JP2020144122A - Three-dimensional measurement system, three-dimensional measurement device, three-dimensional measurement method, and three-dimensional measurement program - Google Patents

Abstract

To provide a three-dimensional model of a target object moving in a hanging state.SOLUTION: A three-dimensional measurement system 100 is for measuring the three-dimensional data of a target object which moves in a predetermined direction in a hanging state. The system includes: a camera 20 for taking an image of a target object in at least one of the upper side and the lower side of the space in which the object moves; and a three-dimensional measuring unit 13 for measuring the three-dimensional data of the target object on the basis of the image taken by the camera 20.SELECTED DRAWING: Figure 1

Description

The present invention relates to a three-dimensional measurement system, a three-dimensional measurement device, a three-dimensional measurement method, and a three-dimensional measurement program.

Carcasses that have been slaughtered and then shaped into food are rated based on national or regional standards or company-specific standards. Carcass ratings play an important role in the proper pricing and producer protection of shipped livestock. Carcass rating is mainly performed by visual evaluation, but due to the demand for more accurate rating, the development of technology for quantifying carcass traits is expected.

A method of measuring and quantifying carcass traits for carcass rating is known as a prior art. Patent Document 1 describes a technique for measuring the outer shape of a carcass by bringing a contactor into contact with the carcass. In addition, Non-Patent Document 1 describes a technique for measuring the traits of carcasses by projecting contour lines onto carcasses by the contour line method. Further, Non-Patent Document 2 describes a technique for measuring carcass traits based on an image obtained by capturing a carcass from a certain direction by a monocular visual method. Furthermore, there is also an attempt to use the three-dimensional data obtained by the 3D scanner for carcass evaluation.

Although the use of three-dimensional data for carcass evaluation has not been reported, methods such as photographic measurement have already been used in the field of surveying, for example, and it is very useful for measuring three-dimensional objects. As a technique applying this photographic measurement, a technique described in Patent Document 2 that generates three-dimensional data of a three-dimensional object based on still image data obtained by imaging with a plurality of cameras is known.

Further, Patent Document 3 describes that the three-dimensional data of the carcass is measured based on the image taken by the camera arranged on the side of the moving space of the carcass.

Republished patent 2016/002630 (published January 7, 2016) Republished patent 2015/108071 (published on July 23, 2015) WO2018 / 167089 (released on September 20, 2018)

Craigie et al. , Meat Science, 92 (4), 307-318, 2012 Lorenzo et al. , Animal, 12 (1), 174-182, 2018

However, in the technique described in Patent Document 1, since the device is brought into contact with the carcass, hygiene management is required to keep the contact portion clean at all times, and there is a problem that the portion where the device cannot be contacted cannot be measured. .. Further, in the technique described in Non-Patent Document 1, the carcass that is constantly advancing on the production line must be stopped for measurement, which causes a decrease in productivity, and only the surface on which the contour lines are projected is measured. It is possible, and there is a problem that the carcass must always be imaged from a certain direction in order to evaluate all at once. Further, in the technique described in Non-Patent Document 2, only the surface facing the camera can be measured, and it is necessary to always image the carcass from a certain direction in order to evaluate the carcasses at the same time. Unevenness such as the shape of the abdominal cavity and the thickness of loin) cannot be evaluated, and the cross-sectional area and volume cannot be obtained.

Further, in the technique described in Patent Document 2, it is necessary to place the subject in a central portion surrounded by a support to which a plurality of cameras are fixed and take an image, and the carcass is imaged without interfering with the production line. It's difficult to do.

Further, in the technique described in Patent Document 3, since the image is taken from the side of the moving space of the carcass, the recessed portion inside the carcass becomes a blind spot of the camera. Therefore, the technique described in Patent Document 3 is complicated because it is necessary to supplement the 3D data of the blind spot portion based on the weight of the carcass and the center of gravity at the time of suspension, and the reliability of the 3D data is questionable.

One aspect of the present invention is to realize a system capable of quantifying carcass traits without stopping carcasses advancing on a production line.

