JP3141048B2 - Three-dimensional measuring method and three-dimensional measuring device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional observation image of a long object having a single cross section such as a pipe.
The present invention relates to a three-dimensional measuring method and a three-dimensional measuring device for measuring a size of a flaw or the like by adjusting a measurement coordinate system to an object when performing dimension measurement.

[0002]

2. Description of the Related Art When measuring the length of a flaw inside a pipe, the following method has been used. The length of the flaw was measured by placing a reference object of a known length in the pipe and comparing the reference object with the flaw in the image. Alternatively, a chart is projected from a certain distance (base line length) away from the observation optical system to calculate three-dimensional coordinates based on the deviation of the chart in the observation image.
No. 06 discloses a three-dimensional coordinate system by projecting a pattern. Also, JP-A-63-140903
In Japanese Patent Application Laid-Open No. H11-157, a conventional example of measuring a position of a cylindrical object by projecting a light cutting line is disclosed.

When measuring a flaw inside a pipe in this way, a reference object is used for an object to be measured, a chart is projected, and auxiliary means are used. Was not calculated.

[0004]

For this reason, there is a problem that means for projecting the chart and auxiliary means are required, and the measuring apparatus is limited. For this reason, there has been a situation in which an existing device that does not have such means can measure the length and the like. In other words, it is necessary to obtain a variable other than a constant that is known in advance from the observation image and measure it, which is necessary for measurement. That is, it is very convenient if there is a device that can perform measurement without using a measurement aid.

The present invention has been made in view of the above points, and does not require an auxiliary tool for measurement, and can obtain a variable other than a constant that is known in advance from an observed image to measure a length and the like. It is an object to provide a three-dimensional measuring method and a three-dimensional measuring device.

[0006]

According to the three-dimensional measuring method of the present invention, a long member having a single cross section is observed, and a three-dimensional measuring method of the surface of the long member is performed based on information in an observation image. Vanishing point of the long member in the
Calculate information for setting measurement coordinates from the cross-sectional shape of the long member based on the virtual line of equal luminance in the observation image, and set the measurement coordinates in correspondence with the vanishing point and the cross-sectional shape. The three-dimensional position corresponding to an arbitrary position of the long member displayed on the screen can be measured using the known information of the long member and the observation optical system.

The three-dimensional measuring apparatus of the present invention is a three-dimensional measuring apparatus for observing a long member having a single cross section and performing three-dimensional measurement of the surface of the long member from information in an observation image. Vanishing point extracting means for extracting a vanishing point of a long member, and a virtual line of equal luminance in an observation image of the long member
Matching means for matching a figure similar to the cross-sectional shape of the long member based on the image, a center point extracting means for obtaining a center of the figure matched to the cross-section in an image, and a vanishing point extracting means. Coordinate axis calculating means for calculating a coordinate axis for measurement from the coordinates and the coordinates from the center point extracting means; and at least any of the long members displayed on the screen using known information on the long members and the observation optical system. By providing the three-dimensional position calculating means for calculating the three-dimensional position corresponding to the position, the three-dimensional position or the length can be calculated from the observed image without using the measurement aid.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIGS. 1 to 41 relate to a first embodiment of the present invention.
FIG. 1 is an overall configuration diagram illustrating an endoscope apparatus according to a first embodiment of the present invention, FIG. 2 is a cross-sectional view illustrating a configuration of a distal end side of an electronic endoscope, and FIG. FIG. 4 is an explanatory diagram showing an observation image obtained in the case of FIG. 3, FIG. 5 is an explanatory diagram showing a state of observing the inside of the pipe, and FIG. FIG. 7 is an explanatory diagram showing a change in the level of luminance of reflected light, FIG. 7 is an explanatory diagram showing an observed image when the center of the objective optical system coincides with the center of the pipe, and FIG. FIG. 9 is an explanatory view showing a state in which the tip of the electronic endoscope is tilted with the center set on the center axis of the pipe;
Is an explanatory diagram showing an observation image in the case of FIG. 8, FIG. 10 is an explanatory diagram showing a state in which the tip of the electronic endoscope is shifted in a direction parallel to the center axis of the pipe, and FIG. 11 is a diagram in the case of FIG. FIG. 12 is a block diagram showing the configuration of a measuring device, FIG. 13 is an explanatory diagram of a coordinate system used in this embodiment, and FIG. 14 is an explanatory diagram showing the relationship between the distal end of the scope and the coordinate system. FIG. 15 is an explanatory diagram showing an observation image in the case of FIG. 14,
FIG. 16 is a flowchart showing the procedure for matching the measurement coordinate system to the pipe coordinate system , FIG. 17 is an explanatory diagram showing the relationship between the S coordinate system and the C coordinate system, and FIG. 18 is the center axis of the optical system and the center axis of the pipe. FIG. 19 is an explanatory diagram showing the relationship between the S coordinate system and the C coordinate system when the values coincide with each other. FIG. 19 shows the S coordinate when the center axis of the optical system moves parallel to the center axis of the pipe from the state of FIG. FIG. 20 is an explanatory diagram showing the relationship between the coordinate system and the C coordinate system, FIG. 20 is an explanatory diagram showing how the measurement coordinate system is translated so as to match the pipe coordinate system, FIG. 21 is a flowchart of the program, and FIG. 23 is a flowchart showing the process of automatic coordinate matching, FIG. 24 is a flowchart showing the process of extracting the darkest darkest point in the screen, and FIG. 25 is a screen showing the center of the image and the darkest point. Up Flowchart showing a processing for calculating an inclination from the amount of deviation scope of the pipe, FIG. 2
FIG. 6 is a flowchart showing a process of inclining by an amount obtained by multiplying the calculated coordinate system by −1, FIG. 27 is an explanatory diagram showing how brightness is obtained to extract an equal luminance circle from an image, and FIG. Is a flowchart showing a process of extracting an equal luminance circle and calculating the center and diameter of the circle, FIG. 29 is an explanatory diagram showing a state of obtaining the center of the equal luminance circle from a set of brightness points, and FIG. FIG. 31 is a flowchart showing a process for obtaining the distance from the coordinate center of the optical system of the isoluminance line from the diameter of FIG. 31, FIG. 31 is an explanatory diagram for obtaining an incident angle that produces an image height, FIG. FIG. 33 is an explanatory diagram showing a state in which a plurality of points are taken on the circumference with the center of the screen as the center, and a difference in brightness is obtained. FIG. 34 is a diagram showing a process of shifting the darkest point when the brightness of the image is not uniform. Flowchart diagram,
FIG. 35 is a flowchart showing a process of calculating the three-dimensional coordinates of the center of the isoluminous circle at that distance from the shift amount and distance between the darkest point and the center of the isoluminous circle. FIG. 37 is a flow chart showing a process of translating the coordinate system for measurement by an amount obtained by multiplying the center x and z coordinates by −1, and FIG. FIG. 39 is a flowchart showing processing for calculating three-dimensional coordinates in a measurement coordinate system of a point designated on the screen, and FIG. 40 is a flowchart showing the length of an arc formed by two designated points. FIG. 41 is a flowchart showing a calculation process, and FIG. 41 is an explanatory diagram showing two measurement points on a pipe.

