JP2014035198A - Shape measurement device, structure manufacturing system, shape measurement method, structure manufacturing method, and shape measurement program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve reduction in the extent to which a measurement time for measuring three-dimensional shape becomes long.SOLUTION: A shape measurement device includes: an imaging unit which generates a picked-up image obtained by imaging a measurement object; an irradiation unit which irradiates the measurement object from a projection direction being different from a direction in which the imaging unit picks up an image, with illumination light beams having different intensity distribution so that light beams having different light intensities are irradiated depending on positions of the measurement object so that the picked up image generated by the imaging unit is picked up as an image with a pattern projected on the measurement object; a reference light generating unit which generates reference light that irradiates the measurement object; and a detection unit which detects, when the reference light is projected on the measurement object and based on a picked-up image including the picked-up image picked up by the imaging unit, a target range for shape measurement of the measurement object that is found from the picked-up image obtained by the imaging unit by irradiation of the illumination light from the illumination unit.

Description

  The present invention relates to a shape measuring device, a structure manufacturing system, a shape measuring method, a structure manufacturing method, and a shape measuring program.

  As a technique for measuring the surface shape (three-dimensional shape) of a measurement object in a non-contact manner, for example, a pattern projection type shape measuring apparatus using a phase shift method is known (for example, see Patent Document 1). In this shape measuring apparatus, a grating pattern having a sinusoidal intensity distribution is projected onto a measurement object, and the measurement object is repeatedly imaged while changing the phase of the grating pattern at a constant pitch. By applying a plurality of captured images (luminance change data) obtained in this manner to a predetermined arithmetic expression, the phase distribution (phase image) of the lattice pattern deformed according to the surface shape of the measurement object is obtained, and the phase image Is unwrapped (phase connection) and then converted into the height distribution of the measurement object. In this way, the shape measuring device generates the three-dimensional shape data of the measurement object from the plurality of captured images. By the way, in the shape measuring apparatus as described above, if there is a relative change from the measurement object while the measurement object is repeatedly imaged, the captured image is blurred, and accurate three-dimensional shape data cannot be generated. Sometimes.

US Pat. No. 5,450,204

  However, in the shape measuring apparatus as described above, it may not be known whether or not accurate 3D shape data can be generated until the 3D shape data is actually generated. That is, the shape measuring apparatus as described above repeatedly generates three-dimensional shape data until accurate three-dimensional shape data is obtained. Therefore, the shape measuring apparatus as described above has a problem that it takes a long time to generate accurate three-dimensional shape data.

  The present invention has been made to solve the above problems, and its purpose is to reduce the extent to which the measurement time of a three-dimensional shape becomes longer, a shape measuring device, a structure manufacturing system, a shape measuring method, and a structure. It is to provide a manufacturing method and a shape measurement program.

  In one embodiment of the present invention, an imaging unit that generates a captured image obtained by imaging a measurement target, and a captured image captured by the imaging unit are captured as an image in which a light and dark pattern is projected on the measurement target. , An irradiation unit that irradiates the measurement target with illumination light having an intensity distribution corresponding to the brightness pattern from a direction different from the direction in which the imaging unit is imaging, the imaging unit at the time of imaging by the imaging unit, and the A determination unit that determines whether or not a relative change with the measurement target has occurred, and a three-dimensional shape of the measurement target based on a captured image generated by the imaging unit according to a determination result of the determination unit It is a shape measuring apparatus which has a production | generation part which produces | generates the data to show.

  Further, according to one embodiment of the present invention, a design apparatus that creates structure design information related to a shape of a structure, a molding apparatus that creates the structure based on the structure design information, and the created structure The shape measuring device according to any one of claims 1 to 17, wherein the shape information obtained by the measurement is compared with the structure design information. A structure manufacturing system including an inspection device.

  According to an embodiment of the present invention, an imaging step for generating a captured image obtained by imaging a measurement target, and an image captured in the imaging step are captured as an image in which a light and dark pattern is projected on the measurement target. Further, an irradiation step of irradiating the measurement object with illumination light having an intensity distribution corresponding to the light / dark pattern from a direction different from the direction imaged in the imaging step, and the captured image generated in the imaging step. Then, based on the determination step for determining whether or not the captured image is blurred, the captured image generated in the imaging step and the result determined in the determination step, the three-dimensional measurement target And a generation step for generating data indicating the shape.

  One embodiment of the present invention includes a step of creating structure design information related to a shape of a structure, a step of creating the structure based on the structure design information, and a shape of the created structure. And a step of comparing the shape information obtained by the measurement and the structure design information with a step of measuring the shape based on the captured image generated using the shape measurement method according to claim 19. This is a product manufacturing method.

  In one embodiment of the present invention, an imaging step of generating a captured image obtained by imaging a measurement target on a computer, and an image captured in the imaging step is captured as an image in which a light and dark pattern is projected on the measurement target. As described above, the irradiation step of irradiating the measurement object with illumination light having an intensity distribution corresponding to the light / dark pattern from a direction different from the direction of imaging in the imaging step, and the captured image generated in the imaging step Based on the determination step for determining whether or not the captured image is blurred, the captured image generated in the imaging step and the result determined in the determination step, A shape measurement program for executing a generation step for generating data indicating a three-dimensional shape

  According to the present invention, the shape measuring apparatus can reduce the extent to which the measurement time of the three-dimensional shape becomes long.

It is a block diagram which shows the structural example of the shape measuring apparatus by the 1st Embodiment of this invention. It is a block diagram which shows an example of a structure of the irradiation part in this embodiment. It is a schematic diagram which shows an example of the measuring object which the irradiation part in this embodiment projected the irradiation light by shifting an initial phase 90 degree | times at a time. It is a block diagram which shows an example of the shape of the measuring object in this embodiment. It is a schematic diagram which shows an example of the measuring object of the state irradiated with the irradiation light in this embodiment. It is a schematic diagram which shows an example of the data calculation result which shows the three-dimensional shape of the measuring object in this embodiment. It is a flowchart which shows an example of operation | movement of the shape measuring apparatus in this embodiment. It is a block diagram which shows the structural example of the shape measuring apparatus by the 2nd Embodiment of this invention. It is a block diagram which shows the structural example of the structure manufacturing system containing the shape measuring apparatus by the 3rd Embodiment of this invention. It is a flowchart which shows an example of the structure manufacturing method in this embodiment.

[First Embodiment]
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a configuration of a shape measuring apparatus 10 according to the first embodiment of the present invention. The shape measuring apparatus 10 includes an imaging unit 11, an irradiating unit 12, a receiving unit 15, an output unit 16, a control unit 20, and a storage unit 26, and the three-dimensional shape of the measurement target M is obtained by a phase shift method. A computer terminal to measure. In the present embodiment, the shape measuring apparatus 10 captures an image in which a plurality of fringe (lattice) -like bright and dark patterns having different initial phases based on the N bucket method are projected on the measurement target M, and the same pixel in each image. Based on the signal intensity (for example, a brightness value typified by a luminance value or a MAX (R, G, B) value), the shape of the measurement object M is measured.