In order to solve the above problems, the present invention provides, for example, the invention according to the following aspects.
1) A three-dimensional measurement system that measures three-dimensional data of an object that moves in a predetermined direction in a suspended state, and the object is located on at least one of the upper side and the lower side of the moving space of the object. A three-dimensional measurement system including a camera that captures images and a three-dimensional measurement unit that measures three-dimensional data of the object based on the image captured by the camera.
2) The three-dimensional measurement system of 1) including at least one other camera that captures the object from a direction different from that of the camera.
3) The camera is a three-dimensional measurement system of 1) or 2) provided on both the upper side and the lower side of the object.
4) The three-dimensional measurement system according to any one of 1) to 3), wherein the cameras are provided in a plurality of substantially concentric circles with a vertical axis intersecting the flow line of the object as a central axis.
5) A three-dimensional measurement system according to any one of 1) to 4), which is outside the moving space of the object and further includes a camera for imaging the object on the side of the moving space of the object. ..
6) The three-dimensional measurement system according to any one of 1) to 5), wherein the object moves horizontally in a predetermined direction.
7) The object is meat, which is a three-dimensional measurement system according to any one of 1) to 6).
8) The meat is carcass or partial meat, 7) the three-dimensional measurement system.
9) The three-dimensional measurement system according to any one of 1) to 8), wherein the object is conveyed along a rail connected via a hanging tool.
10) Further, an imaging instruction unit that transmits an imaging instruction signal instructing imaging to a plurality of the cameras when it is detected that the object has entered the imaging region of the camera is provided. The three-dimensional measurement system according to any one of 2) to 5).
11) The object is a half-circle of carcasses split on the back (divided left and right along the midline of the carcass) and suspended together so that the recessed portions face each other from 1). 10) Any one of the three-dimensional measurement systems.
12) The three-dimensional measurement system according to any one of 1) to 11), in which the three-dimensional measurement unit measures at least one of the volume and the cross-sectional area of the object with reference to the measured three-dimensional data.
13) Based on the imaging step of imaging the object in at least one of the upper side and the lower side of the moving space of the object moving in a predetermined direction in the suspended state, and the image captured in the imaging step. A three-dimensional measurement method including a three-dimensional measurement step for measuring three-dimensional data of the object.
14) Three-dimensional data of the object is measured based on an image of the object in at least one of the upper side and the lower side of the moving space of the object moving in a predetermined direction in a suspended state. A three-dimensional measuring device equipped with a three-dimensional measuring unit.
15) The three-dimensional measurement program for operating a computer as the three-dimensional measurement device according to 14), and the three-dimensional measurement program for operating the computer as the three-dimensional measurement unit.

According to one aspect of the present invention, it is possible to measure three-dimensional data of an object moving in a suspended state.

It is a block diagram which shows the component of the 3D measurement system which concerns on one Embodiment of this invention. It is a figure which shows the outline of the 3D measurement system which concerns on one Embodiment of this invention. It is another figure which shows the outline of the 3D measurement system which concerns on one Embodiment of this invention. It is a figure which shows 3D data of carcass and arrangement of a camera. It is a figure which shows the result of three-dimensional measurement of the carcass in Example 1. It is a figure which shows the other result of three-dimensional measurement of carcass in Example 1. It is a figure which shows the other result of three-dimensional measurement of carcass in Example 1, and the numerical value thereof. It is a figure which shows the difference in the morphology between the normal carcass and the malformed carcass in Example 1. It is a figure which shows the result of three-dimensional measurement of a part of carcasses in Example 1. It is a figure which shows the arrangement of the camera of Example 2. FIG. It is a figure which shows the result of three-dimensional measurement of the carcass in Example 2. It is a figure which shows the cross-sectional shape, the cross-sectional area and the peripheral length of the carcass measured three-dimensionally in Example 2.

Hereinafter, one embodiment of the present invention will be described in detail. The three-dimensional measurement system 100 according to the embodiment of the present invention includes a three-dimensional measurement unit 13 and a camera 20. The three-dimensional measurement system 100 measures three-dimensional data of an object that moves in a predetermined direction in a suspended state. The camera 20 images the object outside the moving space of the object and at least one of the upper side and the lower side of the moving space of the object. The three-dimensional measurement unit 13 measures the three-dimensional data of the object based on the image captured by the camera 20. As shown in FIG. 1, in the three-dimensional measurement system 100, the three-dimensional measurement unit 13 is included in the three-dimensional measurement device 10. FIG. 1 is a block diagram showing components of a three-dimensional measurement system 100 according to an embodiment of the present invention.

With such a configuration, the three-dimensional measurement system 100 can measure three-dimensional data of an object moving in a suspended state. According to the three-dimensional measurement system 100, unlike a 3D scanner, MRI, CT, etc., it is not necessary to keep the object stationary for a long time. Further, according to the three-dimensional measurement system 100, an expensive device such as MRI or CT is not required, and the size of the object is not restricted.

