JP2018165655A - Object measurement control device and object measurement control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an object control measurement device capable of imaging cultural assets by recreating the same environment as when measured in the past by moving a measurement device without contacting the cultural assets by holding a constant accuracy even when imaged by different people without preparing a measurement support facility.SOLUTION: An object measurement control device according to the present invention is a device for performing measurement of an object by a measurement device while controlling an arm of a robot on which the measurement device is mounted, and includes: a three-dimensional shape acquisition part for acquiring a three-dimensional shape of the object to be measured from three-dimensional shape information acquired by the three-dimensional shape acquisition device; a measurement device moving surface generation part corresponding to a three-dimensional shape and generating a measurement device moving surface for allowing the measurement device to move a predetermined distance from the object in robot coordinate system for performing a control of the robot; a robot control device for controlling the movement of the arm so that the measurement device moves on the measurement device moving surface; and a measurement device control part for allowing the measurement device to perform the measurement at the preset measurement position of the measured device moving surface.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an object measurement control apparatus and an object measurement control method for controlling an imaging apparatus that captures an image when a captured image used for generating a three-dimensional shape model and a two-dimensional shape model of a subject is captured.

In recent years, captured image data of the current state of cultural properties has been digitized and stored.
Among the cultural properties mentioned above, there are those with a planar shape such as ancient murals and paintings, and those with a three-dimensional shape such as a spear and a Buddha image.
For example, in the case of digitizing as a three-dimensional shape model using a cultural asset such as a bud or a Buddha image having a three-dimensional shape as an object, or when using MVS (multi view stereo), a plurality of captured images are set at a predetermined angle and distance. (See, for example, Patent Document 1).

For this reason, when imaging a target object, in order to move an imaging device around the three-dimensional target object, imaging support equipment for moving the imaging device at a predetermined distance is created.
Then, the imaging device is attached to the created imaging support facility, and the object used when forming the three-dimensional shape model while moving the imaging device around the object sequentially so as to have a predetermined angle and a predetermined distance. A plurality of captured images of an object are captured.

JP2013-101464A

However, when the object to be imaged is a cultural property or the like, each object does not have the same shape, and it is necessary to create a new imaging support facility each time an object with a different shape is imaged. Expenses will increase.
Further, when the imaging support facility is created and imaged, it is necessary for a human to adjust the position of the imaging device in the imaging support facility and to capture an object. For this reason, the quality of the captured image differs depending on the individual difference between the persons who capture the images. In particular, when a photographer who is not imaged captures an image, the quality of the captured image is low, and the three-dimensional shape of the object may not be reproduced.

In addition, not only photographers who are not familiar with imaging, but also those who are accustomed to capturing cultural assets may contact the imaging device or imaging support equipment with the object and damage the cultural asset that is the object. Always accompanied by sex.
Furthermore, in order to determine the degree of deterioration of cultural properties, for example, even if trying to compare with a captured image captured in the past 10 or 20 years ago, the imaging support equipment is generally dismantled once measured, Even if a photographer who is accustomed to taking images of cultural assets tries to reproduce the same imaging environment as when imaging in the past, when reconstructing the same imaging support equipment, install it at the same position with respect to the object Therefore, it is difficult to image cultural assets in the same imaging environment.
Although the above description relates to imaging, which is an example of measurement of an object, there are similar problems to imaging in general measurement of an object, such as measurement of the color of an object or acquisition of a highly accurate three-dimensional shape. doing.

  The present invention has been made in view of such a situation, and it is possible to obtain a certain degree of accuracy even if different measurers measure a cultural property as a target without creating a measurement (for example, imaging) support facility. An object measurement control device and an object measurement control method that can measure and measure cultural assets by reproducing the same environment as in the past when holding and moving the measurement device without touching it The purpose is to do.

  In order to solve the above-described problem, an object measurement control device of the present invention is an object measurement control device that measures an object by the measurement device while controlling an arm of a robot to which the measurement device is attached. A three-dimensional shape acquisition unit that acquires the three-dimensional shape of the object to be measured from the three-dimensional shape information acquired by the three-dimensional shape acquisition device, and a robot coordinate system that controls the robot corresponding to the three-dimensional shape A measuring device moving surface generating unit that generates a measuring device moving surface that moves the measuring device at a predetermined distance from the object, and a movement of the arm so that the measuring device moves on the measuring device moving surface. A robot control unit that controls the measurement device, and a measurement device control unit that causes the measurement device to perform measurement at a preset measurement position on the moving surface of the measurement device.

In the object measurement control device of the present invention, when the object moving surface generating unit is a three-dimensional object having a three-dimensional shape, the object measuring surface moving unit is a three-dimensional object such as a cylindrical shape in which the object is included. It is generated as a shape.
In the object measurement control device of the present invention, the measurement device moving surface generation unit, when the object is a two-dimensional flat object, the measurement device moving surface includes a planar shape including the flat object (for example, (Rectangular shape).

  In the object measurement control device of the present invention, the measurement device moving surface generation unit sets the distance of the closest region between the measurement device moving surface and the object to a value exceeding the focal length of the measurement device. It is characterized by.

