JP3007091B2 - Configuration of optical three-dimensional coordinate input device - Google Patents
Configuration of optical three-dimensional coordinate input deviceInfo
- Publication number
- JP3007091B2 JP3007091B2 JP63187785A JP18778588A JP3007091B2 JP 3007091 B2 JP3007091 B2 JP 3007091B2 JP 63187785 A JP63187785 A JP 63187785A JP 18778588 A JP18778588 A JP 18778588A JP 3007091 B2 JP3007091 B2 JP 3007091B2
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- Japan
- Prior art keywords
- light beam
- dimensional
- dimensional coordinate
- optical
- input device
- Prior art date
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Description
【発明の詳細な説明】 （産業上の利用分野） 本発明は、対象物の表面の３次元形状計測装置の構成
に係わり、特に、非接触で対象物の形状を対話的に計測
するのに好適な光学的３次元座標入力装置の構成に関す
る。Description: TECHNICAL FIELD The present invention relates to a configuration of a three-dimensional shape measuring device for a surface of an object, and particularly to interactively measuring the shape of the object in a non-contact manner. The present invention relates to a configuration of a preferable optical three-dimensional coordinate input device.
（従来の技術） 機械工業においては、クレイモデル等の初期モデルの
３次元形状を計測し、線図を作製する作業が行われてい
る。近年においては、特にCAD（計算機援用設計）シス
テムの導入により、この３次元対象物の形状測定から線
図作製過程が大幅に自動化されつつある。(Prior Art) In the machine industry, an operation of measuring a three-dimensional shape of an initial model such as a clay model and creating a diagram is performed. In recent years, especially with the introduction of a CAD (Computer Aided Design) system, the process of creating a diagram from the measurement of the shape of a three-dimensional object has been greatly automated.
対象物の３次元形状を測定する３次元形状測定装置と
しては、対象物表面の計測点に接触式のプローブを当て
その点の３次元座標値に入力できるように構成した触針
形の装置が広く用いられている。また、接触法では変形
されてしまうような対象物の測定のため、最近、非接触
型の光学的プローブが試みられている。As a three-dimensional shape measuring device for measuring a three-dimensional shape of an object, a stylus-type device configured to apply a contact probe to a measurement point on the surface of the object and to input a three-dimensional coordinate value of the point is used. Widely used. In addition, in order to measure an object that is deformed by the contact method, recently, a non-contact optical probe has been tried.
（発明が解決しようとする課題） 非接触型を含む従来からの３次元座標測定装置は、い
ずれもCADシステム等と組み合わせ、対話的に簡便に使
用することは適さない。すなわち、対象物上の注目点を
指示入力したり、不必要な部分の入力を省いたりするこ
とは困難である。この問題は、上述したように、CADシ
ステムの導入が頻繁に行われている今日においては重要
である。また、従来からの装置は大掛かりかつ高価なも
のであり、操作性も悪く、対話式で簡便に操作すること
はできない。特に、設置するのに広いスペースを必要と
し、設定に多くの労力を要したり、環境条件も整える必
要があり、他の場所へ頻繁に移動して使用するなどは困
難である。(Problems to be Solved by the Invention) Any of the conventional three-dimensional coordinate measuring apparatuses including the non-contact type is not suitable to be used easily and interactively in combination with a CAD system or the like. That is, it is difficult to instruct and input a point of interest on an object or to omit input of an unnecessary portion. This problem is important today, as described above, in which CAD systems are frequently introduced. Further, the conventional apparatus is large and expensive, and has poor operability, and cannot be operated easily and interactively. In particular, a large space is required for installation, a large amount of labor is required for setting, and environmental conditions need to be adjusted, and it is difficult to frequently move to another place for use.