  The accepting unit 15 accepts an operation input from the user, and outputs information (operation instruction information) indicating the operation based on the accepted operation. For example, the reception unit 15 includes operation members such as a power button for switching on and off of the main power supply and a release button for receiving an instruction to start an imaging process. Or the reception part 15 can also receive these instructions etc. with a touch panel. Specifically, the accepting unit 15 accepts an operation corresponding to the fully pressed state when the release button is fully pressed. Similarly, the accepting unit 15 accepts an operation corresponding to the half-pressed state when the release button is half-pressed. Here, the fully pressed state of the release button is a state in which the release button is pushed down to a predetermined position, and the half-pressed state of the release button is a state in which the release button is pushed down to a position just before the fully pressed state. It is. When accepting an operation in which the release button is half-pressed, the accepting unit 15 outputs information indicating the half-pressed state of the release button as operation instruction information based on the accepted operation. Similarly, when accepting an operation in which the release button is fully depressed, the accepting unit 15 outputs information indicating the fully depressed state of the release button as operation instruction information based on the accepted operation.

  The imaging unit 11 captures an image of the measurement target M in accordance with an imaging control signal output from an imaging control unit 19 described later, and outputs the captured data as captured image data that is RAW data. The imaging unit 11 operates in conjunction with the irradiation unit 12 and performs an imaging process in accordance with the timing at which the illumination light is projected onto the measurement target M by the irradiation unit 12. Specifically, the imaging unit 11 outputs, for each initial phase of the light / dark pattern, an image obtained by projecting a plurality of fringe (grating) -like light / dark patterns having different initial phases based on the N bucket method onto the measurement target M by the irradiation unit 12. A plurality of picked-up image data picked up at a time are generated.

  The irradiation unit 12 irradiates the measurement target with illumination light having an intensity distribution corresponding to a light / dark pattern in accordance with an irradiation control signal output by an irradiation control unit 18 described later. The irradiation unit 12 irradiates the illumination light such that the optical axis AX1 of the illumination light to be irradiated and the imaging axis AX2 of the imaging unit 11 form a predetermined angle θ at the position of the measurement target M. That is, the irradiation unit 12 irradiates the measurement target with illumination light having an intensity distribution corresponding to the light / dark pattern from a direction different from the direction in which the imaging unit 11 is imaging. A detailed configuration of the irradiation unit 12 will be described with reference to FIG.

  FIG. 2 is a configuration diagram illustrating a schematic configuration of the irradiation unit 12. The irradiation unit 12 includes a light source 22, a collimate lens 23, a cylindrical lens 24, and a scanning mirror 25. The light source 22 includes a laser light source, and emits light having an intensity corresponding to an irradiation control signal output from an irradiation control unit 18 described later. The collimate lens 23 and the cylindrical lens 24 have the longitudinal direction of the intensity distribution of light emitted from the light source 22 in a direction (direction D2 in FIG. 2) orthogonal to the light irradiation direction (direction D1 in FIG. 2). The intensity distribution is converted so as to obtain a line-shaped intensity distribution. The scanning mirror 25 is a MEMS (Micro Electro Mechanical Systems) mirror, and scans a light beam having a linear intensity distribution in a direction perpendicular to the longitudinal direction of the light beam (direction D3 in FIG. 2).

  Specifically, the light source 22 modulates the intensity of the laser light in accordance with the irradiation control signal output from the irradiation control unit 18, and emits light having the modulated intensity in the direction D1 shown in FIG. At the same time, the scanning mirror 25 sequentially changes the deflection direction in accordance with the irradiation control signal output from the irradiation controller 18. Thereby, a grid-like light / dark pattern (grating pattern) is projected on the surface of the measuring object M. That is, the irradiation unit 12 shapes the intensity distribution of the laser light emitted from the light source 22 so as to have a linear light intensity distribution in one direction perpendicular to the optical axis direction (direction D4 in FIG. 2). Further, the irradiation unit 12 changes the intensity of the light beam having the line-shaped intensity distribution in the direction perpendicular to both the optical axis direction and the longitudinal direction of the line-shaped light intensity distribution (direction D3 in FIG. 2). Scan. Here, the irradiation unit 12 forms a striped (sine lattice) pattern light having a sinusoidal luminance change in one direction. In this way, the irradiation unit 12 projects the irradiation light of the lattice pattern onto the measurement target M. Although an example in which light emitted from a laser light source is projected as illumination light using the MEMS technology is shown here, the irradiation unit 12 can also project illumination light by a liquid crystal projector. Next, the initial phase of the illumination light irradiated by the irradiation unit 12 will be described with reference to FIG.

  FIG. 3 is a schematic diagram illustrating an example of the measurement object M on which the irradiation unit 12 in the present embodiment projects the irradiation light by shifting the initial phase by 90 degrees. FIG. 3A shows a light / dark pattern A projected on the surface of the measuring object M by irradiation light having an initial phase of 0 degree. Similarly, FIGS. 3B to 3D show a light / dark pattern B having an initial phase of 90 degrees, a light / dark pattern C having an initial phase of 180 degrees, and a light / dark pattern D having an initial phase of 270 degrees. ing. As an example, when N = 5 in the N bucket method, that is, in the case of the 5-bucket method, the imaging unit 11 extends from the light / dark pattern A to the light / dark pattern D, and the light / dark pattern A is sequentially projected again. Are sequentially captured to generate five captured images. Similarly, in the case of N = 7 in the N bucket method, that is, in the case of the 7 bucket method, the imaging unit 11 sequentially projects from the light / dark pattern A to the light / dark pattern D and from the light / dark pattern A to the light / dark pattern C. The measurement object M is sequentially imaged to generate seven captured images. Here, the imaging order is not necessarily the order of the light / dark pattern A, the light / dark pattern B, the light / dark pattern C, the light / dark pattern D, and the light / dark pattern A. For example, the order of imaging may be the order of light / dark pattern A, light / dark pattern D, light / dark pattern C, light / dark pattern B, and light / dark pattern A.

Returning to FIG. 1 again, the configuration of the shape measuring apparatus 10 will be described.
In the storage unit 26, information indicating a light / dark pattern of light irradiated by the irradiation unit 12 and information indicating an initial phase are stored in advance in association with each other. Specifically, information for setting the modulation intensity and modulation frequency of the laser light of the light source 22 and the frequency of change in the deflection direction of the scanning mirror 25 is stored in the storage unit 26 as information indicating the light / dark pattern A. It is stored in advance in association with the initial phase (0 degree) of A. Similarly, the storage unit 26 associates information indicating the light / dark pattern B with the initial phase (90 degrees) of the light / dark pattern B, and information indicating the light / dark pattern C with the initial phase (180 degrees) of the light / dark pattern C. Thus, information indicating the light / dark pattern D is associated with the initial phase (270 degrees) of the light / dark pattern D and stored in advance. The storage unit 26 stores captured image data generated by the imaging unit 11 and data indicating a three-dimensional shape of a measurement target generated by the generation unit 14 described later.

