JP2023148294A - Three-dimensional angle detector - Google Patents

Abstract

To detect the arrangement state of linear members while suppressing costs.SOLUTION: The three-dimentional angle detector comprises: a camera 15 that captures an image of a linear object S; a prism 20 that reflects, toward the camera 15, a mirror image 102 of the linear object S seen from a different direction from the direction in which the camera 15 captures an image of the linear object S; an image data acquisition unit 32 that acquires image data 100 captured by the camera 15; an angle acquisition unit 34 that acquires the angle of the linear object S in the image data 100; and a computation processing unit 35 that calculates the three-dimensional angle of the linear object S on the basis of the acquired angle of the linear object S. The camera 15 simultaneously captures a real image 101 of the linear object S and the mirror image 102 reflected by the prism 20. The angle acquisition unit 34 acquires the angle of the real image 101 of the linear object S in the image data 100 and the angle of the mirror image 102, respectively. The computation processing unit 35 calculates the three-dimensional angle of the linear object S on the basis of the angle of the real image 101 of the linear object S and the angle of the mirror image 102.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a three-dimensional angle detection device, and particularly relates to a three-dimensional angle detection device that detects the angle of a minute straight object.

When observing a minute area, a microscope is generally used. In most microscopic observations, only two-dimensional information in the front direction relative to the objective lens or camera can be obtained. Therefore, it is difficult to obtain detailed information in sides other than the front direction and in the depth direction. On the other hand, with the development of observation technology in recent years, there has been a technology to perform three-dimensional observation by moving the observation objective lens up and down in the depth direction at high speed, performing scanning operations, and combining these images, and observation elements such as cameras. Attempts have been made to realize three-dimensional observation by using two and observing from different axial directions.

However, when a plurality of observation elements such as cameras are used, the cost increases. For this reason, some recent observation devices use a multifaceted observation prism to enable observation of multiple faces of an object to be observed from one direction (for example, Patent Documents 1 and 2).

Japanese Patent Application Publication No. 2017-187485 Japanese Patent Application Publication No. 2007-10447

Here, if the object to be observed is a linear member, not only the shape but also the angle at which it is arranged may be important. For example, when performing cell manipulation using a linear needle in a minute area, it is important to recognize the arrangement of the needle in space in order to perform accurate manipulation. This is because when performing an operation such as inserting a needle into a cell and injecting a reagent, even if the equipment that positions the needle operates with high precision during that operation, the needle may tilt relative to the driving axis. This is because the requested operation may not be possible if the Therefore, when performing accurate operation in a minute area using a needle, three-dimensional information including the inclination of the needle, that is, information about the arrangement state of the needle is required. However, when a linear object like a needle is observed from multiple sides using a multifaceted observation prism, even if the shape can be recognized to some extent, the placement of the object in space can be recognized with high accuracy. It has become difficult.

The present disclosure has been made in view of the above, and an object of the present disclosure is to provide a three-dimensional angle detection device that can detect the arrangement state of linear members while suppressing costs.

The three-dimensional angle detection device of the present disclosure includes a photographing section that photographs a straight object, and a mirror image of the straight object viewed from a direction different from a direction in which the photographing section photographs the straight object. an image data acquisition section that acquires image data photographed by the photographing section; and a linear object on the image data from the image data acquired by the image data acquisition section. An angle acquisition section that acquires an angle of an object; and an arithmetic processing section that calculates a three-dimensional angle of the straight object based on the angle of the straight object on the image data acquired by the angle acquisition section. , the photographing section simultaneously photographs the real image of the straight object and the mirror image of the straight object reflected by the reflecting member, and the angle acquisition section captures the real image of the straight object on the image data. and the angle of the mirror image, respectively, and the arithmetic processing section calculates the angle of 3 of the linear object based on the angle of the real image and the angle of the mirror image of the linear object obtained by the angle obtaining section. Calculate dimensional angle.

According to this configuration, the imaging section includes a reflecting member that reflects a mirror image of the linear object viewed from a direction different from the direction in which the imaging section photographs the linear object toward the imaging section, and the imaging section generates a real image of the linear object. The mirror image of the straight object reflected by the reflective member is photographed at the same time. Furthermore, the angle of the real image and the angle of the mirror image of the straight object on the image data photographed by the photographing section are respectively acquired by the angle acquisition section, and the angle of the real image and the angle of the mirror image of the straight object acquired by the angle acquisition section are The arithmetic processing unit calculates the three-dimensional angle of the straight object based on the following. This makes it possible to calculate the three-dimensional angle of a straight object by photographing it with one imaging unit, and to detect the arrangement of straight objects, which are straight members, while keeping costs down. can do.

Preferably, the image processing unit includes an image processing unit that performs image processing on the image data acquired by the image data acquisition unit; The angle acquisition unit acquires the angle of the straight line object by acquiring the angle of the boundary line detected by the image processing unit.

According to this configuration, the boundary line of the straight line object is detected with respect to the part other than the straight line object in the image data, and the angle acquisition unit detects the boundary line of the straight line object on the image data by acquiring the angle of the detected boundary line. Get the angle of As a result, it is possible to obtain the angle of a straight object on the image data from among the image data photographed by one imaging unit, and based on the obtained angle of the straight object, the three-dimensional angle of the straight object can be calculated. can be calculated by the arithmetic processing unit. As a result, the arrangement state of the linear object can be detected while keeping costs down.

In a desirable form, the arithmetic processing unit calculates the linear object according to the following equation (1) when the angle of the real image of the linear object with respect to an arbitrary direction is θ ₁ and the angle of the mirror image is θ ₂ . Calculate the three-dimensional angle θ of the object.

According to this configuration, the three-dimensional angle θ of the straight object is calculated using the above equation (1) from the angle θ ₁ of the real image of the straight object on the image data and the angle θ ₂ of the mirror image. , the three-dimensional angle θ of the straight object can be calculated based on the angle of the straight object obtained from the image data. As a result, the arrangement state of the linear object can be detected while keeping costs down.

A desirable embodiment includes a determination unit that determines whether the three-dimensional angle of the straight object calculated by the arithmetic processing unit is within a predetermined range; and a notification unit configured to notify that the three-dimensional angle of the linear object is not within a predetermined range when the determination unit determines that the three-dimensional angle of the linear object is not within a predetermined range.

According to this configuration, it is determined whether the calculated three-dimensional angle of the straight object is within a predetermined range, and when it is determined that the three-dimensional angle is not within the predetermined range, the Since the notification unit notifies that the three-dimensional angle is not within a predetermined range, it is possible to prevent the linear object from being used in a state where it is inappropriately placed. As a result, it is possible to suppress deterioration in workability caused by using the linear object in an inappropriately arranged state.