（課題を解決するための手段） 本発明は、操作者が手に持って操作することが可能で
あり、対象物上の測定すべき位置に光ビームを投射して
輝点を生成する光ビーム発生手段と、測定すべき位置に
光ビームが投射された時にこのことを外部に示す計測モ
ード信号の発生を指示する操作スイッチとを備える光ビ
ームポインタ、 前記対象物上に生成された輝点の像位置を検出し、輝
点像位置信号を発生する複数の像位置観測手段、 前記対象物が載せられる回転試料台、および 前記光ビームポインタからの計測モード信号と同期し
て、前記複数の像位置観測手段からの輝点像位置信号を
入力して、３角測量の原理に基づいて輝点の３次元座標
値を算出し、前記輝点の３次元座標値と、前記回転試料
台から回転試料台の回転角度を入力して、対象物表面上
の輝点の３次元位置を算出する情報処理手段、 から構成され、光学的な非接触計測の特等を保ちながら
注目点の指示が容易にできるように、ハンディで操作性
のよい光ビームポインタを備えたことを特徴とする。(Means for Solving the Problems) The present invention provides a light beam that can be operated and held by an operator and that generates a bright spot by projecting a light beam on a position to be measured on an object. A light beam pointer comprising a generating means and an operation switch for instructing the generation of a measurement mode signal indicating the fact that a light beam is projected at a position to be measured, and a light spot generated on the object. A plurality of image position observation means for detecting an image position and generating a bright spot image position signal; a rotating sample stage on which the object is placed; and the plurality of images in synchronization with a measurement mode signal from the light beam pointer. A bright spot image position signal is input from the position observation means, and three-dimensional coordinate values of the bright spot are calculated based on the principle of triangulation, and the three-dimensional coordinate value of the bright spot and the rotation from the rotating sample stage are calculated. Enter the rotation angle of the sample stage to An information processing means for calculating the three-dimensional position of the bright spot on the surface, comprising a handy and easy-to-operate light beam so that the point of interest can be easily specified while maintaining the characteristics of optical non-contact measurement. A pointer is provided.
（作 用） 操作者が手にもった光ビームポインタで対象物表面上
の注目点を指示し、操作スイッチを押すと測定用光ビー
ムが投射され、対象物表面に輝点が生成される。操作ス
イッチの操作によって発生した測定モード信号に同期し
て、周囲に配置された複数の像位置観測手段からの輝点
像位置信号は、３次元座標入力装置コントローラに入力
されて、３角測量の原理に基づいて輝点の３次元位置が
算出される。この操作を繰り返すことにより、対話的に
３次元座標値の入力が行える。(Operation) When the operator points to a point of interest on the surface of the object with the light beam pointer held by the user and presses the operation switch, the light beam for measurement is projected, and a bright point is generated on the surface of the object. In synchronization with the measurement mode signal generated by the operation of the operation switch, the bright spot image position signals from a plurality of image position observing means arranged in the surroundings are input to the three-dimensional coordinate input device controller, and are used for triangulation. The three-dimensional position of the luminescent spot is calculated based on the principle. By repeating this operation, it is possible to interactively input three-dimensional coordinate values.
（発明の効果） 本発明によれば、ハンディで操作し易い光ビームポイ
ンタを操作者が手に保持し、注目する位置を自由に指示
して、３次元座標値の入力を対話的に行うことができる
ので、対象物の形状を計測し、コンピュータ内のそのモ
デルを構成したり、あるいは３次元の座標入力装置とし
て自由に３次元空間内の点を指示することが可能にな
り、コンピュータへの３次元モデルの入力およびコンピ
ュータによる３次元モデルの処理に際しての有効な道具
の提供できる。(Effect of the Invention) According to the present invention, an operator holds a handy and easy-to-operate light beam pointer in his hand, freely designates a target position, and interactively inputs three-dimensional coordinate values. It is possible to measure the shape of an object and construct its model in a computer, or to freely designate a point in a three-dimensional space as a three-dimensional coordinate input device. An effective tool for inputting a three-dimensional model and processing the three-dimensional model by a computer can be provided.
（実施例） 以下、本発明の実施例を図面を参照しつつ詳細に説明
する。第２図に本発明に基づいた３次元座標入力装置の
構成の一例を示した。ハンディ型の光ビームポインタ１
で対象物体２上の注目点に光ビーム３を投射し、輝点４
を生成する。第２図に、この光ビームポインタの構成の
一例を示す。レーザー・ダイオードLDから計測用光ビー
ムBMを投影レンズＬおよび光ビーム走査手段BSを通じて
物体表面に投射するように構成されている。走査手段BS
は、光ビームを注目点の周囲、例えば±1mm4角の範囲を
走査できるように構成し、注目点のみでなく、注目点の
周囲の３次元座標値も１回の指示で同時に計測し、面の
傾斜や縁の位置等も検出できるようにすること、また、
指示点が注目点より多少外れていても、注目点の座標値
を入力できるようにする。通常、計測用光ビームBMの投
射にはレーザー・ダイオードを用いる。レーザー・ダイ
オードの光は赤外に近く、また、計測時のみ高輝度で発
光するようにするため、どの点を指示しているか分かり
にくい。従って、発光ダイオードLEDからの可視光をミ
ラーＭで反射し、指示点表示用光ビームBPとして、レー
ザービームと同方向へ投射することにより、指示点を表
示し、操作者に分かりやすくなるようにする。スイッチ
SWは、操作者が座標入力の指示、入力モードの指示、そ
の他の指示を行うためのものである。光ビームポインタ
１の上に設けられた３次元位置指示用標識Ｔは、物体表
面の位置でなく、対象物なしに、３次元的座標値を入力
するためのものである。可視光の光ビームBPを投射し、
確かに注目点を指示していることを確認し、操作スイッ
チSWを押すと、光ビームポインタ１から計測モード信号
が発生され、３次元座標入力装置コントローラー５は、
この計測モード信号に同期して、像位置観測手段6a、6b
からの輝点像位置信号を入力し、３角測量の原理に基づ
いて輝点の３次元位置を算出する。この操作が順次各測