(Object)
An object moving in a suspended state, which measures three-dimensional data by the three-dimensional measurement system 100, is a moving object in which one end of the object is supported and the other end is not supported. Is intended. As an example of such an object, an object is intended in which one end of the object is supported by a hanging tool and the other end is floated inside.

The object whose three-dimensional data is measured by the three-dimensional measurement system 100 moves in a predetermined direction. The movement of the object includes horizontal movement, diagonal upward movement, diagonal downward movement, and vertical vertical movement. Further, the object may rotate about its vertical axis.

The object for which the three-dimensional data is measured by the three-dimensional measurement system 100 may be meat. Examples of meat include carcasses or partial meats that have been slaughtered livestock and then shaped into food. The type of livestock is not particularly limited, and examples thereof include cows, pigs, sheep, goats, horses, and chickens, and particularly cows and pigs. The three-dimensional measurement system 100 can accurately measure three-dimensional data even for an object having a complicated surface shape such as carcass.

In addition, carcasses are shaped, divided, or prepared for shipment at a meat center or the like while manually or automatically moving a production line. In the production line, the carcass may move horizontally at high speed. When the object is carcass, its moving speed can usually be 0.1 m / sec or more and 3 m / sec or less. Since the three-dimensional measurement system 100 measures the three-dimensional data of the moving object, the three-dimensional data is measured without deteriorating the productivity even for the object traveling on the production line such as carcass. be able to.

Further, the object for which the three-dimensional data is measured by the three-dimensional measurement system 100 may be conveyed along the rail connected via the hanging tool. The transport of the object along the rail may be manual or automatic. When the object is manually transported, for example, the object suspended from the rail is pushed out by a human hand. When the object is automatically transported, for example, the object is transported by a suspended conveyor.

As shown in FIG. 2, the three-dimensional measurement system 100 can measure three-dimensional data while transporting the carcass 21 suspended by the hanging tool 23 along the rail 22. FIG. 2 is a diagram showing an outline of a three-dimensional measurement system according to an embodiment of the present invention. The carcass 21 suspended from the hanging tool 23 is suspended so as to freely rotate around its body axis around the contact point with the hanging tool 23. Further, when the hanger 24 is used to hook the carcass 21 on the hanging tool 23 and the arm portion thereof is rotated, the carcass 21 is split into the back (divided left and right along the midline of the carcass). ) The left and right halves can rotate independently. As shown in FIG. 2, two half-rounds of carcass 21 may be hung from the hanging tool 23, and when one half-round is heavy like a cow, the half-round is used. Only one may be hung.

(camera)
The camera 20 is provided outside the moving space of the object at least one of the upper side and the lower side of the moving space of the object moving in a predetermined direction in a suspended state, and images the object (imaging step). .. The camera 20 may be a stereo camera. The camera 20 transmits the captured image to the three-dimensional measuring device 10. Here, the image captured by the camera 20 and transmitted to the three-dimensional measuring device 10 is a still image.

In the three-dimensional measurement system 100, a plurality of cameras 20 may be provided to image an object from different directions. The number of cameras 20 is not particularly limited, but if 30 or more cameras are provided, for example, three-dimensional data can be measured more accurately. In the present embodiment, a configuration including a plurality of cameras 20 will be described below as an example.

The camera 20 receives an imaging instruction signal instructing imaging from the imaging instruction unit 11 of the three-dimensional measuring device 10 and executes imaging. Imaging by the plurality of cameras 20 is performed substantially simultaneously with each other. That is, each of the plurality of cameras 20 receives the imaging instruction signal substantially simultaneously with each other. When all of the plurality of cameras 20 perform imaging substantially simultaneously with each other, images captured substantially simultaneously can be obtained. Here, "substantially simultaneous" is intended to include not only simultaneous but also within a certain period of time slightly deviated from simultaneous. That is, it is more preferable to take images at the same time, but it is sufficient that all the cameras 20 can take an image within a certain period of time so that all the cameras 20 can take an image of the carcass 21 in the same state. The camera 20 transmits the captured image data to the image acquisition unit 12.

As shown in FIG. 2, two cameras 20 are provided on the upper side of the carcass 21 which is transported along the rail 22 while being suspended from the hanging tool 23. The carcass 21 is conveyed along the rail 22 in the direction indicated by the arrow, that is, in the X direction. Since the camera 20 is provided above the rail 22, it is outside the moving space of the carcass 21 and does not hinder the movement of the carcass 21. That is, it is preferable that the camera 20 is provided above the object or the transport means for suspending and transporting the object. The camera 20 may be provided, for example, diagonally above the upper end of the carcass 21 (positions separated from 0 to 200 cm in the vertical direction and 50 to 200 cm in the horizontal direction).