A desirable embodiment includes: an attitude correction mechanism that adjusts the angle of the linear object; and a determination section that determines whether the three-dimensional angle of the linear object calculated by the arithmetic processing section is within a predetermined range. , the posture correction mechanism adjusts the three-dimensional angle of the straight-line object calculated by the arithmetic processing section when the determination section determines that the three-dimensional angle of the straight-line object is not within a predetermined range. The angle of the straight object is adjusted based on.

According to this configuration, when it is determined that the calculated three-dimensional angle of the linear object is not within a predetermined range, the angle of the linear object is adjusted by the posture correction mechanism, so that the linear object is inappropriately placed. It is possible to prevent it from being used in a state where it is currently being used. As a result, it is possible to suppress deterioration in workability caused by using the linear object in an inappropriately arranged state.

As a desirable form, a prism is used as the reflecting member.

According to this configuration, since a prism is used for the reflective member that reflects the mirror image of the linear object viewed from a direction different from the direction in which the imaging section photographs the linear object toward the imaging section, it is difficult to damage. , it is possible to provide a reflective member that is easy to arrange. As a result, the arrangement state of the linear object can be detected while keeping costs down.

In a desirable form, a side opposite to the side where the photographing unit is located with respect to the linear object and a side opposite to the side where the reflective member is located with respect to the linear object are provided with a A light source is arranged to emit light.

According to this configuration, the light sources are arranged on the side opposite to the side where the imaging unit is located with respect to the straight object, and on the side opposite to the side where the reflective member is located with respect to the straight object, and Since the light is irradiated with the light, the boundary line can be easily detected when detecting the boundary line of a straight object in image data. As a result, the angle of the real image and the angle of the mirror image of the straight object on the image data can be easily obtained, and the three-dimensional angle of the straight object can be calculated from the angle of the real image and the angle of the mirror image of the straight object. It can be calculated. As a result, the arrangement state of the linear object can be detected while keeping costs down.

A desirable form includes a light source that emits light, and an optical fiber that is attached to the reflective member and that transmits the light from the light source and irradiates the linear object.

According to this configuration, an optical fiber is attached to the reflective member, and light from one light source is transmitted through the optical fiber, and the straight object is irradiated from the irradiation part of the optical fiber located near the straight object. , it is possible to downsize the configuration for irradiating a straight object. Therefore, it is possible to downsize the three-dimensional angle detection device.

The three-dimensional angle detection device according to the present disclosure has the effect of being able to detect the arrangement state of linear members while suppressing costs.

FIG. 1 is a schematic diagram showing a three-dimensional angle detection device according to the first embodiment. FIG. 2 is a plan view of the three-dimensional angle detection device shown in FIG. 1. FIG. 3 is an explanatory diagram of a control device included in the three-dimensional angle detection device shown in FIG. FIG. 4 is a schematic diagram showing an example of image data. FIG. 5 is an explanatory diagram showing a state in which a boundary line of a straight object in image data is detected. FIG. 6 is a schematic diagram showing a three-dimensional angle detection device according to the second embodiment. FIG. 7 is a plan view of the three-dimensional angle detection device shown in FIG. 6. FIG. 8 is a plan view of an attitude correction mechanism included in a modified example of the three-dimensional angle detection device according to the first embodiment. FIG. 9 is a view taken along the line AA in FIG. 8. FIG. 10 is a view taken along the line BB in FIG. 8.

Modes for carrying out the invention (embodiments) will be described in detail with reference to the drawings. The present disclosure is not limited to the content described in the embodiments below. Further, the constituent elements described below include those that can be easily assumed by those skilled in the art and those that are substantially the same. Furthermore, the components described below can be combined as appropriate.

[First embodiment]
FIG. 1 is a schematic diagram showing a three-dimensional angle detection device 10 according to the first embodiment. FIG. 2 is a plan view of the three-dimensional angle detection device 10 shown in FIG. 1. FIGS. 1 and 2 schematically show the configuration of main parts of a three-dimensional angle detection device 10. FIG. In the following description, the direction of the optical axis of the camera 15, which will be described later, will be described as the Y direction in the three-dimensional angle detection device 10, and of the two directions perpendicular to the Y direction, one will be referred to as the Z direction and the other will be referred to as the X direction. This will be explained as a direction. Furthermore, the three-dimensional angle detection device 10 according to the first embodiment is used in an orientation in which the Z direction is the vertical direction of the three-dimensional angle detection device 10, and accordingly, in the following description, the Z direction is referred to as three-dimensional angle detection. The following description will be made assuming that the vertical direction Z in the device 10 is the vertical direction, the Y direction is the depth direction Y in the three-dimensional angle detecting device 10, and the X direction is the width direction X in the three-dimensional angle detecting device 10.

The three-dimensional angle detection device 10 according to the first embodiment is applied, for example, to a manipulation system that operates a microscopic substance such as a cell in a microscopic area using a linear member such as a needle. The three-dimensional angle detection device 10 is capable of detecting the three-dimensional angle of a linear object S such as a needle or a capillary.

The three-dimensional angle detection device 10 has a gripping device 60 that grips the end of the straight object S, and by gripping the straight object S with the gripping device 60, the extending direction of the straight object S can be determined. A linear object S is arranged in the vertical direction Z. That is, the gripping device 60 removably grips a portion near the upper end of the linear object S, which is arranged to extend along the vertical direction Z.

The three-dimensional angle detection device 10 includes a photographing section that photographs the straight object S, and a mirror image of the straight object S viewed from a direction different from the direction in which the photographing section photographs the straight object S. and a reflective member that reflects the light toward the area.

The photographing unit uses a camera 15 capable of photographing an object and outputting the photographed image as an electrical signal. The camera 15 is arranged at a position where the linear object S is located in the direction in which the optical axis extends, so that the camera 15 can photograph the linear object S.

A prism 20 is used as the reflective member. The prism 20 is arranged laterally in the width direction X with respect to the linear object S. The prism 20 is formed in the shape of a polyhedron made of a transparent material such as glass, and one surface thereof extends in the vertical direction Z along the linear object S on the side of the linear object S in the width direction X. It is a reflective surface 21 that extends. The reflective surface 21 is a surface that faces both the linear object S and the camera 15, and has an inclination angle of about 45° with respect to both the depth direction Y and the width direction X. There is. In other words, the prism 20 has the reflective surface 21 located on the side of the linear object S in the width direction X, and the inclination angle of the reflective surface 21 with respect to both the depth direction Y and the width direction X is about 45°. It is arranged in the direction.