  The control unit 20 includes a determination unit 13, a generation unit 14, an irradiation control unit 18, and an imaging control unit 19. Hereinafter, the configuration of each of these units will be described.

  The irradiation control unit 18 controls the light source 22 and the scanning mirror 25 of the irradiation unit 12 based on a predetermined light / dark pattern of the irradiation unit 12. Specifically, when the receiving unit 15 outputs information indicating the half-pressed state of the release button, the irradiation control unit 18 acquires information indicating the half-pressed state from the receiving unit 15 via the bus 21. Next, when the irradiation control unit 18 acquires information indicating the half-pressed state, the irradiation control unit 18 is associated with the initial phase (0 degree) of the light / dark pattern A from the light / dark patterns of the irradiation unit 12 stored in the storage unit 26. The information indicating the current light / dark pattern is read out via the bus 21 as information indicating the light / dark pattern A. Next, the irradiation control unit 18 controls the modulation intensity and modulation frequency of the laser light of the light source 22 and the frequency of change in the deflection direction of the scanning mirror 25 based on the read information indicating the light / dark pattern A of the irradiation unit 12. To set a light / dark pattern. Similarly, the irradiation control unit 18 sequentially reads out information indicating the light / dark patterns B to D from the light / dark patterns of the irradiation unit 12 stored in the storage unit 26 via the bus 21. Next, the modulation intensity and modulation frequency of the laser light of the light source 22 and the frequency of change in the deflection direction of the scanning mirror 25 are set based on the read information indicating the light and dark patterns B to D of the irradiation unit 12. In this way, the irradiation control unit 18 controls the light / dark pattern of the illumination light irradiated on the measurement target M by setting the illumination light having the intensity distribution corresponding to the sequentially read light / dark patterns A to D.

  The imaging control unit 19 controls the imaging timing of the imaging unit 11 based on a predetermined imaging timing. Specifically, when the receiving unit 15 outputs information indicating the half-pressed state of the release button, the imaging control unit 19 acquires information indicating the half-pressed state from the receiving unit 15 via the bus 21. Next, when the imaging control unit 19 acquires information indicating the half-pressed state, the imaging control unit 19 reads out the light / dark pattern set by the irradiation control unit 18 via the bus 21, and every time the read light / dark pattern changes, the imaging control signal Is output to the imaging unit 11. At this time, the imaging unit 11 generates captured image data obtained by imaging the measurement target for each light / dark pattern set by the irradiation control unit 18. That is, the imaging unit 11 generates captured image data obtained by capturing the measurement target M in accordance with the input imaging operation.

  The determination unit 13 determines whether or not a relative change has occurred between the imaging unit 11 and the measurement target M during imaging by the imaging unit 11. Specifically, the determination unit 13 determines whether a relative change between the imaging unit 11 and the measurement target M has occurred based on the captured image data generated by the imaging unit 11. Here, the relative change between the imaging unit 11 and the measurement target M is a change in the relative position between the imaging unit 11 and the measurement target M and the relative direction between the imaging unit 11 and the measurement target M. It is a change.

  More specifically, the determination unit 13 acquires a plurality of captured image data generated by the imaging unit 11 for each light / dark pattern. As described above, when N = 5 in the N bucket method, that is, in the case of the five bucket method, the imaging unit 11 performs measurement in which the light / dark pattern A is sequentially projected from the light / dark pattern A to the light / dark pattern D again. The target M is sequentially imaged to generate five captured image data. At this time, the determination unit 13 acquires the five captured image data generated by the imaging unit 11. Next, the determination unit 13 picks up the captured image data of the light / dark pattern A, which is the first generated captured image data, and the bright / dark, which is the captured image data generated last, among the five acquired captured image data. The captured image data of the pattern A is compared by a known pattern matching method. Next, the determination unit 13 calculates the degree of coincidence of these captured image data based on the comparison result of these captured image data. And the determination part 13 determines with the relative change of the imaging part 11 and the measuring object M not having arisen, when the calculated coincidence degree exceeds a predetermined threshold value. On the other hand, the determination unit 13 determines that a relative change between the imaging unit 11 and the measurement target M occurs when the calculated degree of coincidence is equal to or less than a predetermined threshold value.

  In addition, the determination unit 13 determines whether a relative change between the imaging unit 11 and the measurement target M at the time of imaging occurs when the period during which the imaging operation is input is set as imaging. Here, the time of imaging is a period during which the release button is half pressed. As described above, the imaging control unit 19 outputs an imaging control signal to the imaging unit 11 based on the information indicating the half-pressed state of the release button output from the reception unit 15. That is, the imaging control unit 19 outputs an imaging control signal to the imaging unit 11 while the release button is in a half-pressed state. Thereby, the imaging unit 11 generates captured image data. That is, the determination unit 13 determines whether or not a relative change between the imaging unit 11 and the measurement target M occurs during a period in which the release button as a period during which the imaging operation is input is half pressed. .

  The generation unit 14 generates data indicating the three-dimensional shape of the measurement target M based on the captured image data generated by the imaging unit 11. Specifically, the generation unit 14 calculates the coordinate value of each position of the measurement target M when information indicating the fully pressed state of the release button output from the reception unit 15 is output. That is, when the state of the release button is changed from the half-pressed state to the fully-pressed state, the generation unit 14 captures a plurality of captured images obtained by capturing the measurement target M onto which a plurality of lattice patterns having different initial phases are projected by the imaging unit 11. Based on the data, the coordinate value of each position of the measuring object M is calculated. That is, when the state of the release button is a half-pressed state, the generation unit 14 further receives an operation (that is, when the release button is fully pressed), the three-dimensional measurement object M Data indicating the shape is generated. Next, the generation unit 14 generates data (point group data) indicating the three-dimensional shape of the measurement target M by a known phase shift method based on the calculated coordinate values of the respective positions of the measurement target M. At this time, when the determination unit 13 determines that there is no relative change between the imaging unit 11 and the measurement target M at the time of imaging by the imaging unit 11, the generation unit 14 determines the coordinates of each position of the measurement target M. Calculate the value. On the other hand, when the determination unit 13 determines that a relative change has occurred between the imaging unit 11 and the measurement target M at the time of imaging by the imaging unit 11, the generation unit 14 determines the coordinates of each position of the measurement target M. Do not calculate value. Thus, based on the captured image data generated by the imaging unit 11, the generation unit 14 determines that a relative change between the imaging unit 11 and the measurement target M during imaging by the imaging unit 11 has not occurred. Is determined, data indicating the three-dimensional shape of the measuring object M is generated. That is, the generation unit 14 generates data indicating the three-dimensional shape of the measurement target M based on the captured image data generated by the imaging unit 11 according to the determination result of the determination unit 13.