定点に対して行われる。また、３次元座標入力装置コン
トローラー５は算出された３次元座標値を情報処理シス
テム７に送出し、３次元形状モデルの構成など高次の処
理が行われている。さらに、第２図に示されているよう
に、回転試料台８を備え、その上に被測定対象物２を載
せ、回転試料台８の回転角度も３次元座標入力装置コン
トローラー５を通じ、情報処理システム７に入力できる
ように構成すれば、入力すべき部分を光ビームポインタ
に対して正面に向けることができ、入力作業を効率化で
きる。Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 2 shows an example of the configuration of a three-dimensional coordinate input device based on the present invention. Handy light beam pointer 1
Project the light beam 3 at the point of interest on the target object 2 and
Generate FIG. 2 shows an example of the configuration of the light beam pointer. It is configured so as to project on the object surface through a laser diode L projection lens measuring light beam B M from D L and the light beam scanning unit B S. Scanning means B S
Is designed to scan the light beam around the point of interest, for example, within a range of ± 1 mm4, and simultaneously measure not only the point of interest but also the three-dimensional coordinate values around the point of interest with a single instruction. To be able to detect the inclination and the position of the edge, etc.
Even if the designated point is slightly off from the point of interest, the coordinate value of the point of interest can be input. Normally, using a laser diode to the projection of the measuring light beam B M. Since the light of the laser diode is close to infrared light and emits light with high brightness only during measurement, it is difficult to know which point is pointed. Therefore, the visible light from the light emitting diode LED is reflected by the mirror M, and is projected in the same direction as the laser beam as the light beam BP for indicating the indication point, so that the indication point is displayed so that the operator can easily understand it. To switch
SW is for the operator to give an instruction for inputting coordinates, an input mode, and other instructions. The three-dimensional position indicating marker T provided on the light beam pointer 1 is for inputting a three-dimensional coordinate value without an object, not a position on the surface of the object. Projects a visible light beam BP ,
Ensure that instructs certainly target point, press the operation switch S W, measurement mode signal from the optical beam pointer 1 is generated, the three-dimensional coordinate input device controller 5,
In synchronization with this measurement mode signal, the image position observation means 6a, 6b
, And calculates the three-dimensional position of the bright spot based on the principle of triangulation. This operation is sequentially performed for each measurement point. Further, the three-dimensional coordinate input device controller 5 sends the calculated three-dimensional coordinate values to the information processing system 7, and higher-order processing such as the configuration of a three-dimensional shape model is performed. Further, as shown in FIG. 2, a rotating sample stage 8 is provided, the object to be measured 2 is placed thereon, and the rotation angle of the rotating sample stage 8 is also processed by the three-dimensional coordinate input device controller 5 through information processing. If it is configured to be able to input to the system 7, the part to be input can be directed to the front with respect to the light beam pointer, and the input operation can be made more efficient.
さらに、３次元座標入力モードでは、光ビームを投射
する代わりに、先に説明した光ビームポインタ１に付さ
れた３次元位置指示用標識Ｔを点燈する。３次元入力装
置コントローラー５は、計測モード信号に同期して、像
位置観測手段6a、6bからの像位置信号から、３角測量の
原理に基づいて３次元位置指示用標識Ｔの３次元位置を
算出して情報処理システム７に送出する。この機能は、
３次元形状等３次元モデルの対話的処理において、３次
元空間内の３次元的な位置を、対象物体が表示されてい
るCRTディスプレイ中で指示したり、或いは３次元情報
の入力指示に用いられる。Further, in the three-dimensional coordinate input mode, instead of projecting the light beam, the above-described three-dimensional position indicating marker T attached to the light beam pointer 1 is turned on. The three-dimensional input device controller 5 determines the three-dimensional position of the three-dimensional position indicating marker T based on the principle of triangulation from the image position signals from the image position observation means 6a and 6b in synchronization with the measurement mode signal. The calculated value is sent to the information processing system 7. This feature
In interactive processing of a three-dimensional model such as a three-dimensional shape, it is used to indicate a three-dimensional position in a three-dimensional space on a CRT display on which a target object is displayed, or to input three-dimensional information. .
