1 to Sφ3 input to the microcomputer 13 are assumed to be smaller in the order of Δφ1 → Δφ2 → Δφ3.

Next, in step S6, φa to φc are obtained based on the electrical signals Sφ1 to Sφ3.
First, the microcomputer 13 grasps which of the reflecting portions 23a to 23c is the information of the laser beam reflected by the electric signals Sφ1 to Sφ3, based on the magnitude relationship of the pulse widths of the electric signals Sφ1 to Sφ3.

  Specifically, since Δφ1 to Δφ3 corresponding to the pulse width are smaller in the order of Δφ1 → Δφ2 → Δφ3, the microcomputer 13 is the information of the laser beam reflected by the reflecting portion 23a, and the electric signal Sφ2 Is the information on the laser beam reflected by the reflecting portion 23b, and it is understood that the electric signal Sφ3 is the information on the laser beam reflected by the reflecting portion 23c.

Then, the microcomputer 13 determines φa to φc based on the correspondence relationship between the grasped electric signals Sφ1 to Sφ3 and the reflecting portions 23a to 23c and φ1 to φ3 corresponding to the input start timings of the electric signals Sφ1 to Sφ3. Ask.
That is, the microcomputer 13 obtains φa using φ1 and Δφ1 as information related to the electric signal Sφ1, and obtains φb using φ2 and Δφ2 as information related to the electric signal Sφ2, and serves as information related to the electric signal Sφ3. φc is obtained using φ3 and Δφ3.

Next, ra to rc are obtained in step S7.
That is, the microcomputer 13 obtains ra to rc using θa to θc obtained based on the electric signals Sθ1 to Sθ3, φa to φc obtained based on the electric signals Sφ1 to Sφ3, and known distances lab, rbc, and rca. .

  As described above, the microcomputer 13 obtains the spherical coordinates (ra, θa, φa) to (rc, θc, φc) of the reflecting portions 23a to 23c, and accurately and quickly grasps the position and posture of the reflector 11. Therefore, the three-dimensional shape measuring apparatus 1 determines the position and orientation of the imaging device 3 based on the position and orientation of the reflector 11 obtained by the position and orientation measuring device 6 even if the position and orientation of the imaging device 3 are changed. Since it can be quickly and accurately grasped, accurate image data can be obtained by reflecting the position and orientation of the imaging device 3 in the image data.

  In the flowchart of FIG. 5, step S1 corresponds to the first radiation control means, and step S4 corresponds to the second radiation control means. Steps S2, S3, and S5 to S7 correspond to reflector information grasping means.

[Effect of Example 1]
According to the three-dimensional shape measuring apparatus 1 of the first embodiment, the position / orientation measuring apparatus 6 includes a radiation unit 9A that emits laser light that connects the linear first and second images 19A and 19B that are perpendicular to each other. 9B, radiation control means for controlling the radiation direction of the laser light by the radiation means 9A, 9B to change the position connecting the first and second images 19A, 19B, and the image pickup apparatus 3 are attached to the radiation control means. A laser beam reflected by the reflector 11 and a reflector 11 that reflects the laser beam in a specific direction by intersecting the first and second images 19A and 19B by controlling the radiation direction of the laser beam. And a reflector information grasping means for grasping the position and posture of the reflector 11 based on the information of the received laser beam.

  The reflector 11 has three reflecting portions 23a to 23c provided by a retroreflecting material, and the reflecting portions 23a to 23c occupy the apex of the triangle and reflect the reflected laser light. The light amounts are provided so as to be different from each other.

  Further, the radiation control means rotates the first image 19A with the output shaft 20 of the electric motor 10A parallel to the first image 19A as the rotation center axis, thereby causing the first image 19A to be reflected on the reflecting portions 23a to 23c. The second image 19B is reflected by rotating the second image 19B with the first radiation control means that intersects sequentially and the output shaft 20 of the electric motor 10B parallel to the second image 19B as the rotation center axis. Second radiation control means for sequentially crossing 23a to 23c.

  The reflector information grasping means grasps the position and orientation of the reflector 11 based on the electrical signals Sθ1 to Sθ3 and Sφ1 to Sφ3 indicating the information of the laser light obtained by the execution of the first and second radiation control means. To do.

  As a result, the microcomputer 13 executes the first radiation control unit to relate to θ among the components of the spherical coordinates (r, θ, φ), which is one display format of the three-dimensional space coordinates, for each of the reflecting portions 23a to 23c. θa to θc can be obtained, and φa to φc can be obtained with respect to φ by executing the second radiation control means.

  Therefore, the microcomputer 13 can further accurately calculate ra to rc for the remaining component r by using θa to θc, φa to φc, and distances lab, rbc, rca. Therefore, since the position and orientation of the imaging device 3 can be measured accurately and simply, the three-dimensional shape of the measuring object 2 can be measured accurately and simply even if the position and orientation of the imaging device 3 are changed.