  In this manner, the generation unit 14 measures the measurement target M based on a plurality of captured image data generated by the imaging unit 11 by imaging the measurement target M for each type of light / dark pattern (that is, light / dark patterns A to D). The data indicating the three-dimensional shape of is generated. And the determination part 13 determines whether the relative change of the imaging part 11 and the measuring object M at the time of the said imaging has arisen by setting the period when the imaging part 11 produces | generates several captured image data at the time of imaging. To do.

  Here, the determination unit 13 generates a relative change between the imaging unit 11 and the measurement target M while acquiring the plurality of captured image data based on the result of comparison between the plurality of captured image data. It is determined whether or not. At this time, the imaging unit 11 determines that a relative change between the imaging unit 11 and the measurement target M occurs in at least one of the captured image data of the captured image data obtained by imaging the light and dark patterns A to D. When the determination of 13 is made, captured image data in which a relative change between the imaging unit 11 and the measurement target M occurs is generated again.

  The output unit 16 includes a display that displays information as an image and a speaker that outputs information as sound, and outputs the determination result by the determination unit 13 by display or sound. Specifically, when the determination unit 13 determines that a relative change between the imaging unit 11 and the measurement target M at the time of imaging by the imaging unit 11 occurs, the output unit 16 causes the relative change. Outputs images and sounds indicating that it is occurring.

Next, an example of a configuration in which the shape measuring apparatus 10 measures the three-dimensional shape of the measurement target M will be described with reference to FIGS. 4 to 6.
FIG. 4 is a diagram illustrating an example of the shape of the measurement target M. The measuring object M has a side shape and a front shape shown in FIG. Further, the measurement object M has a shape shown in FIG. Hereinafter, the configuration in which the shape measuring apparatus 10 measures the three-dimensional shape of the measuring object M having the shape shown in FIG. 4 will be described.

  FIG. 5 illustrates a light / dark pattern that appears on the surface of the measurement target M when the irradiation unit 12 of the present embodiment irradiates the measurement target M illustrated in FIG. 4 with the irradiation light illustrated in FIG. 3. Here, FIG. 5A shows a state in which the illumination light of the initial phase (0 degree) is irradiated onto the measurement object M, and the light and dark pattern A appears on the surface of the measurement object M. Similarly, in FIGS. 5B to 5D, the measurement object M is irradiated with illumination light having an initial phase (90 degrees), an initial phase (180 degrees), and an initial phase (270 degrees), respectively. The state where the light-and-dark patterns B to D appear on the surface of is shown. As described above, the irradiating unit 12 generates intensity distributions corresponding to the light and dark patterns A to D so that the captured image data captured by the imaging unit 11 is captured as an image obtained by projecting the light and dark pattern onto the measurement target M. The measurement object M is irradiated with the illumination light it has.

Next, an example of data indicating the three-dimensional shape of the measurement target M generated by the generation unit 14 will be described with reference to FIG.
FIG. 6 is a diagram illustrating an example of data indicating the three-dimensional shape of the measurement target M generated by the generation unit 14 of the present embodiment. The generation unit 14 uses the known phase shift method to measure the measurement target M irradiated with each irradiation light illustrated in FIGS. 5A to 5D based on the captured image data generated by the imaging unit 11. Data indicating a three-dimensional shape is generated.

Next, the operation of the shape measuring apparatus 10 will be described with reference to FIG. FIG. 7 is a flowchart showing an example of the operation of the shape measuring apparatus 10 of the present embodiment.
First, the reception unit 15 receives an operation from the user and determines the type of the received operation. Specifically, the accepting unit 15 determines whether or not the release button has been half-pressed (step S10). If the accepting unit 15 determines that the release button has been pressed halfway, the accepting unit 15 accepts the operation and outputs information indicating the accepted operation, and the process proceeds to step S20. On the other hand, if the reception unit 15 determines that the release button is not half-pressed, the reception unit 15 repeats the process of step S10.

  Next, the irradiation control unit 18 acquires information indicating the half-pressed state output from the reception unit 15 via the bus 21. Next, the irradiation control unit 18 sequentially reads the light and dark patterns of the irradiation unit 12 stored in the storage unit 26. Next, the irradiation control unit 18 controls the modulation intensity and modulation frequency of the laser light from the light source 22 and the frequency of change in the deflection direction of the scanning mirror 25 based on the read information indicating the light / dark pattern of the irradiation unit 12. Set the light and dark pattern. On the other hand, the imaging control unit 19 acquires information indicating the half-pressed state output from the reception unit 15 via the bus 21. Next, the imaging control unit 19 reads the light / dark pattern set by the irradiation control unit 18 via the bus 21 and outputs an imaging control signal to the imaging unit 11 every time the read light / dark pattern changes. Thereby, the imaging part 11 produces | generates the captured image data which imaged the measuring object M for every light-dark pattern (step S20).

  Next, the determination unit 13 detects a relative change between the imaging unit 11 and the measurement target M during imaging by the imaging unit 11 (step S30). Here, the determination unit 13 detects a relative change between the imaging unit 11 and the measurement target M during imaging by the imaging unit 11 by the above-described blur detection procedure.

  Next, the determination unit 13 determines whether or not a relative change between the imaging unit 11 and the measurement target M during imaging by the imaging unit 11 has occurred based on the result detected in step S30 (step S40). ). If the determination unit 13 determines that a relative change has occurred (step S40: YES), the process returns to step S20. That is, when the determination unit 13 determines that a relative change between the image pickup unit 11 and the measurement target M occurs in the captured image data, the image pickup unit 11 is a relative relationship between the image pickup unit 11 and the measurement target M. The captured image data corresponding to the captured image data in which a significant change has occurred is generated again. On the other hand, when the determination unit 13 determines that no relative change has occurred (step S40: NO), the process proceeds to step S50.

  Next, the determination unit 13 outputs information indicating that no relative change has occurred between the imaging unit 11 and the measurement target M during imaging by the imaging unit 11 to the output unit 16 via the bus 21. The output unit 16 displays an image indicating that no relative change has occurred based on the acquired information indicating that no relative change has occurred (step S50).

  Next, the reception unit 15 receives an operation from the user and determines the type of the received operation. Specifically, the accepting unit 15 determines whether or not the release button has been fully pressed (step S60). If the accepting unit 15 determines that the release button has been fully pressed, the accepting unit 15 outputs information indicating the accepted operation, and the process proceeds to step S70. On the other hand, if the reception unit 15 determines that the user's finger has been removed from the release button, that is, the release button has been turned off, the process returns to step S10.