本発明において用いられる像位置観測手段6a、6bとし
ては、像位置検出素子自体の検出精度の面からは、２次
元的なものよりも、１次元的なものの方が高分解能のも
のの製作が容易であり、２次元的な素子の代わりに、１
次元的な素子と円筒レンズ等を組はあわせ構成した１次
元標点方位検出器を複数配置する方法が用いられる。像
位置検出精度を向上させるため本発明では、半導体像位
置検出素子の信号端子を選択可能に複数設けたＲ−HPSD
（理研式ハイブリッド型半導体像位置検出素子：特願昭
62−165969号）を用いる。As the image position observing means 6a and 6b used in the present invention, it is easier to manufacture a one-dimensional one having a higher resolution than a two-dimensional one in terms of detection accuracy of the image position detecting element itself. And instead of a two-dimensional element,
A method of arranging a plurality of one-dimensional target direction detectors configured by combining a dimensional element and a cylindrical lens is used. In order to improve the image position detection accuracy, the present invention provides an R-HPSD having a plurality of selectable signal terminals of a semiconductor image position detection element.
(RIKEN-type hybrid semiconductor image position detector: Akira Tokuyama
No. 62-165969).
さらに、像位置観測手段の位置は予め知られている必
要はなく、像位置観測手段を適当に配置し、対象物体上
に設けられた更正用点を表示することにより、像位置観
測手段の位置、姿勢等を自動推定し、像観測位置を検出
して、それから３次元座標値を算出する式を自動的に設
定できる方法を採用し、３次元座標入力システムの移動
と設定の簡便化を図ることができる。Further, the position of the image position observing means does not need to be known in advance, and the position of the image position observing means is displayed by appropriately arranging the image position observing means and displaying correction points provided on the target object. , Posture, etc. are automatically estimated, an image observation position is detected, and a formula for calculating a three-dimensional coordinate value is automatically set therefrom, thereby simplifying movement and setting of the three-dimensional coordinate input system. be able to.
第１図は、本発明に基づく３次元座標入力装置の構成の
一例、 第２図は、光ビームポインタの構成例。 （符号の説明） BM……計測用光ビーム、 BP……指示点表示用光ビーム、 Ｌ……投影レンズ、 Ｍ……ミラー、 LD……レーザー・ダイオード、 LED……発光ダイオード、 BS……光ビーム走査機構、 Ｔ……３次元位置指示用標識、 SW……光ビームポインタ操作用スイッチ。FIG. 1 is an example of the configuration of a three-dimensional coordinate input device according to the present invention, and FIG. 2 is an example of the configuration of a light beam pointer. (Description of symbols) B M ...... measuring light beam, B P ...... indicated point display light beam, L ...... projection lens, M ...... mirror, L D ...... laser diode, LED ...... emitting diodes, B S ...... light beam scanning mechanism, T ...... 3-dimensional position indication labeling, switch S W ...... light beam pointer operation.
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 昭60−60502（ＪＰ，Ａ) 特開 昭60−253812（ＪＰ，Ａ) 特開 昭55−37982（ＪＰ，Ａ) 特開 昭63−90181（ＪＰ，Ａ) 特開 昭62−259012（ＪＰ，Ａ) 特開 昭63−26522（ＪＰ，Ａ) 特開 昭61−29710（ＪＰ，Ａ) 実開 昭62−114310（ＪＰ，Ｕ) (58)調査した分野(Int.Cl.7，ＤＢ名) G01B 11/00 - 11/30 ──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-60-60502 (JP, A) JP-A-60-253812 (JP, A) JP-A-55-37982 (JP, A) JP-A-63 90181 (JP, A) JP-A-62-259012 (JP, A) JP-A-63-26522 (JP, A) JP-A-61-29710 (JP, A) Japanese Utility Model Showa 62-114310 (JP, U) (58) Field surveyed (Int. Cl. 7 , DB name) G01B 11/00-11/30
Claims (5)
あり、対象物上の測定すべき位置に光ビームを投射して
輝点を生成する光ビーム発生手段と、測定すべき位置に
光ビームが投射された時にこのことを外部に示す計測モ
ード信号の発生を指示する操作スイッチとを備える光ビ
ームポインタ、 前記対象物上に生成された輝点の像位置を検出し、輝点
像位置信号を発生する複数の像位置観測手段、 前記対象物が載せられる回転試料台、および 前記光ビームポインタからの計測モード信号と同期し
て、前記複数の像位置観測手段からの輝点像位置信号を
入力して、３角測量の原理に基づいて輝点の３次元座標
値を算出し、前記輝点の３次元座標値と、前記回転試料
台から回転試料台の回転角度を入力して、対象物表面上
の輝点の３次元位置を算出する情報処理手段、 から構成されることを特徴とする光学的３次元座標入力
装置の構成。A light beam generating means which can be operated by an operator while holding it with a hand, projects a light beam on a position to be measured on an object to generate a bright spot, and a position to be measured. A light beam pointer comprising an operation switch for instructing the generation of a measurement mode signal indicating this when a light beam is projected on the object, detecting an image position of a luminescent spot generated on the object, A plurality of image position observation means for generating an image position signal; a rotating sample stage on which the object is placed; and a bright spot image from the plurality of image position observation means in synchronization with a measurement mode signal from the light beam pointer. The position signal is input, the three-dimensional coordinate value of the bright point is calculated based on the principle of triangulation, and the three-dimensional coordinate value of the bright point and the rotation angle of the rotating sample table from the rotating sample table are input. The three-dimensional position of the bright spot on the surface of the object Configuration of optical three-dimensional coordinate input apparatus characterized by being configured information processing means for out.