The reflective surface 21 faces both the linear object S and the camera 15 on the side of the linear object S in the width direction X, and has an inclination angle of 45° with respect to both the depth direction Y and the width direction X. Therefore, it is possible to reflect light traveling in the width direction X from the side where the linear object S is located toward the side where the camera 15 is located in the depth direction Y. In other words, the reflective surface 21 of the prism 20 can completely reflect the light traveling in the width direction X from the side where the linear object S is located, by changing the direction by 90 degrees and toward the side where the camera 15 is located. ing.

In this way, the reflective surface 21 of the prism 20 is placed on the side of the linear object S, and the light directed toward the reflective surface 21 from the side where the linear object S is located is totally reflected toward the side where the camera 15 is located. can be done. Therefore, the camera 15 can capture both a real image of the linear object S and a mirror image of the linear object S reflected by the reflective surface 21 of the prism 20.

Furthermore, the three-dimensional angle detection device 10 includes a light source 70 that irradiates the linear object S with light. For example, an LED (Light Emitting Diode) is used as the light source 70. The light source 70 is arranged on the opposite side of the linear object S from the side where the camera 15 is located, and the first light source 71 is arranged on the opposite side of the linear object S from the side where the prism 20 is located. It has a second light source 72. The first light source 71 is arranged on the side opposite to the side where the camera 15 is located with respect to the linear object S in the depth direction Y, and is directed toward the linear object S from the side opposite to the side where the camera 15 is located. It is now possible to irradiate light. The second light source 72 is arranged on the side opposite to the side where the prism 20 is located with respect to the linear object S in the width direction It is now possible to irradiate light.

FIG. 3 is an explanatory diagram of the control device 30 included in the three-dimensional angle detection device 10 shown in FIG. The three-dimensional angle detection device 10 includes a control device 30 that controls the three-dimensional angle detection device 10. The control device 30 is incorporated into a control device that controls a manipulation system to which the three-dimensional angle detection device 10 is applied. Note that the control device 30 of the three-dimensional angle detection device 10 may be provided independently from the control device that controls the manipulation system.

The control device 30 includes a processing section 31 and a storage section 40. The processing unit 31 includes a CPU (Central Processing Unit) that performs arithmetic processing, and a RAM (Random Access Memory) and ROM (Read Only Memory) that function as memories for storing various information. All or part of each function of the processing unit 31 is realized by reading and writing data in the RAM or ROM by loading an application program held in the ROM into the RAM and executing it by the CPU.

The storage unit 40 is a storage device that is electrically connected to the processing unit 31 and stores information. When the three-dimensional angle detection device 10 is controlled by the control device 30, information acquired by the processing section 31 and information calculated by the processing section 31 are stored in the storage section 40, and information stored in the storage section 40 is processed. It is called by the section 31 and used for controlling the three-dimensional angle detection device 10.

Note that each function realized by the processing section 31 may be stored in advance in the storage section 40 as a program. In this case, the processing unit 31 executes each function by calling a program stored in the storage unit 40 and having the processing unit 31 execute an operation according to the program. Further, the storage unit 40 may be integrally provided with the control device 30 or may be configured to be detachable from the control device 30.

Furthermore, the camera 15 and the notification section 50 are electrically connected to the control device 30 .

The processing section 31 functionally includes an image data acquisition section 32, an image processing section 33, an angle acquisition section 34, an arithmetic processing section 35, a determination section 36, and a failure control section 37. Of these, the image data acquisition unit 32 acquires image data 100 (see FIG. 4) captured by the camera 15.

The image processing unit 33 performs image processing on the image data 100 acquired by the image data acquisition unit 32, and creates a boundary line 106 of the straight object S (see FIG. 5) for a portion of the image data 100 other than the straight object S. Detection is performed.

The angle acquisition unit 34 acquires the angle of the linear object S on the image data 100 from the image data 100 acquired by the image data acquisition unit 32. Specifically, the angle acquisition unit 34 acquires the angle of the linear object S on the image data 100 by acquiring the angle of the boundary line 106 detected by the image processing unit 33.

The arithmetic processing unit 35 calculates the three-dimensional angle of the straight line object S based on the angle of the straight line object S on the image data 100 acquired by the angle acquisition unit 34. The three-dimensional angle in this case indicates the angle with respect to the reference direction, which is the extending direction of the target linear object S when arranging the linear object S. In other words, the three-dimensional angle is the angle when the linear object S is viewed from the depth direction Y, which is the direction in which the camera 15 photographs the linear object S, or the angle at which the reflecting surface 21 of the prism 20 reflects toward the camera 15. The angle is independent of the angle when the linear object S is viewed from the width direction X, which is the direction in which light from the linear object S travels. In the first embodiment, the reference direction is the vertical direction Z, and the three-dimensional angle is the inclination angle of the linear object S with respect to the vertical direction Z.

The determining unit 36 determines whether the three-dimensional angle of the linear object S calculated by the arithmetic processing unit 35 is within a predetermined range. That is, the determination unit 36 determines whether the inclination angle of the linear object S with respect to the reference direction is within a predetermined range.

The failure control unit 37 causes any device to perform a predetermined operation when the determination unit 36 determines that the three-dimensional angle of the linear object S is not within a predetermined range. In the first embodiment, when the determination unit 36 determines that the three-dimensional angle of the linear object S is not within a predetermined range, the failure control unit 37 causes the three-dimensional angle of the linear object S to fall within a predetermined range. The notifying unit 50 is made to notify that the location is not inside.

The notification unit 50 operates based on a control signal from the failure control unit 37, and when the determination unit 36 determines that the three-dimensional angle of the straight line object S is not within a predetermined range, the notification unit 50 The operator operating the three-dimensional angle detection device 10 is notified that the three-dimensional angle is not within a predetermined range. The notification unit 50 provides notification using, for example, visual information or auditory information. That is, the notification unit 50 has, for example, a display unit (not shown) and displays on the display unit that the three-dimensional angle of the straight object S is not within a predetermined range, and a speaker (not shown). However, the speaker notifies by voice that the three-dimensional angle of the linear object S is not within a predetermined range.