  Next, the generation unit 14 generates data (point cloud data) indicating the three-dimensional shape of the measurement target M based on the captured image data generated by the imaging unit 11, and ends the process (step S70). That is, the generation unit 14 generates data indicating the three-dimensional shape of the measurement target M after the output unit 16 outputs the determination result.

  As described above, the shape measuring apparatus 10 includes the imaging unit 11, the irradiation unit 12, and the determination unit 13. The imaging unit 11 generates captured image data obtained by imaging the measurement target M. In addition, the irradiation unit 12 has a direction different from the direction in which the imaging unit 11 is capturing so that the captured image data captured by the imaging unit 11 is captured as an image in which a light and dark pattern is projected onto the measurement target M. Then, the measuring object M is irradiated with illumination light having an intensity distribution corresponding to the bright and dark pattern. In addition, the determination unit 13 determines whether or not a relative change between the imaging unit 11 and the measurement target M during imaging by the imaging unit 11 occurs.

  In general, in the shape measuring apparatus 10, when a relative change occurs between the imaging unit 11 and the measurement target M during imaging, the captured image data generated by the imaging unit 11 is blurred (that is, the captured image data is a blurred image). There are times). Here, in the blur of the captured image data, a single captured image data generated when a relative change between the imaging unit 11 and the measurement target M occurs while the imaging unit 11 is exposed. There is blur. In addition, in the blur of captured image data, a plurality of captured image data generated when a relative change between the imaging unit 11 and the measurement target M occurs while sequentially capturing the light and dark patterns of each initial phase. There is a blur. The blur of the captured image data is caused when the user measures the three-dimensional shape of the measurement target M while holding the shape measurement device 10 or when the position of the measurement target M is relative to the shape measurement device 10. It also occurs when moving. In the shape measuring apparatus 10, when blur occurs in the captured image data, the accuracy of the data indicating the three-dimensional shape of the measurement target M generated based on the captured image data in which the blur has occurred may be reduced. Therefore, it is desirable that the shape measuring apparatus 10 does not cause a relative change between the imaging unit 11 and the measurement target M during imaging by the imaging unit 11 while generating captured image data of each initial phase by the N bucket method. .

  However, a general shape measuring apparatus generates an accurate three-dimensional shape of the measurement target M when data indicating an inaccurate three-dimensional shape of the measurement target M is generated due to blurring of captured image data. In order to generate data to be shown, the measurement object M is imaged again. That is, the general shape measuring apparatus repeats imaging of the measuring object M and generation of data indicating the three-dimensional shape of the measuring object M until accurate data indicating the three-dimensional shape of the measuring object M is obtained.

  On the other hand, as described above, the shape measuring apparatus 10 includes the determination unit 13 that determines whether or not a relative change between the imaging unit 11 and the measurement target M occurs during imaging by the imaging unit 11. Thereby, before the shape measuring apparatus 10 generates data indicating the three-dimensional shape of the measurement target M, whether or not the determination unit 13 has caused a relative change between the imaging unit 11 and the measurement target M at the time of imaging. Can be determined. Therefore, when the determination unit 13 determines that a relative change has occurred between the imaging unit 11 and the measurement target M at the time of imaging, the shape measurement apparatus 10 generates data indicating the three-dimensional shape of the measurement target M. The imaging unit 11 can take an image again before the generation. In other words, the shape measuring apparatus 10 again captures the imaging unit 11 as compared with the case where generation of data indicating the three-dimensional shape of the measurement target M is repeated until data indicating the accurate three-dimensional shape of the measurement target M is obtained. Can shorten the time until imaging. That is, the shape measuring apparatus 10 can reduce the extent to which the time until the data indicating the accurate three-dimensional shape of the measurement target M is obtained is reduced.

  Further, the determination unit 13 determines whether a relative change between the imaging unit 11 and the measurement target M has occurred based on the captured image generated by the imaging unit 11. Thereby, even if the shape measuring apparatus 10 does not include a sensor or the like that detects a relative change between the imaging unit 11 and the measurement target M, a relative change between the imaging unit 11 and the measurement target M occurs. It can be determined whether or not. That is, the shape measuring apparatus 10 can simplify the configuration and reduce the number of parts.

  In addition, the shape measuring apparatus 10 includes a generation unit 14 that generates data indicating the three-dimensional shape of the measurement target M based on the captured image data generated by the imaging unit 11 according to the determination result of the determination unit 13. . Thereby, the shape measuring apparatus 10 can generate data indicating the three-dimensional shape of the measurement target M when the determination unit 13 determines that there is no blurring in the captured image data. In other words, the shape measuring apparatus 10 can reduce the frequency of generating data indicating the three-dimensional shape of the measurement object M that is not accurate. Therefore, the shape measuring apparatus 10 can reduce the extent to which the time until the data indicating the accurate three-dimensional shape of the measuring object M is obtained is increased. Furthermore, the shape measuring apparatus 10 can reduce the power consumed when generating data indicating the three-dimensional shape of the measurement object M that is not accurate.

  In addition, when the determination unit 13 determines that the relative position between the imaging unit 11 and the measurement target M has not occurred based on the captured image data generated by the imaging unit 11, the generation unit 14 Data is generated based on the captured image data. Thereby, the shape measuring apparatus 10 produces | generates the data which show the three-dimensional shape of the measuring object M, when the determination part 13 determines with the blurring not having arisen in the captured image data. In addition, when the determination unit 13 determines that a relative change between the imaging unit 11 and the measurement target M occurs at the time of imaging, the shape measurement apparatus 10 generates data indicating the three-dimensional shape of the measurement target M. The imaging unit 11 captures an image again before the generation. Therefore, the shape measuring apparatus 10 can obtain data indicating the three-dimensional shape of the measurement object M more accurately than when generating data indicating the three-dimensional shape even when the captured image data is blurred. It is possible to reduce the extent to which the time until is increased.

  In addition, the shape measuring apparatus 10 includes a receiving unit 15 that receives an input operation. Moreover, the production | generation part 14 of the shape measuring apparatus 10 produces | generates data, when the reception part 15 receives operation further. Specifically, in the shape measuring apparatus 10, when the release button is pressed halfway, the imaging unit 11 generates captured image data and receives an operation (for example, the release button is fully pressed). The generation unit 14 generates data indicating the three-dimensional shape of the measurement object M. Thereby, the shape measuring apparatus 10 determines that there is no blur in the captured image data generated by the imaging unit 11, and then the release unit is fully pressed, so that the generation unit 14 has the three-dimensional shape of the measurement target M. Generate data indicating Therefore, the shape measuring apparatus 10 can select and control the generation of captured image data and the generation of data indicating the three-dimensional shape of the measurement target M by operating the release button. And reducing the extent to which the time until accurate data indicating the three-dimensional shape of the measuring object M is obtained is reduced as compared to the case where data indicating the three-dimensional shape of the measuring object M is continuously generated. Can do.