A plurality of cameras 20 may be provided only on the lower side of the carcass 21, not on the upper side. In this case, since the camera 20 is provided below the lower end of the carcass 21, it is outside the moving space of the carcass 21 and does not hinder the movement of the carcass 21. The camera 20 may be provided diagonally downward (0 to 100 cm in the vertical direction and 50 to 200 cm in the horizontal direction) from the lower end of the carcass 21.

A plurality of cameras 20 may be provided on both the upper side and the lower side of the carcass 21.
By imaging the carcass 21 from both the upper side and the lower side of the carcass 21, three-dimensional data covering the entire carcass 21 can be measured. Further, the camera 20 may be provided in a ring shape on at least one of the upper side and the lower side of the carcass 21. As a result, three-dimensional measurement is possible regardless of the orientation of the carcass 21 without hindering the movement of the carcass 21.

The camera 20 is provided so as to image the carcasses from different directions in order to cover the entire surface of the carcass 21 having a complicated surface shape. The camera 20 is preferably provided at positions facing each other with the carcass 21 in between.

The camera 20 uses a wide-angle lens so that it can be installed in a limited space around the production line and that a small number of cameras can capture the entire uneven carcass or a wide range with a deep depth of field. It is preferable that the image is taken. Further, the camera 20 is preferably a digital camera having a large pixel size in order to measure highly accurate three-dimensional data. In addition, when a plurality of cameras 20 are provided, they are equivalent to each other having the same focal length. It is preferably a setup camera.

As shown in FIG. 3, the three-dimensional measurement system 100 may be provided with a camera 20b that images the carcass 21 outside the moving space of the carcass 21 and on the side of the moving space of the carcass 21. FIG. 3 is another diagram showing an outline of the three-dimensional measurement system according to the embodiment of the present invention. FIG. 3 is a view of the carcass 21 viewed from the X direction, which is the traveling direction of the carcass 21. In FIG. 3, the three-dimensional measurement system 100 is provided with a plurality of cameras 20a on the upper side of the carcass 21, a plurality of cameras 20c on the lower side of the carcass 21, and a plurality of cameras 20b on the side of the carcass 21. ing. As described above, by providing the camera 20b not only on at least one of the upper side and the lower side of the carcass 21 but also on the side of the carcass 21, the three-dimensional data can be measured more accurately.

As shown in FIG. 4, a plurality of cameras may be provided substantially concentrically with a vertical axis intersecting the flow line of the carcass 21 as a central axis. FIG. 4 is a diagram showing three-dimensional data of carcasses and the arrangement of the cameras 20. As shown in FIG. 4, the camera 20a and the camera 20c are provided outside the moving space of the carcass 21 shown in the area A.

Further, in FIG. 4, the three-dimensional measurement system 100 includes a plurality of cameras 20a provided on the upper side of the carcass 21 and a plurality of cameras 20c provided on the lower side of the carcass 21. A plurality of cameras 20a and 20c are provided substantially concentrically with a vertical axis intersecting the flow line of the carcass 21 as a central axis A, respectively.

The cameras 20a and the cameras 20c may be provided concentrically at equal intervals, respectively. That is, they may be arranged at the same angle from the center of the circle (for example, 360 / n degrees when n cameras are provided). As a result, an image obtained by covering the carcass 21 from a direction of approximately 360 degrees can be obtained, so that three-dimensional data without defects can be obtained, which can be used for measurement of volume, cross section, and the like.

The flow line of the carcass 21 is intended to be the locus of the center of gravity of the carcass 21. The "substantially concentric circles" are intended to include not only concentric circles but also positions slightly offset from the concentric circles. The plurality of cameras 20a or 20c may be provided so that the central axis A is located inside the area surrounded by the plurality of cameras 20a or the cameras 20c.

(Three-dimensional measuring device)
The three-dimensional measuring device 10 is an object that moves in a predetermined direction in a suspended state, at least on one of the upper side and the lower side of the moving space, based on an image obtained by capturing the object. It includes a three-dimensional measuring unit 13 for measuring three-dimensional data. The three-dimensional measuring device 10 further includes an imaging instruction unit 11, an image acquisition unit 12, an operation unit 14, a storage unit 15, and a display unit 17. The three-dimensional measuring device 10 is provided in the three-dimensional measuring system 100. The image pickup instruction unit 11, the image acquisition unit 12, and the three-dimensional measurement unit 13 are realized as one configuration of the control unit 16 of the three-dimensional measurement device 10.
In the 3D measurement system 100, the image acquisition unit 12, the storage unit 15, and the 3D measurement unit 13 are provided not in the 3D measurement device 10 but in an external device such as a cloud server to provide a wide area communication network including the Internet. It may be communicably connected to other components of the three-dimensional measuring device 10 via the device.