ビームと一致して指示点表示用可視光ビームを発生する
可視光ビーム投射手段を備えることを特徴とする請求項
（１）記載の光学的３次元座標入力装置の構成。2. The light beam pointer according to claim 1, wherein said light beam pointer includes a visible light beam projecting means for generating a visible light beam for indicating a designated point in coincidence with said light beam for measurement. Configuration of optical three-dimensional coordinate input device.
ビームを走査する走査機能を備えることを特徴とする請
求項（１）記載の光学的３次元座標入力装置の構成。3. The optical three-dimensional coordinate input device according to claim 1, wherein said light beam pointer has a scanning function for scanning said light beam for measurement.
１次元像位置検出素子とから構成された１次元標点方位
検出器を用いていることを特徴とする請求項（１）記載
の光学的３次元座標入力装置の構成。4. An optical system according to claim 1, wherein said image position observing means uses a one-dimensional target azimuth detector comprising an imaging lens and a one-dimensional image position detecting element. Of a target three-dimensional coordinate input device.
置指示用標識が設けられており、前記ポインタ自身の３
次元位置を検出できるようにしたことを特徴とする請求
項（１）記載の光学的３次元座標入力装置の構成。5. A light emitting type three-dimensional position indicating marker is provided on said light beam pointer, and said light beam pointer has a three-dimensional position indicator.
The configuration of the optical three-dimensional coordinate input device according to claim 1, wherein a three-dimensional position can be detected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63187785A JP3007091B2 (en) | 1988-07-27 | 1988-07-27 | Configuration of optical three-dimensional coordinate input device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63187785A JP3007091B2 (en) | 1988-07-27 | 1988-07-27 | Configuration of optical three-dimensional coordinate input device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0238805A JPH0238805A (en) | 1990-02-08 |
| JP3007091B2 true JP3007091B2 (en) | 2000-02-07 |
Family
ID=16212183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63187785A Expired - Fee Related JP3007091B2 (en) | 1988-07-27 | 1988-07-27 | Configuration of optical three-dimensional coordinate input device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3007091B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3188363B2 (en) | 1994-01-21 | 2001-07-16 | エフエスアイ・インターナショナル・インコーポレーテッド | Temperature controller using circulating coolant and temperature control method therefor |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5537982A (en) * | 1978-09-11 | 1980-03-17 | Ishikawajima Harima Heavy Ind Co Ltd | Solid-shape detector for characteristic test of deformation of curved-surface body |
| JPS6060502A (en) * | 1983-09-14 | 1985-04-08 | Toshiba Corp | Three-dimensional position specifying device |
| JPS60253812A (en) * | 1984-05-31 | 1985-12-14 | Hoya Corp | Non-contact displacement detection apparatus |
| JPS62114310U (en) * | 1986-01-10 | 1987-07-21 | ||
| JPS62259012A (en) * | 1986-05-02 | 1987-11-11 | Toyota Central Res & Dev Lab Inc | Optical distance measuring instrument |
| JPH0691279B2 (en) * | 1986-10-03 | 1994-11-14 | 理化学研究所 | Semiconductor position detector |
| JPH0830653B2 (en) * | 1986-12-27 | 1996-03-27 | オリンパス光学工業株式会社 | Distance detector |
-
1988
- 1988-07-27 JP JP63187785A patent/JP3007091B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0238805A (en) | 1990-02-08 |
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