  In addition, the shape measuring apparatus 10 includes an output unit 16 that outputs a determination result by the determination unit 13. Thereby, the shape measuring apparatus 10 generates data indicating the three-dimensional shape of the measurement target M based on the result of determining whether or not the captured image data generated by the imaging unit 11 is blurred, or again, It is possible to notify the user which operation to generate captured image data should be selected.

  Moreover, the output part 16 outputs the determination result by the determination part 13 by a display. Thereby, the shape measuring apparatus 10 generates data indicating the three-dimensional shape of the measurement target M based on the result of determining whether or not the captured image data generated by the imaging unit 11 is blurred, or again, The user can be notified by screen display which operation to generate captured image data should be selected.

  The generation unit 14 generates data indicating the three-dimensional shape of the measurement target M after the output unit 16 outputs the determination result. Thereby, the shape measuring apparatus 10 can wait for the production | generation of the data which show the three-dimensional shape of the measuring object M until the output part 16 outputs a determination result. Therefore, since the shape measuring apparatus 10 can reduce the frequency of generating data indicating the three-dimensional shape of the measurement object M that is not accurate, the time until the data indicating the accurate three-dimensional shape of the measurement object M is obtained. Can be reduced.

  In addition, when the determination unit 13 determines that a relative change between the imaging unit 11 and the measurement target M occurs in the captured image data, the imaging unit 11 is relative to the imaging unit 11 and the measurement target M. The captured image data corresponding to the captured image data in which a significant change has occurred is generated again. That is, the shape measuring apparatus 10 again generates captured image data for captured image data in which blurring has occurred among the captured image data corresponding to the plurality of light and dark patterns of the initial phase. Thereby, the shape measuring apparatus 10 compared with the case where the imaged image data including the imaged image data in which no blur occurs among the imaged image data corresponding to the light and dark patterns of the plurality of initial phases is generated again. The time for generating the captured image data can be shortened. That is, the shape measuring apparatus 10 can reduce the extent to which the time until the data indicating the accurate three-dimensional shape of the measurement target M is obtained is reduced.

  The generation unit 14 generates data indicating the three-dimensional shape of the measurement target M based on a plurality of captured image data generated by the imaging unit 11 imaging the measurement target M for each type of light and dark pattern. And the determination part 13 determines whether the relative change of the imaging part 11 and the measuring object M at the time of the said imaging has arisen by setting the period when the imaging part 11 produces | generates several captured image data at the time of imaging. To do. Thereby, the shape measuring apparatus 10 can generate the captured image data again when blurring occurs between the captured image data corresponding to the light and dark patterns of a plurality of initial phases. Therefore, the shape measuring apparatus 10 can reduce the degree of generating data indicating the three-dimensional shape of the measurement object M that is not accurate. That is, the shape measuring apparatus 10 can reduce the extent to which the time until the data indicating the accurate three-dimensional shape of the measurement target M is obtained is reduced.

  Further, the determination unit 13 determines whether or not a relative change between the imaging unit 11 and the measurement target M occurs during the acquisition of the plurality of captured image data based on the result of comparison between the plurality of captured image data. Determine. Then, when the determination unit 13 determines that a relative change between the imaging unit 11 and the measurement target M occurs in at least one of the captured image data, the imaging unit 11 performs the imaging. The captured image data in which the relative change between the unit 11 and the measurement target M occurs is generated again. Thereby, the shape measuring apparatus 10 can improve the precision which determines the blurring of captured image data compared with the case where blurring is determined based on one captured image data.

  In addition, in the imaging unit 11, when the determination unit 13 determines that a change in relative position between the imaging unit 11 and the measurement target M occurs in at least one of the plurality of captured image data. In addition, the imaged image data corresponding to the imaged image data in which the relative position change between the imaging unit 11 and the measurement target M occurs is generated again. That is, the shape measuring apparatus 10 generates the captured image data again when any of the captured image data corresponding to the light / dark pattern of the plurality of initial phases is the captured image data in which blurring occurs. Thereby, since the shape measuring apparatus 10 generates data indicating the three-dimensional shape of the measuring object M based on the captured image data without blurring, the shape measuring apparatus 10 generates data indicating the accurate three-dimensional shape of the measuring object M. can do.

  The imaging unit 11 again generates captured image data corresponding to each of the plurality of captured image data. That is, the shape measuring apparatus 10 again generates captured image data corresponding to each of the captured image data in which blurring has occurred among the captured image data corresponding to the plurality of light and dark patterns of the initial phase. Thereby, since the shape measuring apparatus 10 generates data indicating the three-dimensional shape of the measuring object M based on the captured image data without blurring, the shape measuring apparatus 10 generates data indicating the accurate three-dimensional shape of the measuring object M. can do.

  In addition, the imaging unit 11 again generates captured image data corresponding to a blurred image in which a relative change between the imaging unit 11 and the measurement target M occurs among the plurality of captured image data. Then, the generation unit 14 determines the three-dimensional shape of the measurement target M based on the captured image data other than the blurred image among the plurality of captured image data and the captured image data corresponding to the blurred image generated again by the imaging unit 11. Generate data indicating That is, the shape measuring apparatus 10 captures an initial phase in which blurring occurs when any of the captured image data corresponding to the light and dark patterns in a plurality of initial phases is captured image data in which blurring occurs. The captured image data is generated again for the image data. That is, the shape measuring apparatus 10 generates captured image data again for captured image data in which blurring occurs among captured image data corresponding to a plurality of light and dark patterns of an initial phase. On the other hand, the shape measuring apparatus 10 does not generate the captured image data again for the captured image data in which the blurring does not occur among the captured image data corresponding to the light and dark patterns of the plurality of initial phases. The shape measuring apparatus 10 generates data indicating the three-dimensional shape of the measurement target M based on the captured image data generated in this way. That is, since the shape measuring apparatus 10 selects and re-generates captured image data in which blurring occurs, the shape measurement apparatus 10 can accurately calculate the tertiary of the measurement target M as compared with the case in which captured image data without blurring is generated again. The extent to which the time until data indicating the original shape is obtained can be reduced.

  In addition, the determination unit 13 generates a relative change between the imaging unit 11 and the measurement target M based on the result of comparison between the captured image data corresponding to the types of light and dark patterns among the plurality of captured image data. It is determined whether or not. As a result, the shape measuring apparatus 10 determines the blur of the captured image data as compared with the case where it is determined whether or not there is a blur based on the result of comparison between the captured image data that does not correspond to the type of the light / dark pattern. Accuracy can be improved.