<Imaging instruction unit>
When the operator inputs an operation instructing the operation unit 14 to perform imaging, the imaging instruction unit 11 transmits an imaging instruction signal instructing imaging to all of the plurality of cameras 20. The image pickup instruction unit 11 may transmit the image pickup instruction signal by using any communication means, for example, by wireless communication or infrared communication. The image pickup instruction unit 11 simultaneously transmits an image pickup instruction signal to all of the plurality of cameras 20. As a result, all of the plurality of cameras 20 are made to perform imaging substantially simultaneously with each other.

The imaging instruction unit 11 also receives a detection signal to be transmitted immediately before the object enters the imaging region or when a sensor (not shown) provided in the imaging region detects the passage of the object. When it is detected that an object has entered the imaging region of the camera 20, an imaging instruction signal for instructing imaging may be transmitted to all of the plurality of cameras 20.

<Image acquisition section>
The image acquisition unit 12 acquires image data captured by a plurality of cameras 20. The image acquisition unit 12 may acquire image data from a plurality of cameras 20 by using any communication means, and receives the image data by, for example, wireless communication or wired communication. The image acquisition unit 12 transmits the acquired image data to the three-dimensional measurement unit 13. Further, the image acquisition unit 12 may also transmit the acquired image data to the storage unit 15.

<Three-dimensional measurement unit>
The three-dimensional measurement unit 13 measures the three-dimensional data based on the image data received from the image acquisition unit 12 (three-dimensional measurement step). The three-dimensional measurement unit 13 measures three-dimensional data by using a stereo method, an SFM (Structure from Motion) method, or the like, but the three-dimensional data is not limited to these, and the three-dimensional data may be measured by another measurement method.

The stereo method measures three-dimensional data of an object by the principle of triangulation using a plurality of images taken from different directions. The SFM method measures three-dimensional data of an object based on the correspondence between images for the same feature points extracted from a plurality of images taken from different directions. The three-dimensional data measured by the three-dimensional measurement unit 13 may include text data and image data of information such as the color and texture of the object, as well as the three-dimensional coordinate data of the object.

Since the three-dimensional measurement unit 13 measures the three-dimensional data based on the image data captured substantially simultaneously by the plurality of cameras 20 that capture images in different directions, the three-dimensional measurement unit 13 moves in parallel like an object moving in a suspended state. In addition, even if the object rotates and moves, the three-dimensional data can be suitably measured.

The three-dimensional measurement unit 13 transmits the measured three-dimensional data to the display unit 17. The three-dimensional measurement unit 13 may also transmit the measured three-dimensional data to the storage unit 15.

The three-dimensional data measured by the three-dimensional measuring unit 13 can be used for carcass evaluation for rating carcasses. Conventionally, carcass ratings have been performed by visual evaluation, and the method has been established and includes very complicated rating items. On the other hand, it would be useful if more accurate and uniform rating could be achieved. According to the three-dimensional measurement system 100, it is possible to quantify the carcass trait by measuring the three-dimensional data of the carcass, and by rating the carcass based on this, a highly accurate and uniform rating can be obtained. It can be realized. Therefore, the carcass rating method or evaluation method based on the measured three-dimensional data of the carcass is also included in the category of the present invention.

According to the three-dimensional measurement system 100, by measuring three-dimensional data of carcasses, surface characteristics (morphology, color, texture, etc.) and arbitrary traits defined from the surface (whole or partial volume, etc.) Cross section, etc.) can also be evaluated. Further, according to the three-dimensional measurement system 100, it is possible to evaluate the carcasses all at once without aligning the directions around the body axis of the carcasses, so that it is difficult to align the directions of the carcasses due to failure of back splitting or malformation. Can also be suitably evaluated. Further, according to the three-dimensional measurement system 100, it is possible to measure the uneven shape on the surface of the carcass, and it is possible to suitably measure the three-dimensional data even if the surface shape is complicated. It is also possible to evaluate the ribs of the carcass and the synonyms that are the composition of each part of the carcass.