  The object measurement control device according to the present invention is characterized in that the measurement device moving surface generation unit generates the measurement device moving surface at a position where the object and the measurement device are separated from each other by a focal length.

  The object measurement control apparatus of the present invention is characterized in that the measurement device moving surface generation unit adds normal line information of the surface of the object to the measurement position on the measurement device moving surface.

  In the object measurement control device of the present invention, the robot control unit moves the measurement device movement surface in the measurement device on the measurement device movement surface in accordance with the measurement direction of the measurement device and the normal line information. It is characterized by making it.

  An object measurement control method according to the present invention is an object measurement control method for measuring an object by the measurement device while controlling an arm of a robot to which the measurement device is attached. The three-dimensional shape acquisition process for acquiring the three-dimensional shape of the object to be measured from the three-dimensional shape information acquired by the original shape acquisition device, and the measurement device moving surface generation unit correspond to the three-dimensional shape, and In the robot coordinate system to be controlled, a measuring device moving surface generating process for generating a measuring device moving surface for moving the measuring device at a predetermined distance from the object, and a robot control unit performs the measurement on the measuring device moving surface. A robot control process for controlling the movement of the arm so that the device moves, and a measurement device control unit is provided to the measurement device at a preset measurement position on the measurement device moving surface. Characterized in that it comprises a measuring device control process to perform the measurement.

  As described above, according to the present invention, it is possible to maintain a certain level of accuracy even when different measurers measure a cultural property as a target without creating a measurement (for example, imaging) support facility. It is possible to provide an object measurement control apparatus and an object measurement control method that can measure a cultural property by reproducing the same environment as measured in the past by moving the measurement apparatus without contacting the object.

It is a block diagram which shows the structural example of the target object measurement control system using the target object measurement control apparatus which is one Embodiment of this invention. It is a conceptual diagram explaining the system configuration | structure of the target object measurement system shown by FIG. It is a conceptual diagram explaining the measurement apparatus moving surface produced | generated corresponding to the three-dimensional shape of a three-dimensional shape model. It is a conceptual diagram explaining the measurement apparatus moving surface produced | generated corresponding to the two-dimensional shape of a two-dimensional image. It is a figure which shows the structural example of the measurement apparatus movement surface data table in the measurement apparatus movement surface memory | storage part. It is a figure which shows the structural example of the measurement data table in the measurement data storage part. It is a flowchart which shows the operation example of the acquisition process of the measurement data of the target object of the target object measurement control apparatus 1 by one Embodiment of this invention. It is a flowchart which shows the other operation example of the acquisition process of the measurement data of the target object of the target object measurement control apparatus 1 by one Embodiment of this invention.

Hereinafter, an embodiment of an object measurement control device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration example of an object measurement control system using an object measurement control apparatus according to an embodiment of the present invention. In FIG. 1, the object measurement control system includes an object measurement control device 1, a three-dimensional shape acquisition device 2, a robot 3, and a measurement device 4.
The object measurement control device 1 includes a calibration unit 11, a three-dimensional shape acquisition unit 12, a measurement device moving surface generation unit 13, a robot control unit 14, a measurement control unit 15, a display unit 16, a three-dimensional shape storage unit 17, and a measurement. Each of the apparatus moving surface storage unit 18 and the measurement data storage unit 19 is provided.

FIG. 2 is a conceptual diagram illustrating the system configuration of the object measuring system shown in FIG.
For example, the robot 3 has a structure in which an arm 3_1 is attached to a robot base 3_2, and each of the three-dimensional shape acquisition device 2 and the measurement device 4 is attached to a bracket 3_3 at the tip of the arm 3_1.
On the robot table 3_4 in the robot base 3_2, an object to be measured (three-dimensional solid object) is arranged, and the measuring apparatus 4 measures the object. Further, when the object cannot be mounted on the robot table 3_4, or when the object is not portable such as a mural, the robot base 3_2 is arranged in the vicinity of the object, and the object is measured. .

  The measurement device 4 includes, for example, an image pickup device (still camera) for picking up a still image, a moving image pickup device (movie camera) for picking up a moving image, a highly accurate three-dimensional measurement device, and a color measurement device (density meter, color difference meter). , Spectral color illuminometer, etc.). In the present embodiment, the measurement device 4 will be described as an imaging device that captures a still image of an object.

  The object measurement control device 1 drives the arm 3_1 of the robot 3 to thereby adjust the measurement position and the measurement direction of the measurement device 4 relative to the object arranged on the robot table 3_4 or in the vicinity of the robot base 3_2. The measurement process of the measuring device 4 is controlled. The object measurement control device 1 controls the arm 3_1 in the robot coordinate system 100 (three-dimensional space coordinates), controls the measurement of the measurement device 4, and acquires measurement data of the object measured by the measurement device 4. To do.