  The determination unit 13 only needs to be able to detect a relative change between the imaging unit 11 and the measurement target M, and is based on an output of a position sensor that detects a relative position between the imaging unit 11 and the measurement target M. It may be determined. In addition, the shape measuring device 10 includes a gyro sensor that detects the acceleration of the shape measuring device 10, and the determination unit 13 is based on the acceleration of the shape measuring device 10 detected by the gyro sensor, and the imaging unit 11, the measurement target M, and the like. It may be determined whether or not a relative change has occurred. In this case, the determination unit 13 determines whether a relative change between the imaging unit 11 and the measurement target M during imaging by the imaging unit 11 has occurred based on the detection result of the position sensor or the gyro sensor.

  In this case, the imaging unit 11 generates captured image data obtained by imaging the measurement target M in accordance with the input imaging operation. In addition, the determination unit 13 determines whether a relative change between the imaging unit 11 and the measurement target M at the time of imaging occurs when the period during which the imaging operation is input is set as imaging. In other words, the determination unit 13 is based on the detection result of the position sensor or the gyro sensor when the measurement target M is imaged according to the imaging operation input by the imaging unit 11, and the imaging unit 11 at the time of imaging by the imaging unit 11. And whether or not a relative change between the measurement object M occurs. Even with such a configuration, the shape measuring apparatus 10 can determine blurring of captured image data.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIG. In addition, the same structure as the structure demonstrated in 1st Embodiment attaches | subjects the same code | symbol, and abbreviate | omits description. FIG. 8 is a diagram showing a configuration of a shape measuring apparatus 10a as an example according to the second embodiment of the present invention.
The shape measuring apparatus 10 a includes a captured image display unit 17 that displays captured image data generated by the imaging unit 11. Thereby, the shape measuring apparatus 10a can directly display the captured image data to the user. That is, according to the shape measuring apparatus 10a, the user can directly check whether or not the captured image data is blurred.

[Third Embodiment]
Next, a third embodiment of the present invention will be described with reference to FIG. In addition, the same structure as the structure demonstrated in 1st Embodiment and 2nd Embodiment attaches | subjects the same code | symbol, and abbreviate | omits description. FIG. 9 is a diagram showing a configuration of a structure manufacturing system 100 as an example according to the third embodiment of the present invention.

  The structure manufacturing system 100 includes the shape measuring device 10, the design device 60, the molding device 30, the inspection device 40, and the repair device 50 as described in the above embodiment. The inspection device 40 includes a coordinate storage unit 41 and an inspection unit 42.

  The design device 60 creates design information related to the shape of the structure, and transmits the created design information to the molding device 30. Further, the design device 60 stores the produced design information in the coordinate storage unit 41 of the inspection device 40. The design information includes information indicating the coordinates of each position of the structure.

  The molding apparatus 30 produces the above structure based on the design information input from the design apparatus 60. The molding of the molding apparatus 30 includes, for example, casting, forging, cutting, and the like. The shape measuring device 10 measures the coordinates of the manufactured structure (measurement object) and transmits information (shape information) indicating the measured coordinates to the inspection device 40. In addition, the structure here is the measuring object M of the shape measuring apparatus 10.

  The coordinate storage unit 41 of the inspection device 40 stores design information. The inspection unit 42 of the inspection device 40 reads design information from the coordinate storage unit 41. The inspection unit 42 compares the information (shape information) indicating the coordinates received from the shape measuring apparatus 10 with the design information read from the coordinate storage unit 41. The inspection unit 42 determines whether or not the structure has been molded according to the design information based on the comparison result. In other words, the inspection unit 42 determines whether or not the manufactured structure is a non-defective product. The inspection unit 42 determines whether the structure can be repaired when the structure is not molded according to the design information. When the structure can be repaired, the inspection unit 42 calculates a defective part and a repair amount based on the comparison result, and transmits information indicating the defective part and information indicating the repair amount to the repair device 50.

  The repair device 50 processes the defective portion of the structure based on the information indicating the defective portion received from the inspection device 40 and the information indicating the repair amount.

FIG. 10 is a flowchart showing the structure manufacturing method of the present embodiment. In the present embodiment, each process of the structure manufacturing method illustrated in FIG. 10 is executed by each unit of the structure manufacturing system 100.
In the structure manufacturing system 100, first, the design device 60 creates design information related to the shape of the structure (step S31). Next, the shaping | molding apparatus 30 produces the said structure based on design information (step S32). Next, the shape measuring apparatus 10 measures the shape of the manufactured structure (step S33). Next, the inspection unit 42 of the inspection device 40 inspects whether or not the structure is manufactured according to the design information by comparing the shape information obtained by the shape measuring device 10 with the design information (step) (step). S34).

  Next, the inspection unit 42 of the inspection apparatus 40 determines whether or not the manufactured structure is a non-defective product (step S35). When the inspection unit 42 determines that the manufactured structure is a non-defective product (step S35: YES), the structure manufacturing system 100 ends the process. In addition, when the inspection unit 42 determines that the manufactured structure is not a good product (step S35: NO), the inspection unit 42 determines whether the manufactured structure can be repaired (step S36).

  In the structure manufacturing system 100, when the inspection unit 42 determines that the manufactured structure can be repaired (step S36: YES), the repair device 50 performs the reworking of the structure (step S37). Return to processing. When the inspection unit 42 determines that the manufactured structure cannot be repaired (step S36: NO), the structure manufacturing system 100 ends the process.

  As described above, the structure manufacturing system 100 can determine whether or not the manufactured structure is a non-defective product because the shape measuring apparatus 10 in the above embodiment can accurately measure the coordinates of the structure. can do. Moreover, the structure manufacturing system 100 can perform reworking and repair of the structure when the structure is not a good product.

  In addition, the repair process which the repair apparatus 50 in this embodiment performs may be replaced with the process in which the shaping | molding apparatus 30 re-executes a shaping | molding process. In that case, when it determines with the test | inspection part 42 of the test | inspection apparatus 40 being able to repair, the shaping | molding apparatus 30 re-executes a shaping | molding process (forging, cutting, etc.). Specifically, for example, the molding apparatus 30 cuts a portion that is originally to be cut and is not cut in the structure. Thereby, the structure manufacturing system 100 can produce a structure correctly.

  In addition, although the structure manufacturing system 100 demonstrated the example provided with the shape measuring apparatus 10, it is not restricted to this. Even if the structure manufacturing system 100 includes the shape measuring device 10a, the same effect as that provided with the shape measuring device 10 can be obtained.

  As mentioned above, although embodiment of this invention has been explained in full detail with reference to drawings, a concrete structure is not restricted to this embodiment and can be suitably changed in the range which does not deviate from the meaning of this invention. .

  In addition, the shape measuring device 10, the shape measuring device 10a, the inspection device 40, the molding device 30, the repair device 50, or the design device 60 (hereinafter collectively referred to as a control device) in each of the above embodiments, or this Each unit included in the control device may be realized by dedicated hardware, or may be realized by a memory and a microprocessor.