As shown in FIG. 1, a first embodiment of a three-dimensional measuring apparatus according to the present invention is an endoscope apparatus for observing a pipe. An endoscope apparatus 1 shown in FIG. 1 includes an electronic endoscope (also referred to as an electronic scope) 2 having a built-in imaging unit, a light source device 3 for supplying illumination light to the electronic scope 2, and an imaging unit of the electronic scope 2. The measuring device 4 includes a measuring device 4 that performs signal processing and a monitor 5 that displays an image signal output from the measuring device 4. A keyboard 6 for inputting data and the like is connected to the measuring device 4.

The electronic scope 2 has an elongated insertion portion 7,
It has a wide-width operation section 8 formed at the rear end of the insertion section 7 and a universal cord 9 extending from the operation section 8, and a connector 11 provided at the end of the universal cord 9 is connected to a light source device. 3 can be detachably connected.

The insertion portion 7 is a long flexible portion 1 from the hand side.
2, a bendable portion 13 formed near the tip and freely bendable;
The tip 1 on which an objective optical system and an illumination optical system to be described later are provided.
The insertion portion 7 is inserted into the pipe 15 or the like to be inspected from the distal end portion 14 side, and the inner surface of the pipe 15 is inspected. The operation section 8 is provided with an angle knob 16 for operating the bending section 13 to bend.

The connector 11 is provided with an EL code 17, and the other end of the EL code 17 is provided with an EL connector 18. This EL connector 18 can be connected to the measuring device 4. The measuring device 4 and the light source device 3 are connected by a dimming cable 19, and are supplied from a light source lamp (not shown) in the light source device 3 to the incident end face of the light guide 21 (see FIG. 2) at a luminance level of the image signal, for example. The intensity of the illuminating light is dimmed with a stop so that the display can be performed at a brightness suitable for observation.

FIG. 2 shows an optical system on the distal end side of the electronic endoscope 2. A light guide 21 is inserted into the universal cord 9 and the insertion section 7 extending from the operation section 8, and the distal end side of the light guide 21 is fixed to the illumination window of the distal end section 14 (of the insertion section 7). The illumination light supplied to the incident end face is emitted from the end face on the tip side, that is, the emission end face.

An illumination lens 22 that constitutes an illumination optical system is attached to face the emission end face. Illumination light emitted from the emission end face is expanded and emitted by the illumination lens 22, and the center of the illumination optical system. The front side of the shaft 23 is illuminated.

An observation window is provided adjacent to the illumination window, and an objective optical system (observation optical system) 24 is attached to the observation window via a lens frame. Is provided with a CCD 25, and photoelectrically converts an optical image formed by the objective optical system 24. The signal photoelectrically converted by the CCD 25 is sent to the measuring device 4 through the insertion section 7, the operation section 8, the universal code 9, the connector 11, the EL code 17, and the EL connector 18. The sent image signal is subjected to signal processing in the measuring device 4, converted into a standard video signal, sent to the monitor 5, and projected on the monitor 5.

The objective optical system 24 is composed of, for example, six lenses including a concave lens at the tip. A CCD 25 is joined behind the last convex lens. FIG. 2 shows an example of how the incident light beam reaches the surface of the CCD 25 together with the central axis 26 of the objective optical system 24.

The point where the incident light beam intersects the central axis 26 of the objective optical system 24 when there is no lens is called the coordinate center O of the (objective) optical system. As shown in FIG. 3, the objective optical system 24 is tilted at an angle θ about the coordinate center O of the optical system, and the center axis 26 of the objective optical system 24 is aligned with B of the object AB. In FIG. 3 (the same applies to this figure and thereafter), the central axis 26 of the objective optical system 24 is shown as being along the central axis of the distal end portion 14).

At this time, the observation image on the display surface 5A of the monitor 5 is as shown in FIG. That is, the object B is at the center of the observation image, and A is below B in the image. As will be described later, the emission angle of the light beam corresponding to the position A from the screen with respect to the central axis of the optical system can be calculated. In this case, since the electronic scope 2 is rotated around the coordinate center O of the optical system, , The calculated emission angle matches the rotation angle of the electronic scope 2. If the rotation center is the coordinate center O of the optical system
If it is on the near side, there will be many deviations in the image even with a small rotation angle. Conversely, if it is on the object side with respect to the coordinate center O of the optical system, the amount of displacement in the image is reduced even if it is rotated more.

Note that the optical image formed on the CCD 25 is not shown in FIG.
An image is formed by inverting the object A upside down so that B is positioned on the upper side at the center of D25, but the image is further inverted on the display surface 5A of the monitor 5 and displayed as shown in FIG.
In this case, the center position of the CCD 25 is on the display surface 5 of the monitor 5.
A is displayed at the center position of A.

FIG. 5 is a view showing light rays when observing the inside of the pipe 15. The illumination light emitted from the illumination lens 22 illuminates a certain point C on the inner surface 15A of the pipe 15, and the reflected light returns to the objective optical system. The brightness of the reflected light is displayed in the observation image as the brightness of the point C.

FIG. 6 is a graph qualitatively showing the luminance of the reflected light in the length direction of the pipe 15.
As shown in this graph, it is a monotonically decreasing function.

If the point C is located at a certain distance from the tip of the scope 2, unevenness in brightness due to the difference between the positions of the illumination optical system and the objective optical system can be neglected. Can be regarded as equal.

That is, the center of the objective optical system is the pipe 15
When the equal luminance line is drawn in the observation image as shown in FIG. 7, a circle centered on the center of the image is obtained. The center of the image coincides with the center axis of the pipe 15 and is a vanishing point (BP) of the pipe image. Further, the center of the image is darkest as indicated by an arrow in FIG. 7 , and becomes brighter as the distance from the center of the image increases.

FIG. 8 shows that the coordinate center O of the objective optical system is on the center axis of the pipe 15, and the center axis of the optical system is the pipe 1
A description is given of what kind of image is formed when the image has a certain angle θ with respect to the central axis of No. 5. In FIG. 8, reference numeral 25A denotes an imaging surface of the CCD 25.