Further, according to the three-dimensional measurement system 100, the thickness of the carcass, which has been evaluated contactively or invasively by touching or incising the carcass, can be evaluated non-contactly and non-invasively. Since the three-dimensional measurement system 100 is non-contact with the carcass, there is no problem in hygiene management, and it is not necessary to attach a measurement target or the like to the carcass. In addition, the three-dimensional measurement system 100 can evaluate only a part of the carcass or the partial meat obtained by dividing the carcass.

Further, according to the three-dimensional measurement system 100, a three-dimensional model can be constructed based on the three-dimensional data measured by the three-dimensional measurement unit 13, and the object can be confirmed from any direction. Information such as length, volume, and cross-sectional area can also be obtained. Further, by performing scale calibration and color calibration of the three-dimensional measurement data, a more accurate three-dimensional model can be constructed. The obtained three-dimensional model can be output as a PTS file, an OBJ file, a PDF file, a JPEG file, or the like, and these files can be used for a net auction or the like as carcass quality evaluation or product information.

Further, the object for measuring the three-dimensional data by the three-dimensional measurement system 100 may be one in which the left and right half circles of the carcass 21 are suspended together so that their recessed portions face each other. Here, the recessed portion of the half circle is, for example, the portion corresponding to the abdominal cavity surrounded by the abdominal wall in the livestock before slaughter. In the three-dimensional measurement system 100, as will be described later, cameras 20 are provided on at least one of the upper side and the lower side of the moving space of the carcass 21. This has a remarkable effect that there is no blind spot in the camera.

That is, in the three-dimensional measurement system 100, by photographing from the upper side or the lower side of the moving space of the carcass 21, the recessed portion inside the carcass does not become a blind spot of the camera 20 and can be included in the photographing range. Further, in the three-dimensional measurement system 100, even when two carcasses (for example, both the left and right half circles of the carcass) are hung and moved together, the inner part surrounded by the two carcasses is also photographed. Can fit in the range. In particular, in the case of pork, since two carcasses are usually hung and moved together, the significance of the three-dimensional measurement system 100 is remarkable.

On the other hand, in the conventional technique described in Patent Document 3, even outside the moving space of the carcass, since the image is taken only from the side of the moving space, the recessed portion inside the carcass becomes a blind spot of the camera. .. The technique described in Patent Document 3 is complicated because the 3D data of the blind spot portion is complemented based on the weight of the carcass and the center of gravity at the time of suspension, and the reliability of the 3D data is questionable. Further, in the technique described in Patent Document 3, when two carcasses are suspended and moved together, it is difficult to keep the inner portion surrounded by the two carcasses within the photographing range.

As described above, in the three-dimensional measurement system 100, since there is no blind spot of the camera, there is no omission in the point cloud data and the mesh data, and an accurate 3D model can be generated. Therefore, in the present invention, the carcass volume and cross-sectional area can be accurately calculated based on accurate 3D data. In addition, according to the three-dimensional measurement system 100, since the space on the side of the carcass movement space is vacant, there is an effect that the carcass does not interfere with the horizontal movement and that the suspended carcass is easily accessible to humans. Play.

Further, the three-dimensional measurement unit 13 may measure at least one of the volume and the cross-sectional area of the object with reference to the measured three-dimensional data. Since the three-dimensional measurement unit 13 measures the three-dimensional data based on the image data obtained by imaging the object from at least one of the upper side and the lower side of the moving space of the object, appropriate three-dimensional data can be obtained. That is, even if it is a part that becomes a blind spot at the conventional camera position as described in Patent Document 3, such as a dent inside the carcass or an inner part surrounded by two carcasses. Since it is within the imaging range, there is no omission in the image data. Therefore, the three-dimensional measuring unit 13 can accurately measure the volume and the cross-sectional area of the object by referring to the three-dimensional data measured based on the image data without omission.

<Operation unit>
When the operation unit 14 receives an operation input instructing imaging from the operator, the operation unit 14 transmits a signal representing the operation input to the imaging instruction unit 11 of the control unit 16. The operation unit 14 may be a keyboard, a mouse, a touch panel, or the like.

<Memory>
The storage unit 15 stores the image data acquired by the image acquisition unit 12 and the three-dimensional data measured by the three-dimensional measurement unit 13. Further, the storage unit 15 stores a program executed by the control unit 16. The storage unit 15 may be, for example, a hard disk, a memory on a cloud server, or the like.

<Display unit>
The display unit 17 displays the three-dimensional data measured by the three-dimensional measurement unit 13. A three-dimensional model generated based on the three-dimensional data measured by the three-dimensional measuring unit 13 may be displayed. The display unit 17 may be a computer display, a display of a smartphone or a tablet terminal, or the like.