  The control device or each unit included in the control device may be realized by dedicated hardware, and the control device or each unit included in the control device includes a memory and a CPU (central processing unit). The function may be realized by loading a program for realizing the function of each unit included in the control device or the control device into a memory and executing the program.

  Also, a control device or a program for realizing the function of each unit included in the control device is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed. Thus, the processing by the control device or each unit included in the control device may be performed. Here, the “computer system” includes an OS and hardware such as peripheral devices.

Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used.
The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory in a computer system serving as a server or a client in that case, and a program that holds a program for a certain period of time are also included. The program may be a program for realizing a part of the functions described above, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system.

DESCRIPTION OF SYMBOLS 10, 10a ... Shape measuring apparatus, 11 ... Imaging part, 12 ... Irradiation part, 13 ... Determination part, 14 ... Generation part, 15 ... Reception part, 16 ... Output part, 17 ... Captured image display part, 30 ... Molding apparatus, 40 ... Inspection device, 50 ... Repair device, 60 ... Design device, 100 ... Structure manufacturing system

Claims (20)

An imaging unit that generates a captured image of the measurement object;
Intensities corresponding to the light and dark patterns from a direction different from the direction in which the image pickup unit is picked up so that the picked-up image picked up by the image pickup unit is picked up as an image in which a light and dark pattern is projected on the measurement target An irradiation unit for irradiating the measurement object with illumination light having a distribution;
A determination unit that determines whether or not a relative change between the imaging unit and the measurement target occurs during imaging by the imaging unit;
A shape measuring apparatus comprising: a generating unit that generates data indicating a three-dimensional shape of the measurement target based on a captured image generated by the imaging unit according to a result determined by the determining unit. The determination unit
The shape measuring apparatus according to claim 1, wherein a determination is made as to whether or not a relative change between the imaging unit and the measurement target has occurred based on a captured image generated by the imaging unit. The imaging unit
Generate a captured image that captures the measurement target according to the input imaging operation,
The determination unit
The period during which the imaging operation is input is set as the time of imaging, and it is determined whether or not a relative change between the imaging unit and the measurement target occurs at the time of imaging. Shape measuring device. The generator is
Based on the captured image generated by the imaging unit, the data is generated based on the captured image when the determination unit determines that the relative position between the imaging unit and the measurement target has not changed. The shape measuring device according to any one of claims 1 to 3. It has a reception unit that accepts input operations,
The generator is
The shape measuring apparatus according to claim 4, wherein the data is generated when the receiving unit receives an operation. The shape measuring apparatus according to claim 4, further comprising: an output unit that outputs a determination result by the determination unit. The output unit is
The shape measurement apparatus according to claim 6, wherein the determination result by the determination unit is output by display. The generator is
The shape measuring apparatus according to claim 6, wherein the data is generated after the output unit outputs a determination result. The imaging unit
The imaging in which a relative change occurs between the imaging unit and the measurement target when the determination unit determines that a relative change between the imaging unit and the measurement target occurs in the captured image The shape measurement apparatus according to claim 4, wherein the captured image corresponding to the image is generated again. The generator is
The imaging unit generates the data based on a plurality of captured images that are generated by imaging the measurement object for each type of the brightness pattern,
The determination unit
The period in which the imaging unit generates the plurality of captured images is determined as the time of imaging, and it is determined whether or not a relative change between the imaging unit and the measurement target occurs at the time of imaging. Item 10. The shape measuring device according to any one of Items 9 to 9. The determination unit determines whether a relative change between the imaging unit and the measurement target occurs during the acquisition of the plurality of captured images based on a result of comparison between the plurality of captured images. And
The imaging unit, when the determination unit determines that a relative change between the imaging unit and the measurement target occurs in at least one of the captured images, The shape measurement apparatus according to claim 10, wherein the captured image in which a change relative to the measurement target has occurred is generated again. The imaging unit
When the determination unit determines that a relative position change between the imaging unit and the measurement target occurs in at least one of the plurality of the captured images, the imaging unit The shape measurement apparatus according to claim 11, wherein the captured image corresponding to the captured image in which a change in position relative to the measurement target has occurred is generated again. The imaging unit
The shape measurement apparatus according to claim 11, wherein the captured images corresponding to the plurality of captured images are generated again. The imaging unit
Re-generating the captured image corresponding to a blurred image in which a relative change between the imaging unit and the measurement target is generated among the plurality of captured images;
The generator is
Data indicating the three-dimensional shape of the measurement target based on the captured image other than the blurred image of the plurality of captured images and the captured image corresponding to the blurred image generated again by the imaging unit. The shape measuring device according to claim 11. The determination unit
It is determined whether or not a relative change has occurred between the imaging unit and the measurement target based on a result of comparison between captured images corresponding to the types of the light and dark patterns of the plurality of captured images. The shape measuring apparatus according to any one of claims 11 to 14. The shape measuring device according to any one of claims 1 to 15, further comprising a captured image display unit that displays a captured image generated by the imaging unit. A design device for creating structure design information relating to the shape of the structure;
A molding apparatus for producing the structure based on the structure design information;
The shape measuring apparatus according to any one of claims 1 to 16, wherein the shape of the created structure is measured based on a captured image;
A structure manufacturing system comprising: an inspection device that compares the shape information obtained by the measurement and the structure design information. An imaging step for generating a captured image of the measurement object;
An intensity distribution corresponding to the light / dark pattern is taken from a direction different from the direction picked up in the image pickup step so that the image picked up in the image pickup step is picked up as an image in which a light / dark pattern is projected onto the measurement target. An irradiation step of irradiating the measurement object with illumination light having:
A determination step of determining whether or not the captured image is blurred based on the captured image generated in the imaging step;
A shape measurement method comprising: a generation step of generating data indicating a three-dimensional shape of the measurement object based on the captured image generated in the imaging step and the result determined in the determination step. . Creating structure design information on the shape of the structure;
Producing the structure based on the structure design information;
Measuring the shape of the created structure based on a captured image generated using the shape measuring method according to claim 18;
A structure manufacturing method including a step of comparing the shape information obtained by the measurement with the structure design information. On the computer,
An imaging step for generating a captured image of the measurement object;
The image picked up in the image pick-up step has an intensity distribution corresponding to the light-dark pattern from a direction different from the image pick-up direction in the image pick-up step so as to be picked up as an image in which a light-dark pattern is projected on the measurement target. An irradiation step of irradiating the measurement object with illumination light;
A determination step of determining whether or not the captured image is blurred based on the captured image generated in the imaging step;
A shape measurement program for executing a generation step of generating data indicating a three-dimensional shape of the measurement target based on the captured image generated in the imaging step and the result determined in the determination step.