FIG. 9 shows an observation image in this case. The center (vanishing point) of the pipe 15 moves to the lower side of the image. As will be described later, this shift amount corresponds to the angle θ. Also, the isoluminance line (virtual line) shown in FIG. 8 becomes a circle as shown in FIG. 9, and its center coincides with the center of the pipe 15.

That is, even when the center axis of the optical system has a certain inclination, there is no change in the appearance in which the isoluminance lines are concentric with the center of the pipe 15. On the other hand, FIG.
A description will be given of what kind of image is formed when the objective optical system is located at 0 and parallel to the center axis of the pipe 15 at a distance a.

FIG. 11 shows an observation image in this case. Since the objective optical system and the central axis of the pipe 15 are parallel, the pipe 1
The center of 5, that is, the position of the vanishing point on the observation image does not change. The vanishing point is at the center of the image. Further, the isoluminance line shown in FIG. 10 is also represented by a circle as shown in FIG.
The center of the image is displayed shifted to the lower side of the image by an amount corresponding to the shift amount a.

That is, when the center O of the optical system is shifted in parallel with the center axis of the pipe 15, the vanishing point of the pipe 15 does not shift on the screen, but the center of the circle representing the equal luminance line is shifted. Move by an amount according to the amount a. Also, as mentioned above
"Relationship between image center and vanishing point" and "
Central relationships "are independent relationships that do not affect each other
So, by calculating separately, you can calculate each value
You.

FIG. 12 shows the configuration of the measuring device 4. The output signal of the CCD 25 input from the EL connector 18 is input to a video input circuit 61, and after being subjected to amplification and A / D conversion, is temporarily stored in a frame memory 62. The video signal temporarily stored in the frame memory 62 is read out, D / A converted by the video output circuit 63, output to the monitor 5, and the imaged object is displayed.

The frame memory 62 includes an address bus,
The CPU 65 is connected to a CPU 65 via a bus 64 including a data bus and a control bus. The CPU 65 performs measurement processing and the like using the video data stored in the frame memory 62. This CPU 65 is connected to a ROM 66, R
AM 67, an image processing memory 68 used as a work area for performing image processing, a hard disk 69, a floppy disk 70, a graphic display controller (abbreviated as GDC) 71 for controlling a graphic display, and connected to the GDC 71 to perform graphic display. And a graphic RAM 72 for performing the operation.

The graphic RAM 72 is connected to a video output circuit 63, and an image generated for measurement is output to the video output circuit 63. Here, a coordinate system used in the following description is defined. These coordinate systems are shown in FIG.
This is shown in FIGS. 13B and 13C. FIG. 13A shows S coordinates, measurement coordinates, C coordinates, and P coordinates when the inside of the pipe 15 is observed with the electronic scope 2, and FIG. 13B shows T coordinates on the monitor screen. FIG.
(C) shows the Mem coordinates in the image processing memory 68.
The subscript attached to the symbol representing the coordinates of these coordinates indicates which coordinate system the variable belongs to. For example, x
S represents the x coordinate in the S coordinate system.

[P coordinates] The coordinates provided on the pipe, and the center axis of the pipe is the yP axis. [S coordinates] Coordinates provided on the scope, with the center of the observation optical system of the scope as the origin and the central axis of the observation optical system being the yS axis. [Measurement coordinates] Calculation coordinates used for measurement, which initially coincide with the S coordinates. If the coordinates match the P coordinates, the measurement can be performed correctly.

[C-coordinates] Coordinates provided on the CCD surface, and the xC-axis and the yC-axis are opposite to the xS-axis and the yS-axis of the S-coordinate with the center as the origin. [T Coordinates] Coordinates on the frame memory 62 coincide with the coordinates provided on the monitor screen for observation. For example, the origin is the center of the screen. [Mem coordinates] In the coordinates on the image processing memory 68, a point corresponding to the upper left of the T coordinate is set as the origin.

In the coordinate system defined in this way, the S coordinate is set to coincide with the P coordinate by moving the tip of the scope, for example (setting the measurement coordinate so as to coincide with the P coordinate). In this case, the observation image of the pipe 15 is as shown in FIG. In this observation image, for example, when a flaw is observed from the point P1 of the prospective angle θ1 to the point P2 of the prospective angle θ2, and the length from the point P1 to the point P2 is to be measured, the diameter D ( = 2 · hS) and the fact that the focal length f of the optical system and the like are known, it can be easily calculated as follows. Details will be described later.

For example, as shown in FIG. 7, the x and z orthogonal coordinate axes (the y coordinate axis is perpendicular to the paper surface) are set on the observation image plane with the vanishing point BP as the origin O, and the angle xOP1 is α. The y-coordinate yOS is calculated by the following equations (1), (7), and (8).
Can be obtained by using

Using equations (2) to (4), the x, z coordinates (xS, zS) of the point P1 are obtained, and the x, y, z three-dimensional coordinates (xS, yS) of the point P1 are obtained. , ZS) are determined. Similarly, the x, y, z coordinates of the point P2 can be obtained. Therefore, the length from the point P1 to the point P2 can be obtained by calculating the square root of the sum of the squares of the respective coordinate components in the case of a straight line, or divided into short line segments in the case of a curve. The length of each line segment is obtained, and the total length can be obtained from the sum of them. In addition, if the length (distance) between two points can be obtained, an arbitrary area can be obtained (measured).

Therefore, by making the coordinate system of the scope coincide with the coordinate system of the pipe, the three-dimensional coordinates of an arbitrary point on the inner surface of the pipe can be changed (without the need for an auxiliary tool or the like, a known method relating to the pipe and the optical system). (Only by using information), it can be obtained only from the observed image, and the length and the area can be easily obtained. For this reason, matching the coordinate system of the scope with the coordinate system of the pipe will be described below.

Next, an image in the case where the scope 2 is freely placed inside the pipe 15 will be described. Since it is difficult to explain in a completely free position, FIG.
As shown in the figure, a is shifted by a on the x-axis, and θ is shifted around the x-axis.
The case where only the rotation is performed will be described.

In this case, as shown in FIG. 15, the farthest point (vanishing point) of the pipe 15 moves downward from the center of the screen as shown in FIG. Deviate by a corresponding amount.

By setting the origin of the S coordinate at the coordinate center O of the optical system as described in the preceding paragraph, the image change when the scope 2 rotates and moves parallel to the pipe 15 can be controlled independently. You will be able to capture. That is, the three-dimensional coordinates of the scope 2 with respect to the pipe 15 can be calculated using only data from the obtained image.