Next, a procedure for detecting the three-dimensional angle of the linear object S by the three-dimensional angle detection device 10 will be described. When detecting the three-dimensional angle of a linear object S using the three-dimensional angle detection device 10, first, the linear object S such as a needle or a capillary used in the manipulation system is gripped by the gripping device 60. In the first embodiment, the linear object S is oriented so that its extending direction is approximately in the vertical direction Z, and the vicinity of the upper end of the linear object S is gripped by the gripping device 60 . By gripping the straight object S with the gripping device 60, the straight object S is placed on the optical axis of the camera 15, and with respect to the prism 20, the prism is placed on the side of the straight object S in the width direction X. They are arranged in the same positional relationship as the reflective surface 21 of the reflective surface 20 .

After gripping the linear object S with the gripping device 60, the light source 70 is activated to emit light, and while the linear object S is irradiated with the light emitted by the light source 70, the linear object S is photographed with the camera 15. That is, the first light source 71 irradiates light with respect to the straight object S from the side opposite to the side where the camera 15 is located in the depth direction Y, and the side where the prism 20 is located in the width direction X with respect to the straight object S. A second light source 72 irradiates light from the opposite side. The camera 15 photographs the linear object S while being irradiated with light by the light source 70 in this manner.

At that time, the reflective surface 21 of the prism 20 is located on the side of the linear object S in the width direction X, and the reflective surface 21 of the prism 20 faces toward the reflective surface 21 from the side where the linear object S is located. It is possible to totally reflect the light in the direction where the camera 15 is located. Thereby, the camera 15 simultaneously photographs a real image 101 of the linear object S and a mirror image 102 of the linear object S reflected by the reflective surface 21 of the prism 20.

FIG. 4 is a schematic diagram showing an example of the image data 100. Image data 100 captured by the camera 15 is sent to the processing unit 31 of the control device 30 by an electrical signal, and is acquired by the image data acquisition unit 32 included in the processing unit 31. The image data 100 acquired by the image data acquisition unit 32 includes a real image 101 of the straight object S and a mirror image 102 of the straight object S reflected by the reflective surface 21 of the prism 20. It has become something like this.

Specifically, since the reflective surface 21 of the prism 20 is arranged laterally in the width direction It is located on the side of

Note that since the camera 15 photographs the linear object S in a direction in which the direction of the optical axis is the depth direction Y, in the real image 101 of the photographed image data 100, the depth direction Y is also the depth direction in the image data 100. The width direction X appears as the horizontal direction in the image data 100. Further, the vertical direction Z appears as a vertical direction in the image data 100.

Therefore, in the case of a linear object S arranged extending in the vertical direction Z, the real image 101 appears extending in the vertical direction also in the image data 100, and a prism located on the side of the linear object S in the width direction The image of the reflective surface 21 of 20 appears beside the real image 101 of the straight object S in the image data 100. The mirror image 102 of the linear object S reflected by the reflecting surface 21 of the prism 20 thus appears positioned in the image of the reflecting surface 21 appearing beside the real image 101 of the linear object S. Similar to the real image 101 of the linear object S, the mirror image 102 of the linear object S becomes an image extending in the vertical direction in the image data 100.

Further, since the reflective surface 21 of the prism 20 disposed on the side of the linear object S in the width direction X faces the linear object S from the width direction X, the reflective surface 21 of the prism 20 in the image data 100 The mirror image 102 of the linear object S appearing in the image is an image of the linear object S viewed in the width direction X.

Here, the reflective surface 21 of the prism 20 reflects the light traveling in the width direction is the width direction X, and the direction perpendicular to the horizontal direction with respect to the traveling direction of the light is the depth direction Y. On the other hand, when the light traveling in the width direction The direction in which this is done is the width direction X.

Therefore, in the image (mirror image 102) of the reflective surface 21 of the prism 20 in the image data 100, the actual depth direction Y of the three-dimensional angle detection device 10 becomes the horizontal direction in the image of the reflective surface 21, and the three-dimensional The actual width direction X of the angle detection device 10 is the depth direction in the image of the reflective surface 21. That is, in the real image 101 of the linear object S in the image data 100, the width direction X is the horizontal direction of the image data 100, and the depth direction Y is the depth direction also in the image data 100. In the mirror image 102, the width direction X becomes the depth direction of the image data 100, and the depth direction Y becomes the horizontal direction of the image data 100.

The three-dimensional angle detection device 10 captures a real image 101 of a straight object S and a mirror image 102 of the straight object S reflected by a prism 20 at the same time with a camera 15, thereby detecting a straight object in one image data 100. An image of the object S viewed in the depth direction Y and an image of the linear object S viewed in the width direction X orthogonal to the depth direction Y can be included.

After the image data acquisition section 32 acquires the image data 100 including the real image 101 and mirror image 102 of the linear object S, the processing section 31 of the control device 30 processes the image data 100 acquired by the image data acquisition section 32. The image processing unit 33 performs image processing.

The image processing unit 33 performs image processing on the image data 100 to determine the boundary between the image of the linear object S and a portion other than the linear object S in the image data 100. The image processing unit 33 clarifies the boundary between the image of the linear object S and the portion other than the linear object S in the image data 100, for example, by performing a binarization process on the image data 100.

That is, when photographing the straight object S with the camera 15, the first light source 71 irradiates the straight object S with light from the side opposite to the side where the camera 15 is located in the depth direction Y. The periphery of the linear object S when viewed from the side where 15 is located is brighter than the linear object S. Therefore, the brightness around the real image 101 of the straight line object S in the image data 100 is higher than the brightness of the real image 101 of the straight line object S.

Similarly, when photographing the straight object S with the camera 15, the second light source 72 irradiates the straight object S with light from the side opposite to the side where the prism 20 is located in the width direction X. The periphery of the linear object S as seen from the side where the prism 20 is located is brighter than the linear object S. Therefore, the brightness around the mirror image 102 of the linear object S reflected by the reflective surface 21 of the prism 20 in the image data 100 is higher than the brightness of the mirror image 102 of the linear object S.

For this reason, the image processing unit 33 performs binarization using the brightness with a threshold that can separate the real image 101 or mirror image 102 of the linear object S from its surroundings. This makes the boundary between the image of the linear object S in the image data 100 and the surrounding portion of the linear object S clear.