  Returning to FIG. 1, the three-dimensional shape acquisition apparatus 2 obtains three-dimensional shape information, which is information indicating the three-dimensional shape of the object measured by the object measurement control apparatus 1, from the object (hereinafter described as a cultural property). Obtained and output to the object measurement control device 1. In the present embodiment, for example, a three-dimensional scanner that can easily obtain a three-dimensional point group indicating the three-dimensional shape of the object (acquires shape information from the three-dimensional point group of the object to be measured) is used. However, any three-dimensional shape acquisition device may be used as long as information on the three-dimensional shape of the object can be obtained.

  The calibration unit 11 acquires the 3D shape information indicating the 3D shape of the calibration tool arranged on the robot table 3_4 by the 3D shape acquisition device 2. For example, in the three-dimensional scanner, the three-dimensional shape information is a three-dimensional point group indicating a three-dimensional shape. Since the position of the robot coordinate system 100 of the three-dimensional shape acquisition device 2 attached to the arm 3_1 is known, the calibration unit 11 uses the three-dimensional point group acquired by the calibration tool and uses the three-dimensional shape acquisition device. A coordinate system conversion matrix for converting the acquired three-dimensional coordinates that are the coordinate system 2 into the robot coordinate system 100 is generated (calibration process).

  The three-dimensional shape acquisition unit 12 acquires three-dimensional shape information indicating the three-dimensional shape of an object placed on the robot table 3_4 or in the vicinity of the robot base 3_2 by the three-dimensional shape acquisition device 2. Then, the 3D shape acquisition unit 12 acquires the acquired 3D shape information (3D point group) from the acquired 3D coordinate system by using the coordinate transformation matrix generated by the calibration unit 11 to acquire each point in the 3D point group. The coordinate value of the robot coordinate system 100 is converted. Here, even if the object has a two-dimensional shape, the three-dimensional shape acquisition unit 12 uses a three-dimensional point group indicating the three-dimensional coordinates of the two-dimensional shape model in the three-dimensional space of the robot coordinate system 100 as a three-dimensional point group. Obtain 3D shape information. The three-dimensional shape acquisition unit 12 adds the identification information of the object and the acquired date and time to the coordinate values of each point in the obtained three-dimensional point group, and writes and stores them in the three-dimensional shape storage unit 17.

  When the target object has a three-dimensional shape, the measurement device moving surface generation unit 13 reads a three-dimensional point group indicating the three-dimensional shape of the target object from the three-dimensional shape storage unit 17, and performs the cubic of the target object in the robot coordinate system 100. Generate original shape model. Then, the measuring device moving surface generating unit 13 includes a cylindrical shape or the like that moves the measuring device when performing measurement based on the cylinder set by the measurer in which the three-dimensional shape model is included in the robot coordinate system 100. A three-dimensional measuring device moving surface is generated. The measuring device moving surface generation unit 13 writes and stores the generated measuring device moving surface in the measuring device moving surface data table of the measuring device moving surface storage unit 18.

  FIG. 3 is a conceptual diagram illustrating a measurement device moving surface generated corresponding to the three-dimensional shape of the three-dimensional shape model. In FIG. 3A, the measuring device moving surface in the robot coordinate system 100 is generated so as to include the three-dimensional shape model 500 of the object. The measuring device moving surface generating unit 13 forms a planar shape such as a rectangular shape surrounding the point group of the three-dimensional shape model 500 displayed on the display device (not shown) by the measurer. A cylinder (cylinder) including a three-dimensional point group included in the frame is formed. The measuring device moving surface generation unit 13 moves the measuring device as a cylinder having the same center axis as the center axis of the cylinder and having a radius larger than the cylinder radius by the distance d based on the distance d input by the measurer. Create a face. This distance d is the distance of the closest position between the three-dimensional shape model 500 and the inner surface of the measuring device moving surface 200. This distance d is, for example, a focal length when the measuring device 4 is an imaging device. Also, the distance d can be adjusted by the distance Δd input by the measurer so that a captured image for creating a three-dimensional shape model of the target object can be captured with high accuracy in correspondence with the unevenness of the three-dimensional shape of the target object. The measuring device moving surface generation unit 13 may be configured to generate a plurality of measuring device moving surfaces having a radius.

  In FIG. 3B, a measurement position, that is, an imaging position on the measurement apparatus moving surface 200 on which the measurement apparatus 4 moves is shown. Each of the measurement position 201, the measurement position 202, the measurement position 203, the measurement position 204, the measurement position 205,... Is on the measurement apparatus movement plane 200, and an object in the robot coordinate system 100 is displayed on the measurement apparatus movement plane 200. It is a coordinate value which images and acquires a captured image. Further, each of the measurement vector 301N, the measurement vector 302N, the measurement vector 303N, the measurement vector 304N, the measurement vector 305N,... Is a vector indicating the measurement direction at each of the measurement positions. In the case of the present embodiment, each of the measurement vector 301N, the measurement vector 302N, the measurement vector 303N, the measurement vector 304N, the measurement vector 305N,... Is perpendicular to the central axis of the cylinder (in other words, from the central axis of the cylinder). Radial direction). That is, the measuring device moving surface generation unit 13 sets a measurement vector in the normal direction at the measurement position on the measuring device moving surface 200.