FIG. 16 is a flowchart showing an actual calculation procedure when the origin of the S coordinate is set to the coordinate center O of the optical system. Hereinafter, an actual calculation method according to each procedure (step) of the flowchart will be described.

Since the coordinate C on the CCD 25 and the coordinate T on the monitor screen correspond one-to-one, in the following description, the CCD 25 and the monitor screen are distinguished without distinction.
The description will be made using the C coordinates on the screen.

FIG. 17 shows a coordinate system used for this explanation.
Here, SOO is a point on the central axis of the pipe at an arbitrary distance yOS, SO is a point on the central axis of the optical system at an equidistant yOS, COO is a point on the C coordinate corresponding to SOO, and CO is SO
And the center point of the screen corresponding to the C coordinate.

HC is the distance between CO and COO, hS is SO
And SOO, θS is SO and SO with respect to origin O
The angle between O and the angle of incidence of the ray. This is equal to the rotation angle of the scope.

F is the focal length of the optical system, dist is the distortion correction coefficient of the optical system, and D is the diameter of the pipe.

As shown in step S1 of FIG. 16, the darkest point on the screen is first extracted. The farthest point of the pipe 15 is observed as the darkest point in the observation image (vanishing point). The image processing method for extracting the darkest point in the image will not be described in detail here. Details will be described later. This can be achieved by using a method commonly used in digital image processing. That point is called COO.

Next, as shown in step S2 of FIG.
The inclination of the scope 2 with respect to the pipe 15 is calculated from the amount of shift between the center of the image (screen) and the darkest point on the screen. In FIG. 17, hC indicates the image height on the CCD surface. The following relationship holds between the incident angle of the incident light beam and the image height. This relational expression is determined by the optical system used.

HC = f · sin θS / dist (1) θS is obtained from this equation. That is, the rotation angle with respect to the center of the optical system with respect to the pipe 15 of the scope 2 as the origin is known. In other words, if the y coordinate axis of the measurement coordinate system of the scope 2 is inclined by this angle, the measurement coordinate system becomes parallel to the coordinate system of the pipe 15.

Since the angle θS is obtained by synthesizing the rotation of the x and z axes of the S coordinate, the angle α formed by the line segment CO-COO and the x axis in the C coordinate is used to calculate the x and z axes of the S coordinate. It is necessary to distribute to each rotation.

Α = arccos hxC / hC (2) hxS = hS · cos α (3) hzS = hS · sin α (4) θxS = arctan hzS / yOS = arctan (hS · sin α / yOS) = arctan (tan) θS · sin α) (5) θzS = −arctan hxS / yOS = −arctan (hS · cos α / yOS) = − arctan (tan θS · cos α) (6) From the above, the rotation angles θxS, θzS with respect to each axis Can be calculated.

Next, as shown in step S3, the measuring coordinate system is tilted by an amount obtained by multiplying the calculated tilt by -1. Rotate the coordinates for measurement around the x-axis by -θxS Rotate the coordinates for measurement by -θzS around the z-axis.

Next, as shown in step S4, equal luminance lines are extracted from the image, and the center and diameter of the circle are obtained. The image processing for isoluminance line extraction will not be described in detail here. First, a brightness point approximately at the center of the screen is extracted.
A circle is extracted by performing a binarization process or a smoothing process.

A circle of a known size is matched with the extracted circle, or the x, y of the extracted circle is
The edge of the circle is detected by taking the maximum and minimum values of the coordinates, and the diameter and the center position are obtained. Next, as shown in step S5, a distance yOS from the coordinate center of the optical system of the equal luminance line is obtained from the diameter of the circle.

As shown in FIG. 18, when the center axis of the optical system coincides with the center axis of the pipe, equation (1) and hS = yOS.tan θS (7) D = 2.hS (8) Therefore, if hC is known, yOS can be obtained.

As shown in FIG. 19, even when the center axis of the optical system moves in parallel, if yOS is sufficiently large, the angle SA-O
Since -SB can be regarded as the same as in FIG. 18, it can be calculated in the same way. Although not shown, the error can be similarly ignored when the center axis of the optical system rotates. In this case, the isoluminance line is not a circle but an ellipse and forms an image on the CCD surface.

Next, as shown in step S6, the three-dimensional coordinates of the center of the isoluminance line at that distance are calculated from the shift amount between the darkest point and the center of the isoluminance circle and the distance yOS. As shown in FIG. 20, the darkest point in the screen is CO, and the center of the circle of the isoluminance line at the distance yOS is CP.

The distance on the measurement coordinates corresponding to CO on the C coordinate
Let the point at yOS be SO. Since it is known that the center point SP of the isoluminance line on the measurement coordinates is located at the distance yOS, the three-dimensional position on the measurement coordinates of the SP can be obtained from the displacement hC of CP and CO on the C coordinate. it can. That is,
From equation (1), the expected angle θS can be found, and the ray that comes out at that angle intersects the plane perpendicular to the y axis at the distance of yOS.
The dimensional coordinates may be obtained.

Next, as shown in step S7, the center x,
Translate the measurement coordinates by the amount obtained by multiplying the z coordinate by -1. As can be seen from FIG. 20, the central axis of the measurement coordinate system is S
Through O, the central axis of the pipe passes through SP. In other words, if the measurement coordinate system is translated by an amount corresponding to the deviation between SO and SP, the measurement coordinate system can be made to match the pipe coordinate system.

Let the coordinates of the SP on the measurement coordinate system be (xS, yOS, z
S), the x coordinate of the measurement system is moved by -xS z coordinate by -zS.

According to the above procedure, the measurement coordinate system can be made coincident with the P coordinate. When one point in the observation screen is designated, one coordinate of the pipe surface on the measurement coordinate system corresponding to the point is determined, so that three-dimensional coordinates of one point in the observation screen are calculated. When two points are designated, the distance on the pipe surface between the two points is calculated. When three points are designated, the area on the pipe surface surrounded by the three points is calculated.

According to the first embodiment, it is possible to obtain three-dimensional position information of a pipe corresponding to an arbitrary point from an image using known information without requiring an auxiliary tool or the like. The three-dimensional length and the three-dimensional area using the three-dimensional position information can be easily obtained. For this reason,
Measurement work can be easily performed. Further, the present invention can be used with an existing endoscope having no auxiliary mechanism for measurement.

Next, the three-dimensional measurement method will be described more specifically with reference to the flowcharts shown in FIG. FIG. 21 shows a flowchart of the program. When this program starts, variables required for calculation are initialized as shown in step S11. Next, the input of the pipe diameter D is performed as shown in step S12.