FIG. 5 is an explanatory diagram showing a state in which the boundary line 106 of the straight object S in the image data 100 is detected. In addition, in FIG. 5, the reflective surface 21 of the prism 20 is also shown in order to make it easier to understand the real image 101 and the mirror image 102 of the linear object S, but when the binarization process is performed, the reflective surface 21 is also shown. becomes difficult to recognize. The image processing unit 33 performs image processing on the image data 100 to clarify the boundary between the image of the linear object S and the surrounding area of the linear object S. Detection of the boundary line 106 of the linear object S with respect to the portion is performed. That is, the image processing unit 33 detects a boundary between two binarized values in the image data 100 that has undergone the binarization process. For example, when performing binarization processing on image data 100, if pixels whose brightness is higher than a threshold are set to white, and pixels whose brightness is lower than the threshold are set to black, the boundary between white pixels and black pixels is , is detected as a boundary between the straight line object S and a portion other than the straight line object S.

Furthermore, the image processing unit 33 converts a portion of the boundary between the detected linear object S and a portion other than the linear object S, which extends linearly by a predetermined length or more, into a boundary between the detected linear object S and a portion other than the linear object S. It is detected as a boundary line 106 of a straight line object S for the part. As for the boundary line 106 of the straight object S, a boundary line 106a of the real image 101 of the straight line object S and a boundary line 106b of the mirror image 102 are detected, respectively.

When the boundary line 106 of the linear object S in the image data 100 is detected by the image processing unit 33, the angle θ ₁ of the real image 101 and the angle θ ₂ of the mirror image 102 of the linear object S on the image data 100 are acquired. The angle θ ₁ of the real image 101 and the angle θ ₂ of the mirror image 102 of the linear object S are respectively acquired by the angle acquisition unit 34 included in the processing unit 31 of the control device 30 .

Note that which of the two images of the linear object S in one image data 100 is the real image 101 and which is the mirror image 102 is set in advance based on the reflection position of the prism 20 with respect to the linear object S, and is stored in the storage section. 40 is stored. That is, of the two images of the linear object S in one image data 100, the image of the linear object S on the side where the prism 20 is positioned with respect to the linear object S in the width direction X is recognized as the mirror image 102. This is set in advance and stored in the storage unit 40. The angle acquisition unit 34 also uses information on the positional relationship between the real image 101 and the mirror image 102 stored in the storage unit 40 to acquire the angle θ ₁ of the real image 101 and the angle θ ₂ of the mirror image 102 of the linear object S, respectively. .

The angle θ ₁ of the real image 101 and the angle θ ₂ of the mirror image 102 of the linear object S are angles with respect to arbitrary directions. In the first embodiment, the edge of the end in the horizontal direction of the image data 100 is set as the reference line 105, and the angle θ ₁ of the real image 101 of the straight object S and the angle θ ₂ of the mirror image 102 are relative angles with respect to the reference line 105. It has become. That is, the angle θ ₁ of the real image 101 of the straight object S is the angle of the boundary line 106a of the real image 101 with respect to the reference line 105, and the angle θ ₂ of the mirror image 102 of the straight object S is the angle of the boundary line 106a of the real image 101 with respect to the reference line 105. , is the angle of the boundary line 106b of the mirror image 102.

Here, since the camera 15 photographs the linear object S in a direction in which the vertical direction of the camera 15 is the vertical direction Z of the three-dimensional angle detection device 10, the reference line 105 of the image data 100 indicates the vertical direction Z. It is a line that substantially extends in the vertical direction Z. Therefore, the angle θ ₁ of the real image 101 of the linear object S is the inclination angle with respect to the vertical direction Z when the linear object S is viewed in the depth direction Y, and the angle of the mirror image 102 of the linear object S θ ₂ is an angle of inclination with respect to the vertical direction Z when the linear object S is viewed in the width direction X.

After acquiring the angle θ ₁ of the real image 101 and the angle θ ₂ of the mirror image 102 of the linear object S on the image data 100, the arithmetic processing unit 35 of the processing unit 31 of the control device 30 calculates the three-dimensional shape of the linear object S. Calculate the angle. The arithmetic processing unit 35 calculates the three-dimensional angle of the linear object S based on the angle θ ₁ of the real image 101 of the linear object S and the angle θ ₂ of the mirror image 102 obtained by the angle obtaining unit 34 .

Next, a method for calculating the three-dimensional angle of the linear object S based on the angle θ ₁ of the real image 101 of the linear object S and the angle θ ₂ of the mirror image 102 will be described. First, the angle θ ₁ of the real image 101 of the linear object S can be expressed by the following equation (2), where x is the size in the width direction X and z is the size in the vertical direction. Similarly, the angle θ ₂ of the mirror image 102 of the linear object S can be expressed by the following equation (3), where y is the size in the depth direction Y and z is the size in the vertical direction.
tanθ ₁ =x/z...(2)
tanθ ₂ =y/z...(3)

In equations (2) and (3), when z=1, the elements of the three-dimensional vector become equations (4) and (5), respectively.
tanθ ₁ =x (4)
tanθ ₂ =y (5)

Therefore, the three-dimensional vector and the unit vector are expressed as in the following equations (6) and (7), respectively.

Here, from the inner product equation shown in equation (8) below, θ can be expressed as in equation (9).

Furthermore, since the unit vector can be expressed as the following equations (10), (11), and (12), by calculating these, the three-dimensional angle θ of the straight object S can be calculated using the following equation (1). ) can be found.

In other words, the calculation processing unit 35 calculates the above equation (1) using the angle θ ₁ of the real image 101 of the linear object S and the angle θ ₂ of the mirror image 102, which are acquired by the angle acquisition unit 34. A three-dimensional angle θ of the straight object S is calculated.

In this case, the three-dimensional angle θ of the straight object S is a relative angle with respect to the reference line 105 of the image data 100, which is the reference for the angle θ ₁ of the real image 101 and the angle θ ₂ of the mirror image 102 of the straight object S. There is. Since the reference line 105 of the image data 100 is substantially a line extending in the vertical direction Z, the three-dimensional angle θ of the linear object S calculated by the arithmetic processing unit 35 is substantially an inclination with respect to the vertical direction Z. It's at an angle. That is, the three-dimensional angle θ of the linear object S calculated by the arithmetic processing unit 35 is an inclination angle with respect to the vertical direction Z, without specifying the direction of inclination.

After the three-dimensional angle θ of the straight object S is calculated by the calculation processing unit 35, the determination unit 36 included in the processing unit 31 of the control device 30 determines whether the calculated three-dimensional angle θ is within a predetermined range. . The determination by the determination unit 36 is performed by comparing the three-dimensional angle θ of the straight object S with a preset threshold value. The threshold value used for the determination by the determination unit 36 is set in advance from the viewpoint of whether the inclination angle of the linear object S with respect to the vertical direction Z is within a range in which the linear object S can be appropriately used. is stored in the storage unit 40 of.