  Further, the captured image 301, the captured image 302, the captured image 303, the captured image 304, the captured image 305,... Are respectively the measurement position 201, the measurement position 202, the measurement position 203, the measurement position 204, the measurement position 205,. This is a captured image. That is, the measuring device moving surface 200 is composed of a collection of measurement positions 201, measurement positions 202, measurement positions 203, measurement positions 204, measurement positions 205,. The measuring device moving surface generation unit 13 sets the intervals between the measurement positions on the measuring device moving surface 200 according to the resolution and the focal length of the captured image to be captured.

  Further, each of the measurement position 201, the measurement position 202, the measurement position 203, the measurement position 204, the measurement position 205,... Has a predetermined interval (distance) Δx in each of the x-axis direction, the y-axis direction, and the z-axis direction. The intervals Δy and Δz (not shown) are set apart from each other. In addition, the measurement device moving surface generation unit 13 obtains the normal vector of the measurement position and obtains the measurement direction at the measurement position as a vector parallel to the normal vector. As the diameter of the cylinder of the measuring device moving surface 200 decreases, the curvature of the surface of the cylinder increases. Therefore, when capturing a captured image, it is necessary to adjust the interval Δx according to the magnitude of the curvature. For example, in order to image an object with high accuracy, the interval Δx is set to be smaller as the curvature increases. Each of the interval Δx and the interval Δy may be configured to be obtained by the measurement device moving surface generation unit 13 from the resolution of the captured image and the focal length of the measurement device 4.

  In FIG. 3, as an example, the measurement data identification information is obtained from the uppermost record in the imaging movement plane data table of the measurement apparatus movement plane storage unit 18, the measurement position 201, the measurement position 202, the measurement position 203, the measurement position 204, and the measurement. The positions are described in the order of 205,. For this reason, when the robot control unit 14 refers to the imaging moving surface data table, the measuring device 4 performs imaging in the order of the measurement position 201, the measurement position 202, the measurement position 203, the measurement position 204, the measurement position 205,. Control of the movement of the arm 3_1 (in the direction of the arrow in the figure) is performed so that it can be performed. The arrangement order of the measurement data identification information in the imaging moving surface data table of the measuring device moving surface storage unit 18 can be arbitrarily changed.

  Returning to FIG. 1, when the object has a two-dimensional shape, the measurement device moving surface generation unit 13 reads a three-dimensional point group indicating the three-dimensional shape of the object from the three-dimensional shape storage unit 17, and the robot coordinate system 100. A two-dimensional shape model of the object at is generated. Then, the measuring device moving surface generation unit 13 generates a measuring device moving surface having a planar shape such as a rectangular shape in which the two-dimensional shape model is included in the robot coordinate system 100. The measuring device moving surface generation unit 13 writes and stores the generated measuring device moving surface in the measuring device moving surface data table of the measuring device moving surface storage unit 18.

  FIG. 4 is a conceptual diagram illustrating a measuring device moving surface generated corresponding to the two-dimensional shape of the two-dimensional image. In FIG. 4A, the measurement device moving surface in the robot coordinate system 100 is generated so as to include the two-dimensional shape model 600 of the object in plan view. When the measurer selects three points of the three-dimensional point group, the measuring device moving surface generation unit 13 sets the plane including the three points as the two-dimensional shape model 600. Then, the measuring device moving surface generating unit 13 is based on the distance d input by the measurer, and the measuring device moving surface 200 having a planar shape such as a rectangular shape parallel to the plane of the two-dimensional shape model in the robot coordinate system 100. Is generated. This distance d is the distance of the closest position between the two-dimensional shape model 600 and the measuring apparatus moving surface 200, as in the case of FIG. This distance d is, for example, a focal length when the measuring device 4 is an imaging device.

  FIG. 4B shows a two-dimensional coordinate system (coordinate system composed of an x-axis and a y-axis) of a measurement position, that is, an imaging position on the measurement apparatus moving surface 200 on which the measurement apparatus 4 in FIG. 4A moves. Is shown. Each of the measurement position 201, the measurement position 202, the measurement position 203, the measurement position 204, the measurement position 205,... Is on the measurement apparatus movement plane 200, and an object in the robot coordinate system 100 is displayed on the measurement apparatus movement plane 200. It is a coordinate value which images and acquires a captured image. Here, each of the captured image 301, the captured image 302, the captured image 303, the captured image 304, the captured image 305,... Has a side length parallel to the x axis and is a side parallel to the y axis. The length is y1. The dimension (x1, y1) of each captured image is arbitrarily set by the operator who captures the image according to the conditions of the resolution and the focal length of the captured image captured by the measuring device 4.

  Further, the measurement position 201, the measurement position 202, the measurement position 203, the measurement position 204, the measurement position 205,... Are separated from each other by a predetermined interval (distance) Δx and an interval Δy in the x-axis direction and the y-axis direction, respectively. Is set. In addition, the measurement device moving surface generation unit 13 obtains the normal vector of the measurement position and obtains the measurement direction at the measurement position as a vector parallel to the normal vector. Also, if the unevenness of the surface of the object is large, in order to capture images with high accuracy, a measuring device moving surface is generated with the distance d changed as the unevenness is increased, and the interval Δx and the interval Each of Δy is reduced to capture a captured image. Each of the interval Δx and the interval Δy may be configured to be obtained by the measurement device moving surface generation unit 13 from the resolution of the captured image and the focal length of the measurement device 4.