That is, it is displayed on the graphic screen so that the user inputs the diameter of the pipe to be measured.
Captures the pipe diameter data input from the keyboard. Next, an image reading process is performed as shown in step S13. This image reading process is shown in FIG.

As shown in step S13-1, the RAM 6
7, two line buffers (L1 [i], L2 [i]) having a half amount of one line of the frame memory 62 are prepared. Data is moved to this line buffer while reducing one line to half the number of dots.

That is, as shown in step S13-2, first, one dot data of the frame memory 62 is read. The frame memory 62 stores the upper 8 bits of the 16 bits.
Since the chroma (color) signal is recorded in the bits and the Y (brightness) signal is recorded in the lower 8 bits, only the lower 8 bits used in the current processing are extracted. Actually, the upper 8 bits are set to 0.

Next, as shown in step S13-3, the next adjacent point is similarly read. After adding the previous Y data and the current Y data and dividing by 2, the process proceeds to step S13-
As shown in FIG. 4, the data is stored in the first dot of the line buffer L1 [i]. Next, as shown in step S13-5, it is determined whether or not the processing has been performed for one line, and the processing is repeated until the processing for one line is completed.

In this way, one dot having an average brightness is created from the two dots of the frame memory 62, and
By repeating the storing in the line buffer, one line is reduced to half the size. Step S
As shown in 13-6 and S13-7, the next line is processed in the same manner and stored in the line buffer L2 [i].

After two lines have been stored, step S is performed.
As shown in 13-8, the data at the same position in each line is added, divided by 2, and then stored in the image processing memory 68. This is performed for one line. Then, step S1
As shown in 3-9, it is determined whether or not the processing has been performed for all lines, and this processing is repeated until the processing for all lines is completed.

By doing so, the total of 4
A 1/4 thinned image having averaged data is obtained from the dot data, the result is stored in the image processing memory 68, and the image reading process ends. In addition, 3 * 3, 4 * 4, 5 *
A smoothing filter such as 5 may be applied.

Next, automatic coordinate matching will be described. This process is performed on the image processing memory 68. FIG. 23 shows a flowchart of the automatic coordinate adjustment. In this process, the darkest point on the screen, that is, the darkest point is first extracted as shown in step S14-1. This step S14-1
Is as shown in FIG.

The processing shown in steps S14-1a to S14-1e in FIG. 24 is performed. That is, first, as shown in step S14-1a, one dot of brightness data is fetched from the image processing memory 68, and the process proceeds to step S1-1a.
As shown in 4-1a, the brightness Y is 8-bit gradation (0
In -255), it is determined whether or not the point is in the range between 15 and 50, and a point in the range is searched. If there is a point that satisfies the condition, the x coordinate and the y coordinate of the point are obtained as shown in step S14-1c, and each is added. At the same time, the number of added pixels is counted as shown in step S14-1d. The determination shown in step S14-1e is made, and this processing is continued until all the data ends.

When all the points in the image processing memory 68 have been scanned, as shown in steps S14-1f and S14-1g, the sum of the x coordinate and the sum of the y coordinate are each divided by the counted value. That is, the center of gravity of the figure satisfying the condition is obtained. This center of gravity is defined as OO (OOxM, OOyM). This point is the darkest darkest point.

Next, as shown in step S14-2 in FIG. 23, the inclination of the scope with respect to the pipe is calculated from the amount of shift between the center of the image and the darkest point on the screen. This flowchart is shown in FIG. FIG. 17 is a conceptual diagram.
To calculate the inclination, first, in step S14 in FIG.
As shown in FIG. 2a, the darkest point OO of the M coordinate is converted into the T coordinate and then further converted into the C coordinate.

Next, as shown in step S14-2b, C
In the coordinates, the center O ( OxC, OyC ) of the screen and the darkest point OO
Is hC = ((OOxC-OxC) 2+ (OOyC-OyC) 2) 1/2.

Next, as shown in step S14-2c, the incident angle θ of the incident light beam for producing the image height of hC
When s is found, hC = f · sin θS / dist. Here, f represents the focal length of the optical system, and dist represents the distortion correction coefficient.

Next, as shown in step S14-2d,
Since the object height is not represented by the x and z coordinates of the S coordinate, it is assigned to the x and z axes of the S coordinate. To sort
The inclination angle α of the image on the C coordinate plane is used. ΘxS and θzS are obtained by the calculation formula shown in FIG.

Next, as shown in step S14-3 in FIG. 23, FIG. 26 shows that the calculated coordinate system is tilted by an amount obtained by multiplying the calculated tilt by -1. This means that the coordinate system for measurement is a rotation angle θ with respect to the x axis and z axis of the S coordinate.
This means that x and θz have angles of -θxS and -θzS.

Next, as shown in step S14-4 in FIG. 23, extracting the equal luminance line from the image and obtaining the center and diameter of the circle will be described with reference to FIGS. 27 to 29. FIG. 27 shows how to find the brightness for extracting an equal luminance circle from the image, FIG. 28 shows a flowchart for extracting the equal luminance line from the image, and finding the center and diameter of the circle, FIG. 29 shows how the center of the circle of equal luminance is obtained from a set of points of brightness.

As shown in step S14-4a in FIG. 28, first, the point T on the side of the image where the darkest point TOO is closest
Find E. For example, in the case of FIG. 27A, the point is on the upper side of the screen, and in the case of FIG. 27B, the point is on the right end.

Next, step S14-4b in FIG.
As shown in (1), the brightness for extracting the equal luminance line is obtained. When TOO is close to the center of the image as shown in FIG. 27C, a point TY that is internally divided into a line segment 1: 2 connecting TOO and TE.
Is the brightness for extracting the equal luminance line.

When the TOO is far from the center of the image, a point internally divided at 1: 5 is used as shown in FIG. Next, step S14-4c in FIG.
As shown in the figure, 8 points around the point TY and the brightness of the TY itself are added and divided by 9. That is, the average brightness around TY is calculated. The brightness is set to YA. Of course, this operation is also performed at the Mem coordinates.

Next, step S14-4d in FIG.
As shown in (1), the image processing memory 68 is scanned to determine the center of gravity YOA of a figure having the same brightness as the brightness YA. This Y
A figure of a point having the same brightness as A corresponds to an equal luminance circle.

Next, step S14-4e in FIG.
As shown in the figure, scanning in the radial direction from YAO
The distance ri to the point A is obtained. As shown in step S14-4f in FIG. 28, it is determined whether or not i has been scanned in the direction from 0 to 35, and the same processing is repeated in 36 directions. Then, as shown in FIG.
A set of points of brightness YA is obtained by scanning from AO in the radial direction.