[Example of realization by software]
The control block of the three-dimensional measuring device 10 (particularly, the three-dimensional measuring unit 13 included in the control unit 16) may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or software. It may be realized by.

In the latter case, the three-dimensional measuring device 10 includes a computer that executes instructions of a program (three-dimensional measuring program) that is software that realizes each function. The computer includes, for example, one or more processors and a computer-readable recording medium that stores the program. Then, in the computer, the processor reads the program from the recording medium and executes it, thereby achieving the object of the present invention. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, a "non-temporary tangible medium", for example, a ROM (Read Only Memory) or the like, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, a RAM (Random Access Memory) for expanding the above program may be further provided. Further, the program may be supplied to the computer from a cloud server in which the program is stored, for example, via an arbitrary transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. It should be noted that one aspect of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the above program is embodied by electronic transmission.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Is also included in the technical scope of the present invention.

[Example 1]
An embodiment of the present invention will be described below.

Three-dimensional data was measured using image data obtained by capturing a plurality of carcasses suspended from the ceiling from different directions.

In this embodiment, the carcasses were imaged from a plurality of directions while the carcasses were stationary, so that the conditions were the same as when the carcasses of a moving pig were simultaneously imaged from a plurality of directions. As carcasses, carcasses A and B that were split on the back after peeling were used. The carcass A was a normal carcass, and had a dorsi-lumbar length (length from the anterior margin of the first thoracic vertebra to the posterior margin of the last lumbar vertebra) 66.7 cm (measured value) and a weight of 69.5 kg. The carcass B was a malformed carcass, and had a back and waist length of 65.1 cm (measured value) and a weight of 61.0 kg.

Imaging was performed from 18 locations diagonally upward (80 cm in the vertical direction, 200 cm in the horizontal direction) from the hanging position of the carcass, and from 19 locations diagonally downward (50 cm in the vertical direction, 200 cm in the horizontal direction) from the lower end of the carcass. It was done at 37 places. The camera was an OM-D E-M5 MarkII (lens M.ZUIKO DIGITAL 25 mm f1.8) manufactured by Olympus, and an image was taken with a recording pixel count of 3456 × 2592 px.

A three-dimensional model (point cloud data and textured mesh data) was generated from the captured image data by the SFM method using software Zephyr Pro (3Dflow). Scale calibration was performed with a 100 cm measuring rod adjacent to the carcass. The generated three-dimensional model is shown in FIGS. 5 and 6. As shown in FIG. 5, for normal carcasses, even the uneven shape of the surface such as ribs was accurately measured. Further, as shown in FIG. 6, the malformed carcass was also measured with high accuracy in the same manner as the normal carcass. Table 1 shows the difference between the measured value and the measured value of the carcass trait.

Further, from the three-dimensional model generated as described above, using the software Netfabb (Autodesk), as shown in FIG. 7, the coordinates, volume, cross-sectional area, etc. of the center of gravity of the carcass A (P in FIG. 7) are various. The trait of was quantified.

In addition, from the three-dimensional model generated as described above, the difference in carcass morphology was visualized using the open source software CloudCompare (developer Daniel Gallery-Montaut) as shown in FIG. FIG. 8 is a diagram showing the three-dimensional model of carcass A and the three-dimensional model of carcass B aligned and superimposed so that the root mean square is minimized. The light-colored portion is the normal carcass A, and the dark-colored portion is the malformed carcass B.

Further, the three-dimensional data was suitably measured by using only the image data captured from the 19 points below the carcass. Using the three-dimensional data measured from only a part of the image data in this way, as shown in FIG. 9, it was possible to generate a three-dimensional model representing only a part of the carcass.

[Example 2]
Other examples of the present invention will be described below.

Three-dimensional data was measured using image data obtained by simultaneously capturing a plurality of suspended carcasses moving along a rail installed on the ceiling from different directions under the moving space.

In this example, moving pig carcasses (about 0.5 m / sec) were imaged substantially simultaneously from a plurality of directions. The shutter speed was 15 ms. As the carcass, carcass C whose back was split after peeling was used. The carcass C is a normal carcass, and the left and right half circles (carcasses divided into left and right along the midline) were suspended from the rail with the abdominal cavity facing inward and moved.

As shown in FIG. 10, imaging was performed from 20 points diagonally downward (30 cm in the vertical direction and 100 cm in the horizontal direction) from the lower end of the carcass. The camera used was STC-MCS312POE manufactured by Omron-Sentec (lens was TPC-GO6F18-3M manufactured by Tokyo Parts Center), and the image was taken with a recording pixel count of 2048 × 1536 px.