For example, if the three-dimensional angle detection device 10 is applied to a manipulation system that operates microscopic substances such as cells with a needle, and the linear object S is a needle used in the manipulation system, the determination unit 36 The threshold value used for the determination is set as the limit value of the inclination angle of the needle that allows the needle to operate appropriately on minute substances.

The determination unit 36 compares the three-dimensional angle θ of the straight object S calculated by the arithmetic processing unit 35 with the threshold value stored in the storage unit 40, and determines whether the three-dimensional angle θ of the straight object S is equal to or greater than the threshold value. Determine whether it exists or not.

If the determination unit 36 determines that the three-dimensional angle θ of the linear object S calculated by the arithmetic processing unit 35 is equal to or greater than the threshold, the failure control unit included in the processing unit 31 of the control device 30 37 performs failure control. The defective control in this case is a control for resolving the situation where the three-dimensional angle θ of the linear object S is larger than the threshold value.

In the first embodiment, the failure control by the failure control unit 37 is a control that causes the notification unit 50 to notify that the three-dimensional angle θ of the straight object S is larger than a threshold value. For example, the notification unit 50 displays the fact that the three-dimensional angle θ of the straight-line object S is larger than a threshold value by displaying on the display unit or notifying by sound from a speaker, so that the three-dimensional angle θ of the straight-line object S The operator operating the three-dimensional angle detection device 10 is notified that the angle is larger than the threshold.

The operator who has recognized the notification from the notification unit 50, for example, removes the linear object S held by the gripping device 60 from the gripping device 60, and causes the gripping device 60 to grip another linear object S. This eliminates the situation where the three-dimensional angle θ of the straight object S is larger than the threshold value.

The three-dimensional angle detection device 10 according to the first embodiment described above uses the camera 15 to capture a mirror image 102 of the linear object S when the linear object S is viewed from a direction different from the direction in which the camera 15 photographs the linear object S. A real image 101 of the linear object S and a mirror image 102 of the linear object S reflected by the prism 20 are simultaneously photographed by a camera 15. Further, the angle θ ₁ of the real image 101 and the angle θ ₂ of the mirror image 102 of the straight object S on the image data 100 photographed by the camera 15 are respectively acquired by the angle acquisition unit 34, and the straight line object acquired by the angle acquisition unit 34 is The three-dimensional angle θ of the linear object S is calculated by the calculation processing unit 35 based on the angle θ ₁ of the real image 101 of the object S and the angle θ ₂ of the mirror image 102 . Thereby, by photographing the linear object S with one camera 15, the three-dimensional angle θ of the linear object S can be calculated. As a result, the arrangement state of the linear object S, which is a linear member, can be detected while reducing costs.

Further, by performing image processing on the image data 100, a boundary line 106 of the straight line object S with respect to a portion other than the straight line object S in the image data 100 is detected, and the angle acquisition unit 34 By acquiring the angle of , the angle of the linear object S on the image data 100 is acquired. As a result, it is possible to obtain the angle of the linear object S on the image data 100 from among the image data 100 photographed by one camera 15, and based on the obtained angle of the linear object S, The three-dimensional angle θ of S can be calculated by the calculation processing unit 35. As a result, the arrangement state of the linear object S can be detected while keeping costs down.

Furthermore, the three-dimensional angle θ of the straight object S is calculated using the above equation (1) from the angle θ ₁ of the real image 101 of the straight object S on the image data 100 and the angle θ ₂ of the mirror image 102. Therefore, the three-dimensional angle θ of the linear object S can be calculated based on the angle of the linear object S obtained from the image data 100. As a result, the arrangement state of the linear object S can be detected while keeping costs down.

In addition, it is determined whether the calculated three-dimensional angle θ of the linear object S is within a predetermined range, and if it is determined that the three-dimensional angle θ is not within the predetermined range, the linear object S is Since the notification unit 50 notifies that the three-dimensional angle is not within a predetermined range, it is possible to prevent the linear object S from being used in a state where it is inappropriately placed. As a result, it is possible to suppress deterioration in workability caused by using the linear object S in an inappropriately arranged state.

Further, a prism 20 is used as a reflecting member that reflects a mirror image 102 of the linear object S viewed from a direction different from the direction in which the camera 15 photographs the linear object S toward the camera 15. Therefore, a reflective member that is difficult to damage and easy to arrange can be provided. As a result, the arrangement state of the linear object S can be detected while keeping costs down.

Further, the first light source 71 is arranged on the side opposite to the side where the camera 15 is located with respect to the linear object S, and the second light source 72 is arranged on the side opposite to the side where the prism 20 is located with respect to the linear object S. However, in order to irradiate the linear object S with light from the first light source 71 and the second light source 72, when performing image processing on the image data 100 to detect the boundary line 106 of the linear object S. In addition, the boundary line 106 can be easily detected. As a result, the angle θ ₁ of the real image 101 of the linear object S and the angle θ 2 of the mirror image 102 on the image data 100 can be easily obtained, and the angle θ _{1 of the real image 101 of the linear object S and the angle θ 2 of} the mirror image 102 can be easily obtained. The three-dimensional angle θ of the linear object S can be calculated from the angle θ ₂ of . As a result, the arrangement state of the linear object S can be detected while keeping costs down.

[Second embodiment]
Next, a three-dimensional angle detection device 10 according to a second embodiment will be explained. Components that are the same as those in the first embodiment are given the same reference numerals and descriptions thereof will be omitted. Hereinafter, the differences from the first embodiment will be mainly explained.

FIG. 6 is a schematic diagram showing a three-dimensional angle detection device 10 according to the second embodiment. FIG. 7 is a plan view of the three-dimensional angle detection device 10 shown in FIG. 6. In the second embodiment as well, the three-dimensional angle detection device 10 includes a camera 15 that photographs the linear object S from the depth direction Y, and a camera 15 that is arranged laterally in the width direction X with respect to the linear object S. The prism 20 includes a reflective surface 21 that reflects light traveling in the width direction X from the side where S is located toward the side where the camera 15 is located in the depth direction Y.

Although the second embodiment also includes a light source 70 that emits light, the light from the light source 70 is irradiated onto the linear object S via an optical fiber 75 that transmits the light. Specifically, the light source 70 is arranged near the prism 20 at a position different from the vicinity of the reflective surface 21 of the prism 20.