  In FIG. 4, as an example, the measurement data identification information is obtained from the uppermost record in the imaging movement plane data table of the measurement apparatus movement plane storage unit 18, the measurement position 201, the measurement position 202, the measurement position 203, the measurement position 204, and the measurement. The positions are described in the order of 205,. For this reason, when the robot control unit 14 refers to the imaging moving surface data table, the measuring device 4 performs imaging in the order of the measurement position 201, the measurement position 202, the measurement position 203, the measurement position 204, the measurement position 205,. Control of the movement of the arm 3_1 (in the direction of the arrow in the figure) is performed so that it can be performed. The arrangement order of the measurement data identification information in the imaging moving surface data table of the measuring device moving surface storage unit 18 can be arbitrarily changed.

  FIG. 5 is a diagram illustrating a configuration example of a measuring device moving surface data table in the measuring device moving surface storage unit 18. In each record of the measurement apparatus moving surface data table of FIG. 5, measurement data identification information and each of the measurement position and measurement direction (measurement vector) for acquiring measurement data corresponding to the measurement data identification information are written and stored. Is done. The measurement data identification information is identification information for identifying each piece of measurement data acquired on the measurement apparatus moving surface. The measurement position indicates the position where the measurement data corresponding to the measurement data identification information in the same record and the captured image are captured. The measurement direction is a measurement vector indicating the measurement direction at the measurement position of the same record.

  Returning to FIG. 1, for example, the robot control unit 14 refers to the measurement device movement surface data table of the measurement device movement surface storage unit 18, and sequentially determines the measurement position and the measurement position in the order of the measurement data identification information in the measurement device movement surface table. Read the measurement direction. Then, the robot control unit 14 moves the imaging axis of the measurement device 4 to the measurement position on the measurement device moving surface 200 and transmits a control signal with the direction of the imaging axis as the measurement direction to the robot 3. Thereby, the robot 3 drives and controls the arm 3_1, and moves the imaging axis of the measurement device 4 to the measurement position on the measurement movement plane in the robot coordinate system 100, and matches the measurement direction at the measurement position.

  For example, the robot control unit 14 controls the measurement direction to be set at each of the measurement positions in FIG. 3B, and sequentially moves the measurement positions according to the arrows in the order described in the measurement device moving surface data table. Thus, the arm 3_1 is controlled (movement and posture control). Then, the robot controller 14 is supplied with a control end signal indicating that the imaging axis of the measuring device 4 has moved to the measurement position on the measurement moving surface and the imaging axis has been adjusted in a predetermined measurement direction from the robot 3. The control end signal is output to the measurement control unit 15.

  When the control end signal is supplied from the robot control unit 14, the measurement control unit 15 controls the measurement device 4 to capture a captured image of the current measurement position and measurement direction on the measurement moving surface. Then, the measurement control unit 15 captures the captured image of the object, and then writes and stores the captured image in the measurement data storage unit 19 in association with the measurement data identification information.

  FIG. 6 is a diagram illustrating a configuration example of a measurement data table in the measurement data storage unit 19. In each record of the measurement data table in FIG. 6, each of the measurement data identification information and the measurement data index corresponding to the measurement data identification information is written and stored. The measurement data identification information is identification information for identifying each piece of measurement data acquired on the measurement apparatus moving surface. The measurement data index indicates an address in the measurement data storage unit 19 in which measurement data, that is, captured image data is stored. The measurement control unit 15 writes the measurement data identification information of the captured image and the address of the measurement data storage unit 19 in which the captured image corresponding to the measurement data identification information is written into the measurement data table for storage.

Returning to FIG. 1, the display unit 16 is a display device including a liquid crystal panel, for example.
In the three-dimensional shape storage unit 17, the three-dimensional shape information (three-dimensional shape model or two-dimensional shape model shape information) of the object for which measurement data is acquired, which is acquired by the three-dimensional shape acquisition unit 12, is written and stored. Is done.
The measuring device moving surface storage unit 18 is written and stored with a measuring device moving surface data table indicating each of the measurement position and the measuring direction on the measuring device moving surface.
In the measurement data storage unit 19, the measurement data table is written and stored, and the measurement data is written and stored at the address indicated by the measurement data index indicated in the measurement data table.

FIG. 7 is a flowchart showing an operation example of the acquisition processing of the measurement data of the target of the target measurement control apparatus 1 according to the embodiment of the present invention. FIG. 7 is a flowchart for explaining processing when the object has a three-dimensional shape.
Step S1:
The calibration unit 11 inputs a three-dimensional point group indicating the three-dimensional coordinates of the three-dimensional shape model in the three-dimensional space of the calibration tool arranged on the robot table 3_4 from the three-dimensional shape acquisition apparatus 2.
And the calibration part 11 produces | generates the coordinate transformation matrix which coordinate-transforms from the acquisition three-dimensional coordinate system of the three-dimensional shape acquisition apparatus 2 to the robot coordinate system which the robot 3 controls arm 3_1. The calibration unit 11 supplies the generated coordinate transformation matrix to the three-dimensional shape acquisition unit 12.