A three-dimensional model (point cloud data and textured mesh data) was generated from the captured image data by the SFM method using software Zephyr Aerial (3Dflow). The generated three-dimensional model is shown in FIG. As shown in FIG. 11, a three-dimensional model could be generated using the image data obtained by capturing the moving carcass.

Further, in the three-dimensional model generated as described above, the cross-sectional shapes of 17 in C1 to C17 shown in FIG. 11 were confirmed by using software Netfabb (Autodesk). The cross-sectional shapes of 17 in C1 to C17 shown in FIG. 11, the cross-sectional area and the peripheral length thereof are shown in FIG. As shown in FIG. 12, all 17 cross sections of the generated 3D model were surrounded by unbroken curved contour lines. Therefore, according to this example, it was found that the abdominal cavity depression of the carcass could also be measured three-dimensionally without blind spots. In addition, the cross-sectional shape of 17 did not have the same cross-sectional shape and proto-language as published in "Overview of Pork Carcass Trading Standards" (Japan Meat Grading Association). Furthermore, the area and the peripheral length could be measured from these 17 cross sections.

In this way, by arranging the camera under the moving space of the carcass and taking an image, the blind spot at the time of three-dimensional measurement could not be made even by the hanging subcutaneous adipose tissue and the other half circle. Further, by not arranging the cameras in the area of the carcass moving space, it is possible to arrange the cameras in a ring shape at substantially equal intervals with respect to the carcass central axis without disturbing the carcass movement. As a result, it was shown that three-dimensional measurement is possible regardless of the orientation of the carcass.

The present invention can be used in the food field, livestock field, etc., which three-dimensionally measure an object moving in a suspended state.

10 Three-dimensional measuring device 11 Imaging instruction unit 13 Three-dimensional measuring unit 20 Camera 21 Carcass (object)
22 Rail 100 3D measurement system

Claims (15)

It is a three-dimensional measurement system;
1) It measures the three-dimensional data of an object that moves in a predetermined direction while being suspended;
2) With a camera that images the object at least on one of the upper side and the lower side of the moving space of the object;
3) With a three-dimensional measuring unit that measures three-dimensional data of the object based on the image captured by the camera;
A three-dimensional measurement system characterized by being equipped with. The three-dimensional measurement system according to claim 1, further comprising at least one other camera that captures the object from a direction different from that of the camera. The three-dimensional measurement system according to claim 1 or 2, wherein the camera is provided on both the upper side and the lower side of the object. The three-dimensional measurement system according to any one of claims 1 to 3, wherein a plurality of cameras are provided substantially concentrically with a vertical axis intersecting with a flow line of the object as a central axis. .. The invention according to any one of claims 1 to 4, wherein a camera for photographing the object is further provided outside the moving space of the object and on the side of the moving space of the object. The described three-dimensional measurement system. The three-dimensional measurement system according to any one of claims 1 to 5, wherein the object moves horizontally in a predetermined direction. The three-dimensional measurement system according to any one of claims 1 to 6, wherein the object is meat. The three-dimensional measurement system according to claim 7, wherein the meat is carcass or partial meat. The three-dimensional measurement system according to any one of claims 1 to 8, wherein the object is conveyed along a rail connected via a hanging tool. When it is detected that the object has entered the imaging region of the camera, it is further provided with an imaging instruction unit that transmits an imaging instruction signal instructing imaging to the plurality of cameras. The three-dimensional measurement system according to any one of claims 2 to 5. The tertiary according to any one of claims 1 to 10, wherein the object is a half-circle having a carcass split on its back and suspended together so that its recessed portions face each other. Former measurement system. The third-dimensional measuring unit according to any one of claims 1 to 11, wherein the three-dimensional measuring unit measures at least one of the volume and the cross-sectional area of the object with reference to the measured three-dimensional data. Three-dimensional measurement system. An imaging step of imaging an object in at least one of the upper and lower sides of the moving space of the object moving in a predetermined direction in a suspended state.
A three-dimensional measurement method comprising a three-dimensional measurement step of measuring three-dimensional data of the object based on an image captured in the imaging step. Three-dimensional measurement of three-dimensional data of an object based on an image of the object in at least one of the upper side and the lower side of the moving space of the object moving in a predetermined direction in a suspended state. A three-dimensional measuring device characterized by having a measuring unit. The three-dimensional measurement program for operating a computer as the three-dimensional measuring device according to claim 14, which is a three-dimensional measuring program for operating the computer as the three-dimensional measuring unit.