JP4944633B2 - Three-dimensional shape measuring apparatus and three-dimensional shape measuring method - Google Patents

Description

  The present invention relates to a three-dimensional shape measuring apparatus and a three-dimensional shape measuring method, and more particularly to an apparatus and a method capable of measuring a three-dimensional shape in a short time.

  Many methods for measuring the three-dimensional shape of an object in a non-contact manner have been proposed. As one of them, a sinusoidal grating phase shift method is known. This sine wave grating phase shift method is generally performed as follows.

As shown in FIG. 7, a light pattern having a sinusoidal luminance distribution is projected from a light source 72 to an object 73 through a grid 71 on which a light and shade pattern is printed in a sinusoidal pattern, and the fringe pattern on the object 73 is The image is taken by a camera 74 installed at a location different from the light source 72. An image is taken while shifting the grating 71 N times by 1 / N of the wavelength in the direction perpendicular to the stripes while the object 73 is stationary. For example, if the grating 71 is driven so that the phase of the fringe pattern is shifted by π / 2, and imaging is performed four times before the phase moves by one period, an object 73 is obtained as shown in FIG. Four luminance values Ip ₍₀₎ , Ip ₍ π _{/ 2)} , Ip ₍ π ₎ , and Ip ₍ 3π _{/ 2)} can be obtained for the measurement target point P on the surface. By substituting those luminance values into the following Equation 3, the phase φ of the light projected on the measurement target point P can be obtained. Here, (x, y) in Equation 3 are the coordinate values of the measurement target point P in the horizontal and vertical directions.

  The obtained phase φ corresponds to the projection angle β of the light to the measurement target point P in order to indicate which part of the grating 71 the light reaching the measurement target point P passes as shown in FIG. Value. After the phase φ for the measurement target point P is obtained, the obtained phase value, the distance A between the camera 74 and the light source 72, and the photographing angle α when the object 73 is photographed are used according to the principle of triangulation. The distance Z to the measurement target point P is obtained. Thereafter, the above processing is also performed for other measurement target points to obtain the distance Z, and thereby the surface shape of the object 73 can be specified.

As described above, the phase φ of the light projected onto the measurement target point P can be obtained using Equation 3. However, since tan ⁻¹ is a periodic function having a period of 2π, the phase value derived by Equation 3 is used. φ can only take any value between 0 and 2π. For this reason, for example, even if the actual phase value φ is 7π / 2, the phase value φ derived by Equation 3 is 3π / 2, and the indefiniteness of an integral multiple of the period 2π remains.

Therefore, for example, in Patent Document 1, light (see FIG. 9) having a light and shade pattern obtained by adding a sine wave having a basic period and a sine wave having a period twice the basic period is projected onto an object. The phase value φ ₁ corresponding to the light of the light / dark pattern having the basic period and the phase value φ ₂ corresponding to the light of the light / dark pattern having the double period are obtained, and the phase value φ ₁ is referred to with reference to the phase value φ _2. There has been proposed a three-dimensional shape measuring apparatus that removes the indefiniteness of the phase value φ ₁ by connecting the phases.

Japanese Patent No. 3199041

  However, in the above three-dimensional shape measuring apparatus, since the light obtained by adding the light and shade patterns with different periods is projected onto the object, the light projected on the object is used as the basic period to obtain the distance to the measurement target point. It is necessary to divide into the amount corresponding to the light of λ and the amount corresponding to the light having a cycle twice the basic cycle. For this reason, when measuring a three-dimensional shape, an advanced mathematical method is required, and there is a problem that the processing time is prolonged.

  Therefore, the present invention has been made in view of the above-described problems in the prior art, and can reduce a calculation time and can measure a three-dimensional shape in a short time and a three-dimensional shape measuring apparatus An object is to provide a shape measuring method.