Step S2:
The three-dimensional shape obtaining unit 12 obtains a three-dimensional shape in a three-dimensional space of an object (for example, a Buddhist image or a samurai of a cultural asset) placed on the robot table 3_4 or in the vicinity of the robot base 3_2 from the three-dimensional shape obtaining device 2. Input a 3D point cloud indicating the 3D coordinates of the model.
Then, the three-dimensional shape acquisition unit 12 performs coordinate conversion from the acquired three-dimensional coordinate system to the robot coordinate system, using the coordinate conversion matrix, to identify the target object. The information and the acquired date and time are attached, and are written and stored in the three-dimensional shape storage unit 17.

Step S3:
The measuring device moving surface generation unit 13 reads data of a three-dimensional point group indicating the three-dimensional shape of the object from the three-dimensional shape storage unit 17.
Then, the measurement device moving surface generation unit 13 generates a three-dimensional shape model that reproduces the three-dimensional shape of the object in the robot coordinate system from the three-dimensional shape data.
The measuring device moving surface generation unit 13 displays the three-dimensional shape model in the robot coordinate system on the display device. At this time, the measurer surrounds the object portion of the three-dimensional point group displayed as a two-dimensional image on the display device with a rectangle using a mouse or the like. Further, the measurer inputs a numerical value of the distance d.
Thereby, the measuring device moving surface generation unit 13 determines the three-dimensional point group surrounded by the rectangle of the measurer as the three-dimensional point group indicating the three-dimensional coordinates of the three-dimensional shape model of the object in the robot coordinate system. Then, a cylinder including a three-dimensional point group surrounded by the rectangle is formed.

Then, the measuring device moving surface generation unit 13 generates a three-dimensional shape such as a cylindrical shape having a radius d larger than the radius of the cylinder, and the three-dimensional shape such as the cylindrical shape includes a three-dimensional shape model of the object. The device moving surface. The measuring device moving surface generation unit 13 writes and stores the generated measuring device moving surface data in the measuring device moving surface storage unit 18.
In addition, the measurement device moving surface generation unit 13 acquires measurement data of measurement data to acquire each of the measurement position and the measurement direction on the measurement device movement surface based on the resolution and the focal length of the captured image captured by the measurement device 4. The identification information is added and set in the measurement moving surface data table of the measuring device moving surface storage unit 18.

Step S4:
The robot control unit 14 reads out each of the measurement data identification information, the measurement position, and the measurement direction in the order described in the measurement moving surface data table of the measuring device moving surface storage unit 18.
Then, the robot control unit 14 controls the arm 3_1 of the robot 3 so that the measurement device 4 is positioned at the read measurement position and the imaging axis of the measurement device 4 is in the measurement direction.
When the robot control unit 14 is notified from the robot 3 that the measurement device 4 has moved to the measurement position and the imaging axis of the measurement device 4 has been controlled in the measurement direction, the robot control unit 14 outputs control end information to the measurement control unit 15. To do.

Step S5:
When the control end information is supplied from the robot control unit 14, the measurement control unit 15 controls the measurement device 4 to image a target object and obtain a captured image.
Then, the measurement control unit 15 writes and stores the acquired captured image data in the measurement data storage unit 19. The measurement control unit 15 writes and stores the measurement data identification information corresponding to the measurement position and the address in the measurement data storage unit 19 in which the captured image data is written, in the measurement data table of the measurement data storage unit 19.
The measurement control unit 15 outputs imaging end information indicating that imaging of the captured image has ended to the robot control unit 14.

Step S6:
The robot control unit 14 refers to the measurement moving surface data table of the measuring device moving surface storage unit 18, and the processing of the measurement position and the measurement direction of the measurement data identification information described at the end of the measurement moving surface data table is completed. It is determined whether or not all the measurement positions have been processed. At this time, the robot control part 14 complete | finishes a process, when the process in all the measurement positions is complete | finished. On the other hand, the robot control part 14 advances a process to step S4, when the process in all the measurement positions is not complete | finished.

FIG. 8 is a flowchart showing another example of the operation of acquiring the measurement data of the object of the object measurement control device 1 according to the embodiment of the present invention. FIG. 8 is a flowchart for explaining processing when the object has a planar shape.
Step S1 ':
The calibration unit 11 inputs a three-dimensional point group indicating the three-dimensional coordinates of the three-dimensional shape in the three-dimensional space of the calibration tool arranged on the robot table 3_4 from the three-dimensional shape acquisition apparatus 2.
And the calibration part 11 produces | generates the coordinate transformation matrix which coordinate-transforms from the acquisition three-dimensional coordinate system of the three-dimensional shape acquisition apparatus 2 to the robot coordinate system which the robot 3 controls arm 3_1. The calibration unit 11 supplies the generated coordinate transformation matrix to the three-dimensional shape acquisition unit 12.