The optical fiber 75 is attached to the prism 20 and is disposed along the prism 20 from the position where the light source 70 is disposed to the position of the reflective surface 21. That is, one end of the optical fiber 75 is placed near the portion of the light source 70 that irradiates light, and the other end is placed near the reflective surface 21 of the prism 20. The end of the optical fiber 75 located near the reflective surface 21 of the prism 20 serves as an irradiation section 76 that irradiates light from the light source 70 toward the linear object S. In the second embodiment, four optical fibers 75 are attached to the prism 20, and one irradiation part 76 of the optical fiber 75 is attached to each of the four corners of the reflective surface 21 of the prism 20 formed in a rectangular shape. It is located.

Also in the second embodiment configured as described above, when photographing the straight object S with the camera 15, the light source 70 is made to emit light, and the light emitted by the light source 70 is irradiated onto the straight object S. . At that time, in the second embodiment, the light from the light source 70 is transmitted by the optical fiber 75 attached to the prism 20, and is transmitted in a straight line from the irradiation part 76 of the optical fiber 75 located at the position of the reflective surface 21 of the prism 20. A target object S is irradiated.

The camera 15 photographs the linear object S illuminated by the light emitted from the irradiation section 76 of the optical fiber 75 directly and via the reflective surface 21 of the prism 20 . The control device 30 included in the three-dimensional angle detection device 10 uses an image data acquisition unit 32 to acquire image data 100 when a linear object S is photographed by the camera 15, and performs image processing on the image processing unit 33.

At that time, in the second embodiment, from the irradiation part 76 of the optical fiber 75 located at the position of the reflective surface 21 of the prism 20 located on the side of the linear object S in the width direction A camera 15 photographs the object while irradiating it with light. For this reason, since the image data 100 is photographed in a state where the illuminance of the linear object S is high, the brightness of the real image 101 and the mirror image 102 of the linear object S becomes high. Thereby, by performing the binarization process on the image data 100 in the image processing unit 33, it becomes possible to detect the boundary between the straight line object S and a portion other than the straight line object S.

Therefore, in the second embodiment, as in the first embodiment, the angle θ ₁ of the real image 101 and the angle θ ₂ of the mirror image 102 of the straight object S are acquired by the angle acquisition unit 34, and based on these angles, , the three-dimensional angle θ of the linear object S can be calculated by the arithmetic processing unit 35. The arrangement state of the linear object S, which is a linear member, can be detected while reducing costs.

In the second embodiment, an optical fiber 75 is attached to the prism 20, and light from one light source 70 is transmitted through the optical fiber 75, and a straight line is transmitted from the irradiation part 76 of the optical fiber 75 located near the straight object S. A target object S is irradiated. Therefore, the configuration for irradiating the linear object S can be downsized, and the three-dimensional angle detection device 10 can be downsized.

[Modified example]
Note that in the first embodiment described above, when the determination unit 36 determines that the three-dimensional angle θ is not within the predetermined range, the notification unit 50 issues a notification; If it is determined that the value is not within the range, other processing may be performed. That is, the failure control may be performed by other than the notification by the notification unit 50.

FIG. 8 is a plan view of an attitude correction mechanism 80 included in a modification of the three-dimensional angle detection device 10 according to the first embodiment. FIG. 9 is a view taken along the line AA in FIG. 8. FIG. 10 is a view taken along the line BB in FIG. 8. The three-dimensional angle detection device 10 may include, for example, an attitude correction mechanism 80 shown in FIGS. 8 to 10. The posture correction mechanism 80 is a device that adjusts the angle of the linear object S, is electrically connected to the control device 30 of the three-dimensional angle detection device 10, and can be controlled by the control section 37 in the event of a failure. It has become.

The posture correction mechanism 80 is attached with a gripping device 60 that grips the linear object S, and has a first motor 85 and a second motor 86, and the first motor 85 adjusts the angle of the linear object S in the width direction X. By adjusting θ ₁ , it is possible to adjust the angle θ ₂ of the linear object S in the depth direction Y by the second motor 86 .

Specifically, below the support member 81 in the up-down direction Z, an operating member 82 extending in the up-down direction Z is arranged, and the gripping device 60 is arranged at the lower end of the operating member 82. The linear object S to be gripped by the gripping device 60 extends downward in the vertical direction Z from the gripping device 60 .

Further, a first adjustment member 83 is arranged on one end side of the support member 81 in the width direction X, and the first adjustment member 83 is arranged to extend downward from the support member 81 in parallel with the operating member 82. There is. A first screw member 87 extending in the width direction It passes through member 83. The first screw member 87 has a thread formed on its outer peripheral surface, and a portion of the first adjustment member 83 through which the first screw member 87 passes is a screw hole.

Thereby, the first screw member 87 can move in the width direction X by rotating, and when the first screw member 87 rotates and moves in the width direction By changing the distance in the width direction X between the operating member 82 to which the first screw member 87 is connected and the first adjusting member 83, the angle of the operating member 82 with respect to the first adjusting member 83 can be changed. A first motor 85 is connected to the first screw member 87, and the first motor 85 can rotate the first screw member 87. Therefore, the first motor 85 rotates the first screw member 87 to change the angle of the operating member 82 with respect to the first adjusting member 83, thereby controlling the linear object to be gripped by the gripping device 60 attached to the operating member 82. The angle θ ₁ of S in the width direction X can be adjusted.

Further, a second adjustment member 84 is arranged on one end side of the support member 81 in the depth direction Y, and the second adjustment member 84 is arranged to extend downward from the support member 81 in parallel with the operating member 82. There is. A second screw member 88 extending in the depth direction Y is disposed between the operating member 82 and the second adjusting member 84, and the second screw member 88 is connected to the operating member 82 and is connected to the second adjusting member 84. It passes through member 84. The second screw member 88 has a thread formed on its outer peripheral surface, and a portion of the second adjustment member 84 through which the second screw member 88 passes is a screw hole.

Thereby, the second screw member 88 can move in the depth direction Y by rotating, and when the second screw member 88 rotates and moves in the depth direction Y, the second screw member 88 can move in the depth direction Y by rotating. By changing the distance in the depth direction Y between the operating member 82 to which the two screw members 88 are connected and the second adjusting member 84, the angle of the operating member 82 with respect to the second adjusting member 84 can be changed. A second motor 86 is connected to the second screw member 88, and the second motor 86 can rotate the second screw member 88. Therefore, the second motor 86 rotates the second screw member 88 to change the angle of the operating member 82 with respect to the second adjusting member 84, thereby controlling the linear object to be gripped by the gripping device 60 attached to the operating member 82. The angle θ ₂ of S in the depth direction Y can be adjusted.