As shown in step S14-4g in FIG. 28, the average value r_m is calculated from the 36 distances (radii) ri.
ean and a minimum value r_min are obtained. At the same time, the minimum value r_
The direction i_min where min exists is also found.

Next, step S14-4h in FIG.
As shown in (and FIG. 29), the center of gravity YAO is moved by the amount YS obtained by subtracting the minimum value from the average value in the direction opposite to the direction in which the minimum value exists. The point is defined as the center YO of the circle of equal luminance. Also, as shown in step S14-4i in FIG. 28, the average value r_mean is set to the radius of the circle of equal luminance, and twice the diameter is set to the diameter, and the processing in step S14-4 ends.

Next, as shown in step S14-5 in FIG. 23, the distance from the coordinate center (the origin of the S coordinate and the P coordinate) of the position of the equal luminance line to the position of the equal luminance line is obtained from the diameter of the equal luminance circle. . This situation is shown in FIGS. First,
As shown in step S14-5a in FIG. 30, the radius of the circle of equal luminance on the screen is set as the image height hC, and the incident angle θS for generating the image height is obtained. This calculation formula is shown in FIG.

Since this incident ray is a ray coming from the inner surface of the pipe, the object height must be D / 2. As shown in step S14-5b in FIG. 30, the incident angle θ
S and the object height are the distances to the circle of equal brightness using D / 2, yOS
Ask for. From the equation shown in FIG. 31, the distance yOS to the circle of equal luminance
Can be requested.

[0088] In fact in this case, although the center of the equi-luminance circle cause errors when calculating a radius of a position for not coincide with the center axis coordinates, the center of isoluminant circle is calculated using the diameters image No error occurs even if it deviates from the center. Therefore, it can be calculated by the calculation formula shown in FIG.

Next, shifting the position of the darkest point when the brightness of the drawing is not uniform, as shown in step S14-6 in FIG. 23, will be described with reference to FIGS.

Assume that the lower right corner of the screen is brighter than the upper left corner as shown in FIG. A dark area for extracting the darkest point is an area indicated by E. Since the darkest point is the center of gravity of the area of E, it is almost at the center of the figure of E. However, in this case, the true darkest point F is not the center of gravity of the area E, but is slightly lower right. On the other hand, as shown in FIG. 32 (b), when there is not much difference in the brightness of the entire screen, the center of gravity of the E region coincides with the darkest point F. As described above, when the brightness of the screen is not uniform, it is necessary to shift the position of the darkest point.

The outline of the processing will be described with reference to FIG. A point G is set on a circle centered on the center of the screen, and a difference in brightness is obtained in a diagonal direction. From the difference in brightness, the brightest direction in the screen is searched, and at the same time, the difference in brightness is determined. FIG.
Shows the processing procedure.

First, as shown in step S14-6a,
Set an almost screen-full circle centered on the center of the drawing. The omnidirectional scanning is performed by pairing the points at both ends of the diameter of the circle, that is, by pairing two points intersecting a diagonal line passing through the center of the circle. Next, a difference in brightness between two points at both ends of the diameter is obtained.

Next, as shown in step S14-6b,
It is determined whether or not the difference in brightness is equal to or larger than a predetermined value. If there is no difference, the process is terminated without performing this processing since there is little unevenness in screen brightness. If the difference in brightness is equal to or larger than the predetermined value, the maximum value and the direction of the difference in brightness are obtained as shown in step S14-6c.

Next, as shown in step S14-6d,
The radius sy of a figure (equiluminance circle) having a brightness Y of 50 is obtained. This method is the same as the method for obtaining the equal luminance circle. That is, the center of the figure E in FIG. 32A is obtained. If the difference in brightness is large, the circle is moved by the radius of the circle of equal luminance. If the difference in brightness is not so large, it is not necessary to shift the point F greatly.

Then, as shown in step S14-6e, sy is multiplied by a predetermined amount proportional to the maximum value of the brightness difference,
As shown in step S14-6f, the darkest point is moved by an amount obtained by multiplying the predetermined amount by sy. The direction of movement is the direction in which the difference in brightness is greatest. Next, as shown in step S14-7 in FIG. 23, the three-dimensional coordinates of the center of the isoluminance line at that distance from the distance between the certain darkest point and the center of the isoluminous circle and the distance of the isoluminous circle. Figure 3 for calculating
This will be described with reference to FIGS.

First, step S14-7a in FIG.
As shown in (5), the image height on the screen of the darkest point COO and the center YO of the circle of equal luminance is obtained. hC · hC = (COOxC−YOxC) · (COOxC−YOxC) + (COOyC−YOy
C) · (COOyC−YOyC) Next, as shown in step S14-7b, a height at which an image height of hS is generated at an object height at a distance of yOS from the tip of the scope is obtained. This point is referred to as SP.

HC = f · sin θS / dist As shown in FIG. 36, if the point at which the plane perpendicular to the Y axis at the distance yOS intersects the center axis of the optical system is SO, SP and SO
Is equal to the parallel displacement of the center axis of the pipe and the scope. At this time, since the alignment of the measurement axes has not been completed, SO is the center of the image and the center of the circle of equal luminance on the measurement coordinates. SP is the center of the circle of equal luminance on the image, but is simply a point in space on the measurement coordinates.

When the measurement coordinates match the coordinates of the pipe, SP is the measurement coordinate and is the center point of the circle of equal luminance. Even if the measured coordinates do not match the pipe coordinates, the value of hS does not change, so the amount of displacement of the scope can be calculated using this formula. hS = yOS tan θS Since the calculated hS is the length in the space, x in the measurement coordinate system
It is necessary to assign values to the axis and z axis. The values are distributed in the same manner as in FIG.
As shown in 14-7c, they are shift_x and shift_z, respectively.

Next, as shown in step S14-8 in FIG. 23, the parallel movement of the measuring coordinate system by an amount obtained by multiplying the x and z coordinates of the center by the x and z coordinates of the offset by -1 is shown. 37.

As shown in FIG. 37, the shift amounts of the measurement coordinate system are xshift and zshift, respectively, and the calculated shift amounts shift_x and shift_z are multiplied by −1. That is, the measuring coordinate system shifts by this amount with respect to the S coordinate.

Next, the measurement shown in step S15 in FIG. 21 will be described with reference to FIG. Since the length is measured as shown in step S15-1 in FIG. 38, two points on the screen are designated. When two points are specified, the three-dimensional coordinates on the measured coordinates of each point are calculated as shown in steps S15-2 and S15-3, and the distance between the two points on the inner surface of the pipe, that is, shown in step S15-4 Thus, the length of the arc formed by the two points is calculated. Thereafter, the calculation result is displayed as shown in step S15-5, and step S15-6 is displayed.
The same measurement is continued at other measurement points or the measurement is terminated depending on whether or not to terminate the measurement shown in (1).