Step S2 ':
The three-dimensional shape acquisition unit 12 receives a two-dimensional shape model from the three-dimensional shape acquisition device 2 in a three-dimensional space of an object (for example, a mural of a cultural asset) arranged on the robot table 3_4 or in the vicinity of the robot base 3_2. Enter a 3D point cloud that represents 3D coordinates.
Then, the three-dimensional shape acquisition unit 12 performs coordinate conversion from the acquired three-dimensional coordinate system to the robot coordinate system, using the coordinate conversion matrix, to identify the target object. The information and the acquired date and time are attached, and are written and stored in the three-dimensional shape storage unit 17.

Step S3 ′:
The measuring device moving surface generation unit 13 reads data of a three-dimensional point group indicating a two-dimensional shape model of the object from the three-dimensional shape storage unit 17.
Then, the measurement device moving surface generation unit 13 generates a two-dimensional shape model in which the two-dimensional shape of the object is reproduced in the robot coordinate system from the three-dimensional shape data.
The measuring device moving surface generation unit 13 displays a three-dimensional point group indicating the three-dimensional coordinate value of the two-dimensional shape model in the robot coordinate system on the display device. At this time, the measurer selects three points in the three-dimensional point group displayed as a two-dimensional image on the display device. Thereby, the measurement device moving surface generation unit 13 determines a plane including the three points in the three-dimensional point group as a two-dimensional shape model of the object, and displays the two-dimensional shape. Further, the measurer inputs a numerical value of the distance d.
Thereby, the measuring device moving surface generation unit 13 forms a rectangle surrounding the two-dimensional shape of the object in the robot coordinate system.

Then, the measurement device moving surface generation unit 13 generates a two-dimensional plane at the position of the front surface of the two-dimensional shape that is a distance d away from the surface of the two-dimensional shape. This two-dimensional plane serves as a measurement device moving surface that includes the two-dimensional shape model of the object in plan view. The measuring device moving surface generation unit 13 writes and stores the generated measuring device moving surface data in the measuring device moving surface storage unit 18.
In addition, the measurement device moving surface generation unit 13 acquires measurement data of measurement data to acquire each of the measurement position and the measurement direction on the measurement device movement surface based on the resolution and the focal length of the captured image captured by the measurement device 4. The identification information is added and set in the measurement moving surface data table of the measuring device moving surface storage unit 18.

Each of step S4, step S5, and step S6 is the same processing as the flowchart of FIG.
As shown in the flowcharts of FIGS. 7 and 8 described above, the flow for generating the measuring device moving surface differs depending on whether the object is a three-dimensional shape or a planar shape. For this reason, when a measurement person produces | generates a measuring device movement surface, it is selected by the display of a display apparatus whether a target object is a solid | 3D shape or a planar shape. Thereby, the target object measurement control apparatus 1 selects one of the processes in the flowchart in FIG. 7 and the flowchart in FIG. 8, and generates a measurement apparatus moving surface.

As described above, according to the present embodiment, each of the three-dimensional shape acquisition device 2 and the measurement device 4 is attached to the arm 3_1 of the robot 3, and the two-dimensional shape or the three-dimensional shape of the target object is acquired. When imaging (measuring) an object based on a three-dimensional shape or a three-dimensional shape, a measuring device moving surface showing the measurement position and measuring direction of the measuring device 4 is generated, and this measuring device moving surface Since the arm 3_1 is controlled, it is possible to move the measuring device 4 without touching the cultural property while maintaining a certain accuracy even when a different person takes an image. Therefore, according to the present embodiment, even an amateur who has not taken an image of a cultural property can take a captured image with the same quality as a familiar person.
Moreover, according to this embodiment, since the measuring device 4 is moved relative to the object by the arm 3_1 of the robot 3, it is not necessary to create a measurement support facility.
Further, according to the present embodiment, by leaving the measuring device moving surface for each object, it is possible to reproduce the same environment as when imaging (measurement) in the past and image cultural assets.

Further, in the present embodiment, when the object has a three-dimensional shape, a three-dimensional measuring device moving surface such as a cylindrical shape is generated with respect to the three-dimensional shape of the target object, and the robot arm is driven and controlled. The measurement device 4 controls a measurement position and a measurement direction at which the captured image is captured on the measurement device moving surface.
However, the measuring device moving surface generating unit 13 generates the measuring device moving surface as a curved surface having a predetermined distance d from the surface of the three-dimensional shape model, which is similar to the shape of the surface of the three-dimensional shape model of the object. May be. At this time, a measurement position is set on the measurement apparatus moving plane, a normal vector of the measurement apparatus movement plane at the measurement position is obtained, and a measurement direction is set as a vector parallel to the normal vector.
Thereby, the precision of the measurement process including imaging of a target object can be improved.