Moreover, the reflection parts 23a-23c are provided in the circular shape which has a mutually different diameter.
Thereby, the electric signals Sθ1 to Sθ3 and Sφ1 to Sφ3 obtained by the execution of the first and second radiation control units change according to the diameters of the reflecting portions 23a to 23c. For this reason, it is possible to easily identify which of the reflecting portions 23a to 23c corresponds to the electrical signals Sθ1 to Sθ3 and Sφ1 to Sφ3.

[Example 2]
As shown in FIG. 6, the three-dimensional shape measuring apparatus 1 according to the second embodiment includes a contact 25 that is operated so that a specific part (for example, a tip) contacts the three-dimensional shape measurement object 2. The reflector 11 is mounted on an indirect object 26 that is fixed behind the contactor 25 and is stationary relative to the contactor 25. Then, the three-dimensional shape measuring apparatus 1 determines the three-dimensional shape of the measuring object 2 based on the contact of the contact 25 with the measuring object 2 and the position and orientation of the reflector 11 grasped by the position / orientation measuring apparatus 6. Measure the shape.

  Thereby, since the position and attitude | position of the contactor 25 can be measured simply and correctly, the three-dimensional shape of the measuring object 2 can be accurately measured by changing the position and attitude | position of the contactor 25. FIG. For this reason, when acquisition of image data by the imaging device 3 is difficult, the three-dimensional shape of the measuring object 2 can be accurately measured without acquiring image data.

Example 3
According to the three-dimensional shape measuring apparatus 1 of the third embodiment, as shown in FIG. 7, the reflector 11 is attached to the measurement object 2 having a three-dimensional shape. Then, the three-dimensional shape measuring apparatus 1 measures the three-dimensional shape of the measuring object 2 based on the position and posture of the reflector 11 grasped by the position / orientation measuring apparatus 6.
Accordingly, for example, a huge object such as a bridge, a building beam, or an airplane wing is used as the measurement object 2, and thus the measurement of the bending or the like of the huge measurement object 2 can be performed easily and accurately. it can.

[Modification]
The aspect of the three-dimensional shape measuring apparatus 1 is not limited to the first to third embodiments, and various modifications can be considered.
For example, according to the position / orientation measuring apparatus 6 of the three-dimensional shape measuring apparatus 1 according to the first to third embodiments, the reflector 11 has three reflecting portions 23a to 23c, and the reflecting portions 23a to 23c have triangular apexes. However, four or more reflecting portions may be provided on the light receiving surface 22 of the reflector 11 so as to form a polygon having four or more vertices. In this case, the position and orientation of the reflector 11 can be measured with higher accuracy by obtaining more angle data.

  Further, according to the position and orientation measurement apparatus 6 of the first to third embodiments, the relative arrangement of the electric motors 10A and 10B, the mounting mode of the cylindrical mirror 18 with respect to each of the electric motors 10A and 10B, and the laser beam cylindrical mirror 18 is such that the output shafts 20 of the electric motors 10A and 10B are parallel to the first and second images 19A and 19B, respectively, and are perpendicular to each other, and the first and second images 19A. 19B are set to form a right angle, but may be changed within a range in which θ and φ can be calculated from the spherical coordinate components.

  Moreover, although the position and orientation measurement apparatus 6 of Examples 1 to 3 has obtained information necessary for measuring the position and orientation of the reflector 11 using the emission and reflection of laser light, Light rays other than laser light may be used as long as the position and orientation can be measured.

  In addition, the position and orientation measurement apparatus 6 according to the first to third embodiments includes the radiating unit 9A, the light receiving element 12A, and the electric motor 10A in order to obtain the information about θ by connecting the first image 19A, and the second image 19B. The radiating means 9B, the light receiving element 12B, and the electric motor 10B are provided in order to obtain information related to φ, but the radiating means 9, the radiating direction changing means 10 and the light receiving means 12 are provided in the position / orientation measuring apparatus 6 with only one system. When the first image 19A is connected to obtain information about θ and the second image 19B is connected to obtain information about φ, the positions of the radiation means 9, the radiation direction varying means 10, and the light receiving means 12 are The posture may be changed.

  Further, according to the position and orientation measurement apparatus 6 of the first to third embodiments, the reflecting portions 23 a to 23 c are provided in a circular shape having different diameters, but according to information input from the light receiving means 12 to the microcomputer 13. The shapes of the reflecting portions 23a to 23c may be freely set within a range in which the reflecting portions 23a to 23c can be identified.