The method of calculating the three-dimensional coordinates in the measurement coordinate system of the point specified in the screen in step S15-2 or S15-3 will be described with reference to FIG. First, step S
The coordinate specified by the T coordinate is converted to the C coordinate as shown in 15-2a. This is a normal conversion formula for scaling and translation.

Next, as shown in step S15-2b,
The three-dimensional coordinates on the measurement coordinates are calculated from the C coordinates. The relational expression is shown below. Image height hc on C coordinate and incident angle θ
Relational expression with s.

HC · hC = (hxC · hxC + hyC · hyC) hC = f · sin θS / dist A relational expression for distributing the object height hS on the S coordinate and the x and y axes of the S coordinate.

HxC / hC = cos α hxS = hS cos α hS = hyS tan θS hyS = hS sin α The relational expression from the S coordinate to the M coordinate for measurement. This equation is 3
The rotation and the translation about the x-axis and the z-axis of the dimensional space are shown. That is, xM cos (-θz) sin (-θz) 0 yM = -sin (-θz) cos (-θz) 0 zM 0 0 1 1 0 0 hxS -x shift × 0 -cos (-θx) sin (- θx) hyS +0 0 -sin (-θx) cos (-θx) hzS -z shift
become that way.

Further, a relational expression in which a point exists on the surface of the pipe on the coordinates for measurement is xM xxM + zMzzM = (D / 2) ・ (D / 2), and the variables are xS, yS, zS, xM , yM, zM and six independent equations, so that they can be solved.

Next, as shown in step S15-2c,
Let xM, yM, and zM of this solution be the three-dimensional coordinates for which a point is determined. Next, by steps S15-2 and S15-3 in FIG.
When the three-dimensional coordinates of the two measurement points on the pipe surface are known, the length of the arc formed by the two specified points is calculated.

FIGS. 40 and 41 show the method. FIG.
, The first point H and the second point I are projected onto a surface of yM = 0, and the respective points are defined as h and i. Assuming that the angles formed by the projected point and the xM axis are θ1 and θ2, respectively, as shown in steps S15-4a and S15-4b in FIG. 40, or as a square, (cos θ1) · (cos θ1) = x1 / x1 / (x1 / x1 + z1 / z
1), (cos θ2) · (cos θ2) = x2 · x2 / (x2 · x2 + z2 · z2).

The length of the projected arc hi is determined in step S1.
As shown in 5-4c, hi = D × (θ2−θ1) / 2π, which is equal to the length of IJ, so that the length L of HI to be obtained is L·L = (Hi · hi + (y2−y1) · (y2−y1)).

Next, the calculation result is displayed as in step S15-5 in FIG. If the measurement is repeated in response to the determination shown in step S15-6, return to the beginning of the measurement,
If the operation is to be terminated, an operation of termination is performed. Next is the end processing of step S16 in FIG.

When the measurement is completed, the set pipe diameter and other variables are recorded as a file in the hard disk and the program is terminated. With the configuration described above, the matching of the measurement coordinates to the pipe can be automatically performed.

In the present embodiment, the minimum value of the extracted radius is used when extracting the radius of the circle of equal luminance. However, a radius smaller than the average value by the standard difference σ may be used. By doing so, it is possible to accurately extract the radius even when the extracted image is uneven and the extracted radius varies greatly.

Next, a second embodiment of the present invention will be described. In the first embodiment, the vanishing point and the equal luminance line are automatically extracted by using the image processing. However, a method of manually selecting points while viewing the image without using the image processing is used.

FIG. 42 shows the operation screen. FIG.
(A) is a screen when an operation is performed to extract the darkest point in an image.

The two concentric circles and the center are superimposed in the image as guidelines. A cursor 41 in the shape of a hand holding the center is displayed, and the cursor 41 is moved by operating a cursor movement key on the keyboard. The guide line 42 also moves according to the movement of the cursor 41 (b).

When the guideline is centered on the darkest point on the screen, the ENT key is pressed. Then, the cursor 43 shown in (c) is displayed. When the guideline 43 is matched with the isoluminance line, press the (d) ENT key. As described above, the coordinates of the measurement system can be made to coincide with the P coordinates as in the first embodiment.

FIGS. 43 (a) and 43 (b) show other examples of the guideline. FIG. 43 (a) shows a guide point for setting a vanishing point, a circle serving as a guide for setting a cross-sectional shape, and a line radiating from this point toward the circle.
FIG. 43 (b) shows a circle further inside in FIG. 43 (a), and only points serving as guides are displayed inside this circle.

Next, a third embodiment of the present invention will be described with reference to FIG. The third embodiment is an embodiment in which the surface of a pipeline is inspected by a three-dimensional measuring device 52 using a normal TV camera 51 instead of an endoscope image. As shown in FIG. 44, the three-dimensional measuring device 52 includes a TV camera 51 that captures an image of a pipe 53, a TV camera 51 and a cable 54.
And a signal processing means for performing signal processing on an image pickup means built in the TV camera 51 and a measuring device 56 in which a monitor 55 is integrated. A monitor 55, an ENT key 57, and a cursor key 5 are provided on a panel of the measuring device 56.
8 are provided.

FIG. 45 shows an example of an image when observing the pipeline. There is a vanishing point in the pipeline in the image. A flange 59 for connecting the pipe 53 is visible in a part of the pipe 53. As in the second embodiment, first, a vanishing point is specified in the screen, and then a guide line 60 indicated by a broken line is matched with the flange 59 of the pipe 53. From these two data, measurement coordinates can be pasted on the pipeline by the method shown in the first embodiment.

The three-dimensional coordinates on the pipeline can be calculated by calculating the observable point on the measurement coordinates from the points on the screen. The measuring method is the same as in the first embodiment. Although each of the above embodiments has been described using a pipe having a circular cross section as a single cross section, the cross section need not be circular, and may be elliptical, square, rectangular, or polygonal.

Although a method for obtaining the cross section of the pipe uses the isoluminance line, the present invention is not limited to this, and a line of the connecting portion that matches the cross section of the pipe may be used, or the line drawn inside the pipe may be used. Alternatively, a line that matches the cross section may be used.

[0122]

According to the present invention described above, by using the darkest point in the image and the line representing the cross section of the member to be measured, there is no need for an auxiliary tool for length measurement or the like. 2
Three-dimensional coordinates can be obtained from the three-dimensional image. For this reason, the measurement operation is facilitated, and there are few restrictions on the devices that can be measured, and the invention can be widely applied.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram showing an endoscope apparatus according to a first embodiment of the present invention.