In the present embodiment, the robot 3 has one arm 3_1, drives the measuring device 4, and the measuring device 4 performs measurement processing of the object, but the robot control unit 14 controls a plurality of arms. You may comprise as follows.
For example, the measurement device 4 may be attached to the arm 3_1, and the illumination device (not shown) may be attached to the arm 3_5. This illumination device irradiates an area measured by the measurement device 4 with illumination light having a predetermined characteristic. Thereby, the measurement device 4 can measure the shape, color, texture, etc. of the object under the illumination light of the illumination device, and the illumination environment in the measurement of the measurement device 4 can be made constant. In this case, the measurement device moving surface generation unit 13 corresponds to each measurement position of the measurement device 4 in the robot coordinate system, that is, corresponds to the measurement data identification information, and the illumination position and the illumination direction of the illumination device are measured in FIG. A lighting device data table having the same configuration as the moving surface data table is created.

  Then, the robot control unit 14 refers to the illumination device data table and controls the illumination position and illumination direction of the illumination device that irradiates the object with illumination light. At this time, the characteristics (wavelength, intensity, etc.) of the illumination light are also stored in the measurement device moving surface storage unit 18 in association with the illumination device data table. Thereby, for example, by using the measurement moving surface data table and the lighting device data table, the aging degradation of the cultural property as the object can always be measured in the same measurement environment, and the degree of degradation can be accurately determined. Can be evaluated.

1 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed. In order to measure the target object, the robot arm may be driven and controlled to measure the target object with the measuring device. Here, the “computer system” includes an OS and hardware such as peripheral devices.
The “computer system” includes a WWW system having a homepage providing environment (or display environment). 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. Further, the “computer-readable recording medium” refers to a volatile memory (RAM) in a computer system that becomes a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, those holding programs for a certain period of time are also included.

  The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, what is called a difference file (difference program) may be sufficient.

The embodiment of the present invention has been described so far. However, the above embodiment is merely an example, and the present invention is not limited to the above-described embodiment, and may be implemented in various forms within the scope of the technical idea. Needless to say, it is good.
In addition, the scope of the present invention is not limited to the illustrated and described exemplary embodiments, and includes all embodiments that provide the same effects as those intended by the present invention. Furthermore, the scope of the invention is not limited to the combinations of features of the invention defined by the claims, but includes any desired combination of specific features among all the disclosed features.

DESCRIPTION OF SYMBOLS 1 ... Object measurement control apparatus 2 ... Three-dimensional shape acquisition apparatus 3 ... Robot 3_1 ... Arm 3_2 ... Robot base 3_3 ... Bracket 3_4 ... Robot table 4 ... Measurement apparatus 11 ... Calibration part 12 ... Three-dimensional shape acquisition part 13 ... Measurement Device moving surface generation unit 14 ... Robot control unit 15 ... Measurement control unit 16 ... Display unit 17 ... Three-dimensional shape storage unit 18 ... Measurement device movement surface storage unit 19 ... Measurement data storage unit 100 ... Robot coordinate system 200 ... Measurement device movement Surface 500 ... 3D shape model

Claims (8)

An object measurement control device that measures an object by the measurement device while controlling an arm of a robot to which the measurement device is attached.
From the 3D shape information acquired by the 3D shape acquisition device, a 3D shape acquisition unit that acquires the 3D shape of the object to be measured;
In a robot coordinate system for controlling the robot corresponding to the three-dimensional shape, a measuring device moving surface generating unit that generates a measuring device moving surface that moves the measuring device at a predetermined distance from the object;
A robot controller that controls the movement of the arm so that the measuring device moves on the measuring device moving surface;
An object measurement control device comprising: a measurement device control unit that causes the measurement device to perform measurement at a preset measurement position on the measurement device moving surface. The measurement device moving surface generating unit generates the measuring device moving surface as a three-dimensional shape including the three-dimensional object when the object is a three-dimensional solid object. Object measurement control device. The measurement device moving surface generation unit generates the measurement device moving surface as a planar shape including the planar object when the object is a two-dimensional planar object. Object measurement control device. The measurement device moving surface generation unit sets the distance of the closest region between the measuring device moving surface and the object to a value that exceeds the focal length of the measuring device. 3. The object measurement control device according to 3. The object measurement control device according to claim 1, wherein the measurement device movement surface generation unit generates the measurement device movement surface at a position where the object and the measurement device are separated from each other by a focal length. The measurement device moving surface generation unit adds normal line information of the surface of the object to the measurement position on the measurement device moving surface. The object measurement control device described. The said robot control part moves the said measurement apparatus movement surface in the said measurement apparatus in the said measurement apparatus movement surface, combining the measurement direction of the said measurement apparatus with the said normal line information. The object measurement control device described. An object measurement control method for measuring an object by the measurement device while controlling an arm of a robot to which the measurement device is attached,
A three-dimensional shape acquisition unit acquires a three-dimensional shape of an object to be measured from the three-dimensional shape information acquired by the three-dimensional shape acquisition device; and
A measuring device moving surface that generates a measuring device moving surface that moves the measuring device at a predetermined distance from the object in a robot coordinate system that controls the robot corresponding to the three-dimensional shape. Surface generation process,
A robot control unit that controls the movement of the arm so that the measurement device moves on the measurement device moving surface;
An object measurement control method comprising: a measurement device control process in which a measurement device control unit causes the measurement device to perform measurement at a preset measurement position on the measurement device moving surface.

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