Further, according to the position / orientation measurement apparatus 6 of the first embodiment, the reflector 11 is mounted on the imaging apparatus 3, but is separate from the imaging apparatus 3 and is relatively stationary with respect to the imaging apparatus 3. The reflector 11 may be attached to the indirect object.
Further, according to the position and orientation measurement apparatus 6 of the second embodiment, the reflector 11 is attached to the indirect object 26, but the reflector 11 may be directly attached to the contactor 25.

  Further, according to the position / orientation measurement apparatus 6 of Example 3, the reflector 11 is mounted on the measurement object 2, but is separate from the measurement object 2 and is relative to the measurement object 2. The reflector 11 may be attached to an indirect object that is stationary.

  In the three-dimensional shape measuring apparatus 1 according to the first embodiment, the carriage 4 and the support 5 are equipped with actuators such as electric motors, and the actuators are operated and controlled, whereby the position and orientation of the image pickup apparatus 3 are automatically controlled. In addition, the acquisition of image data by the imaging device 3 may be automatically controlled. In this case, the measurement by the position / orientation measurement device 6 may be performed in accordance with the acquisition of the image data by the imaging device 3.

  Furthermore, according to the three-dimensional shape measuring apparatus 1 of the first embodiment, the imaging device 3 is attached and held at the tip of the multi-joint support 5, but the mode of holding the imaging device 3 is multi-joint. It is not limited to the holding by the support body 5, and may be any as long as it can hold the posture of the imaging device 3 during imaging. For example, the imaging device 3 may be attached to a camera tripod and moved manually.

DESCRIPTION OF SYMBOLS 1 3D shape measuring apparatus 2 Measuring object 3 Imaging apparatus 6 Position and orientation measuring apparatus 9, 9A, 9B Radiation means 10 Radiation direction variable means (radiation control means)
10A Electric motor (radiation control means, first radiation control means)
10B Electric motor (radiation control means, second radiation control means)
11 Reflector 12 Light receiving means (Reflector information grasping means)
12A, 12B Light receiving element (reflector information grasping means)
13 Control means, microcomputer (radiation control means, reflector information grasping means, first radiation control means, second radiation control means)
19 images (linear images)
19A First image 19B Second image 23a, 23b, 23c Reflector 25 Contact 26 Indirect object

Claims (5)

Radiation means for radiating light connecting linear images;
Radiation control means for controlling the radiation direction of light by the radiation means to vary the position of connecting linear images;
A reflector that reflects the light emitted from the radiation means and directs it in a specific direction by intersecting the linear image by controlling the radiation direction of the light by the radiation control means;
Reflector information grasping means for receiving the light reflected by the reflector and grasping the position and posture of the reflector based on information of the received light;
The radiating means can form a first image and a second image that are non-parallel to each other,
The reflector has three or more reflecting portions provided by a retroreflecting material,
The three or more reflecting portions are provided so as to occupy the apex of the polygon and the amount of reflected light is different from each other,
The radiation control means includes
A first radiation that sequentially intersects the three or more reflectors by rotating the first image about a first axis that is not perpendicular to the first image as a rotation center axis. Control means;
Rotating the second image around a second axis that is non-perpendicular to the second image and non-parallel to the first axis causes the three or more second images to rotate. And second radiation control means for sequentially intersecting the reflecting portion of
The reflector information grasping means grasps the position and posture of the reflector based on the light information obtained by the execution of the first radiation control means and the second radiation control means. measuring device. In the position and orientation measurement apparatus according to claim 1,
The position and orientation measuring apparatus, wherein the three or more reflecting portions are provided in a circular shape having different diameters. The position and orientation measurement apparatus according to claim 1 or 2,
An imaging device that captures an image related to a three-dimensional shape measurement object;
The reflector is attached to the imaging device or an indirect object that is relatively stationary with respect to the imaging device,
The three-dimensional shape of the measurement object is measured based on image data obtained by imaging using the imaging device and the position and orientation of the reflector grasped by the position and orientation measurement device. Three-dimensional shape measuring device. The position and orientation measurement apparatus according to claim 1 or 2,
A contactor that is operated so that a specific part contacts a three-dimensional shape measurement object;
The reflector is mounted on the contact or an indirect object that is relatively stationary with respect to the contact;
3. Measuring the three-dimensional shape of the measuring object based on the contact of the contact with the measuring object and the position and orientation of the reflector grasped by the position and orientation measuring device. Dimensional shape measuring device. The position / orientation measuring apparatus according to claim 1 or 2,
The reflector is attached to a three-dimensional shape measurement object or an indirect object that is relatively stationary with respect to the measurement object,
A three-dimensional shape measuring apparatus for measuring a three-dimensional shape of the measurement object based on the position and posture of the reflector grasped by the position / orientation measuring apparatus.

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