FIG. 2 is a cross-sectional view illustrating a configuration of a distal end side of the electronic endoscope.

FIG. 3 is an explanatory diagram showing a state in which the distal end side of the electronic endoscope is inclined.

FIG. 4 is an explanatory view showing an observation image obtained in the case of FIG. 3;

FIG. 5 is an explanatory diagram showing a state of observing the inside of the pipe.

FIG. 6 is an explanatory diagram showing a level change of the luminance of reflected light in the length direction of the pipe.

FIG. 7 is an explanatory diagram showing an observation image when the center of the objective optical system coincides with the center of a pipe.

FIG. 8 is an explanatory diagram showing a state in which the tip of the electronic endoscope is tilted in a state where the coordinate center of the objective optical system is set on the center axis of the pipe.

FIG. 9 is an explanatory diagram showing an observation image in the case of FIG. 8;

FIG. 10 is an explanatory diagram showing a state in which the tip of the electronic endoscope is shifted in a direction parallel to the center axis of the pipe.

FIG. 11 is an explanatory diagram showing an observation image in the case of FIG. 10;

FIG. 12 is a block diagram showing an internal configuration of the measuring device.

FIG. 13 is an explanatory diagram of a coordinate system used in this embodiment.

FIG. 14 is an explanatory diagram showing a relationship between a distal end side of a scope and a coordinate system.

FIG. 15 is an explanatory diagram showing an observation image in the case of FIG. 14;

FIG. 16 is a flowchart showing a procedure for matching a measurement coordinate system with a pipe coordinate system .

FIG. 17 is an explanatory diagram showing a relationship between an S coordinate system and a C coordinate system.

FIG. 18 is an explanatory diagram showing the relationship between the S coordinate system and the C coordinate system when the center axis of the optical system matches the center axis of the pipe.

FIG. 19 is an explanatory diagram showing the relationship between the S coordinate system and the C coordinate system when the center axis of the optical system moves parallel to the center axis of the pipe from the state of FIG. 18;

FIG. 20 is an explanatory view showing a state in which a measurement coordinate system is translated so as to coincide with a pipe coordinate system.

FIG. 21 is a flowchart of a program.

FIG. 22 is a flowchart illustrating an image reading process.

FIG. 23 is a flowchart showing an automatic coordinate matching process.

FIG. 24 is a flowchart showing a process of extracting the darkest darkest point in the screen.

FIG. 25 is a flowchart showing a process for calculating the inclination of the scope with respect to the pipe from the amount of displacement between the center of the image and the darkest point on the screen.

FIG. 26 is a flowchart showing a process of inclining by an amount obtained by multiplying the inclination calculated for the measurement coordinate system by −1;

FIG. 27 is an explanatory diagram showing how to obtain brightness to extract an equal luminance circle from an image.

FIG. 28 is a flowchart showing processing for extracting an equal luminance circle and obtaining the center and diameter of the circle.

FIG. 29 is an explanatory diagram showing a state where a center of an equal luminance circle is obtained from a point set of brightness.

FIG. 30 is a flowchart showing a process for obtaining the distance from the coordinate center of the optical system of the equal luminance line from the diameter of the equal luminance circle.

FIG. 31 is an explanatory diagram for finding an incident angle that produces an image height.

FIG. 32 is an explanatory diagram for obtaining the darkest point.

FIG. 33 is an explanatory diagram showing a state in which a plurality of points are taken on the circumference with the center of the screen as a center, and a difference in brightness is obtained.

FIG. 34 is a flowchart of processing for shifting the darkest point when the brightness of an image is not uniform.

FIG. 35 is a flowchart showing a process for calculating three-dimensional coordinates of the center of the isoluminous circle at that distance from the shift amount and distance between the darkest point and the center of the isoluminous circle.

FIG. 36 is an explanatory diagram showing a state in which a measurement coordinate system is translated so as to coincide with a pipe coordinate system.

FIG. 37 is a flowchart showing a process of translating the measurement coordinate system by an amount obtained by multiplying the x, z coordinates of the center by −1.

FIG. 38 is a flowchart showing a measurement process.

FIG. 39 is a flowchart showing a process of calculating three-dimensional coordinates in a measurement coordinate system of a point specified on the screen.

FIG. 40 is a flowchart showing a process of calculating the length of an arc formed by two designated points.

FIG. 41 is an explanatory diagram showing two measurement points on a pipe.

FIG. 42 shows vanishing points and equal luminance in the second embodiment of the present invention.
FIG. 7 is an explanatory diagram of setting a position of a guide line of a circle .

FIG. 43 is an explanatory view showing another embodiment of the guide line in FIG. 42;

FIG. 44 is an overall configuration diagram of a third embodiment of the present invention.

FIG. 45 is an explanatory diagram showing an observation image in the third embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Endoscope apparatus 2 ... Electronic scope 3 ... Light source device 4 ... Measuring device 5 ... Monitor 6 ... Keyboard 7 ... Insertion part 8 ... Operation part 9 ... Universal code 11 ... Connector 14 ... Tip part 15 ... Pipe 21 ... Light guide Reference numeral 22: illumination lens 24: objective optical system 25: CCD 26: central axis

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) G01B 11/00-11/30 102 G01N 21/84-21/958 G02B 23/24-23/26

Claims (2)

(57) [Claims] 1. A three-dimensional measuring method for observing a long member having a single cross section, based on information in an observation image, wherein a vanishing point of the long member in a screen and the length of the long member are determined. Observation of length members
Information for setting measurement coordinates is calculated from the cross-sectional shape of the long member based on the imaginary virtual line in the image, and the measurement coordinates are set corresponding to the vanishing point and the cross-sectional shape. 3 corresponding to an arbitrary position of the long member displayed on the screen using the known information of the long member and the observation optical system.
A three-dimensional measurement method capable of measuring a three-dimensional position. 2. A three-dimensional measuring apparatus for observing a long member having a single cross section and performing three-dimensional measurement of the surface of the long member from information in an observation image. A vanishing point extracting unit for extracting a point, and a point based on a virtual line of equal luminance in an observation image of the long member.
And matching means for matching the shape, similar to a figure of the cross section of the serial elongated member in the screen, and the center point extracting means for finding the center of the figure in the image that is matched to the cross section, and coordinates from the vanishing point extracting means A coordinate axis calculating unit that calculates a coordinate axis for measurement from the coordinates from the center point extracting unit; and at least an arbitrary position of the long member displayed on the screen using known information of the long member and the observation optical system. And a three-dimensional position calculating means for calculating a corresponding three-dimensional position.