By being configured as described above, the posture correction mechanism 80 can adjust the angle θ ₁ in the width direction X and the angle θ ₂ in the depth direction Y of the linear object S, i.e. , it is possible to adjust the three-dimensional angle θ of the linear object S. Therefore, if the determining unit 36 determines that the three-dimensional angle θ calculated by the arithmetic processing unit 35 is not within a predetermined range, that is, if the three-dimensional angle θ of the straight object S is larger than the threshold value, the determining unit 36 If it is determined, the defect control unit 37 controls the posture correction mechanism 80 and causes the posture correction mechanism 80 to adjust the angle of the linear object S.

At this time, based on the three-dimensional angle θ of the linear object S calculated by the arithmetic processing unit 35, the failure control unit 37 moves the posture so that the three-dimensional angle θ of the linear object S approaches the reference angle. By operating the first motor 85 and the second motor 86 of the correction mechanism 80, the angle of the linear object S is adjusted. In other words, when the determination unit 36 determines that the three-dimensional angle of the linear object S is not within a predetermined range, the posture correction mechanism 80 is activated by a signal from the failure control unit 37 to perform calculation processing. The angle of the linear object S is adjusted based on the three-dimensional angle θ of the linear object S calculated by the section 35.

Thereby, it is possible to eliminate the situation where the three-dimensional angle θ of the linear object S is larger than the threshold value, and it is possible to prevent the linear object S from being used in a state where it is inappropriately arranged. As a result, it is possible to suppress deterioration in workability caused by using the linear object S in an inappropriately arranged state.

Note that the three-dimensional angle detection device 10 includes both the notification unit 50 and the posture correction mechanism 80, and when the determination unit 36 determines that the three-dimensional angle θ calculated by the calculation processing unit 35 is not within a predetermined range. In this case, the notification unit 50 may issue a notification, and the posture correction mechanism 80 may adjust the angle of the linear object S.

Furthermore, in the first and second embodiments described above, the camera 15 directs the mirror image 102 of the straight object S, which is viewed from a direction different from the direction in which the camera 15 photographs the straight object S, toward the camera 15. Although the prism 20 is used as a reflective member that reflects light, a member other than the prism 20 may be used as the reflective member. For example, a mirror may be used as the reflecting member. In other words, by placing a plane mirror on the side of the straight object S in the width direction may be used as a reflective member.

By arranging the mirror in this way, the mirror faces both the linear object S and the camera 15 on the side of the linear object S in the width direction X, and faces both the depth direction Y and the width direction It will be arranged with an inclination angle of 45°. Thereby, the mirror can change the direction of the light traveling in the width direction X from the side where the linear object S is located by 90 degrees and reflect it toward the side where the camera 15 is located in the depth direction Y. Therefore, the camera 15 can take a mirror image 102 of the straight object S seen from the width direction , the straight object S viewed from the width direction X and the mirror image 102 can be photographed at the same time.

Although the preferred embodiments of the present disclosure have been described above, the present disclosure is not limited to those described in the above embodiments. The configurations described as embodiments and modified examples may be combined as appropriate.

10 Three-dimensional angle detection device 15 Camera 20 Prism 21 Reflective surface 30 Control device 31 Processing section 32 Image data acquisition section 33 Image processing section 34 Angle acquisition section 35 Arithmetic processing section 36 Judgment section 37 Failure control section 40 Storage section 50 Notification section 60 Gripping device 70 Light source 71 First light source 72 Second light source 75 Optical fiber 76 Irradiation section 80 Posture correction mechanism 100 Image data 101 Real image 102 Mirror image 105 Reference line 106 Boundary line

Claims (8)

a photography department that photographs straight objects;
a reflecting member that reflects a mirror image of the linear object viewed from a direction different from the direction in which the imaging section photographs the linear object toward the imaging section;
an image data acquisition section that acquires image data photographed by the photographing section;
an angle acquisition unit that acquires an angle of the linear object on the image data from the image data acquired by the image data acquisition unit;
an arithmetic processing unit that calculates a three-dimensional angle of the linear object based on the angle of the linear object on the image data acquired by the angle acquisition unit;
Equipped with
The photographing unit simultaneously photographs a real image of the straight object and the mirror image of the straight object reflected by the reflecting member,
The angle acquisition unit acquires the angle of the real image and the angle of the mirror image of the linear object on the image data, respectively;
The arithmetic processing unit is a three-dimensional angle detection device that calculates a three-dimensional angle of the linear object based on the angle of the real image of the linear object and the angle of the mirror image acquired by the angle acquisition unit. an image processing unit that performs image processing on the image data acquired by the image data acquisition unit;
The image processing unit detects a boundary line of the linear object with respect to a portion other than the linear object in the image data,
The three-dimensional angle detection device according to claim 1, wherein the angle acquisition unit acquires the angle of the linear object by acquiring the angle of the boundary line detected by the image processing unit. When the angle of the real image of the linear object with respect to an arbitrary direction is θ ₁ and the angle of the mirror image is θ ₂ , the calculation processing unit calculates the three-dimensional object of the linear object using the following equation (1). The three-dimensional angle detection device according to claim 1 or 2, wherein the three-dimensional angle detection device calculates the angle θ.

a determination unit that determines whether the three-dimensional angle of the linear object calculated by the arithmetic processing unit is within a predetermined range;
a notification unit that notifies that the three-dimensional angle of the straight-line object is not within a predetermined range when the determination unit determines that the three-dimensional angle of the straight-line object is not within a predetermined range;
The three-dimensional angle detection device according to any one of claims 1 to 3. a posture correction mechanism that adjusts the angle of the linear object;
a determination unit that determines whether the three-dimensional angle of the linear object calculated by the arithmetic processing unit is within a predetermined range;
Equipped with
The posture correction mechanism is configured to adjust the posture correction mechanism based on the three-dimensional angle of the straight-line object calculated by the arithmetic processing section when the determination section determines that the three-dimensional angle of the straight-line object is not within a predetermined range. The three-dimensional angle detection device according to any one of claims 1 to 3, which adjusts the angle of a straight object. The three-dimensional angle detection device according to any one of claims 1 to 5, wherein a prism is used as the reflecting member. A side opposite to the side where the photographing unit is positioned with respect to the linear target and a side opposite to the side where the reflective member is positioned with respect to the linear target are irradiated with light to the linear target. The three-dimensional angle detection device according to any one of claims 1 to 6, wherein a light source is arranged. a light source that emits light;
an optical fiber attached to the reflecting member and transmitting light from the light source to irradiate the linear object;
The three-dimensional angle detection device according to any one of claims 1 to 6.

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