In order to achieve the above object, the present invention projects a sinusoidal light pattern on an object, images the object on which the light pattern is projected, and measures the three-dimensional shape of the object based on the captured image. A three-dimensional shape measuring apparatus, wherein the first light pattern having a first wavelength and the second light pattern having a second wavelength longer than the first wavelength are projected onto the object, and the first and An imaging unit that captures an object on which the second light pattern is projected, and a phase that calculates the relative phase of the first and second light patterns for each pixel constituting the image based on the image captured by the imaging unit. a calculation unit, is created in advance, a table relative phase table value of the first and second light patterns are recorded for each coordinate of each pixel in association with distance, calculated by the phase calculating means and the With 1 and the relative phase of the second light pattern by referring to said table, and a distance deriving means for obtaining a distance to the object, said distance deriving means, the target pixel showing the measurement object point coordinates in the same coordinate The first and second lights having the same combination as the combination of the relative phases of the first and second light patterns are read out from the table and the relative phase table values of the first and second light patterns associated with the first and second light patterns are read from the table. The relative phase table value of the pattern is searched .

  According to the present invention, after the calculation of the relative phase values of the first and second light patterns, the first and second calculated relative phase values of the first and second light patterns recorded in the table are calculated. The distance to the object can be derived simply by searching for the same combination with the relative phase value of the second light pattern, so the distance can be obtained with extremely simple processing, and the three-dimensional shape of the object can be quickly obtained. It becomes possible to measure.

  In the three-dimensional shape measuring apparatus, the second wavelength can be made a non-integer multiple of the first wavelength, and according to this, it is possible to avoid that the measurable distance is limited to be short. .

The present invention also provides a three-dimensional shape measurement method for projecting a sinusoidal light pattern onto an object, photographing the object on which the light pattern is projected, and measuring the three-dimensional shape of the object based on the photographed image. A step of projecting a first light pattern having a first wavelength and a second light pattern having a second wavelength longer than the first wavelength onto the object; and projecting the first and second light patterns. A step of photographing the captured object, a step of calculating a relative phase of the first and second light patterns for each pixel constituting the image based on the photographed image, a pre-created, and associated with the distance a table relative phase table value of the first and second light patterns are recorded for each coordinate of each pixel, by referring to use of the third relative phase of said first and second light pattern is calculated in step, Have a determining a distance to the serial object, determining a distance to the object, relative to the first and second light pattern associated with the coordinates of the same coordinate of the target pixel showing the measurement target point The phase table value is read from the table, and the relative phase table value of the first and second light patterns having the same combination as the combination of the relative phases of the first and second light patterns is searched . According to the present invention, similar to the above-described invention, the distance can be obtained by an extremely simple process, and the three-dimensional shape of the object can be quickly measured.

  In the three-dimensional shape measurement method, the second wavelength can be made a non-integer multiple of the first wavelength, and according to this, it is possible to avoid that the measurable distance is limited to be short. .

  As described above, according to the present invention, it is possible to reduce the calculation time and measure the three-dimensional shape in a short time.

  Next, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is an overall configuration diagram showing an embodiment of a three-dimensional shape measuring apparatus 1 according to the present invention. The three-dimensional shape measuring apparatus 1 is a monocular three-dimensional shape measuring apparatus having one projection unit and one photographing unit, and transmits light having a predetermined density distribution (hereinafter referred to as “light pattern”) to the object 2. A projector 3 that projects the light, a camera 4 that captures the object 2 on which the light pattern is projected, and a control unit 5 that controls the projector 3 and the camera 4 and performs various arithmetic processes.

  The projector 3 includes a light source 3a that emits light having a predetermined intensity, and a sine wave grating 3b that displays a sine wave-like shading pattern and modulates the light from the light source 3a into a sine wave. The sine wave grating 3b is composed of, for example, a DMD (Digital Micro-mirror Device) that can control on / off of a reflection mirror in units of pixels, a liquid crystal panel that can control light transmittance in units of pixels, and the like, and a pattern of gray patterns It is possible to electronically change the interval, that is, the wavelength of the sine wave, or to electronically shift the phase of the shading pattern.

  In the present embodiment, when the light pattern is projected onto the object 2, the pattern interval of the shading pattern of the sine wave grating 3b is controlled, and a sine wave light pattern having a basic period (hereinafter referred to as “short wavelength light”). Two types of light patterns are projected: a “pattern” (20) and a sinusoidal light pattern (hereinafter referred to as a “long wavelength light pattern”) 30 having a period longer than the period of the light pattern 20. The long wavelength light pattern 30 is set so that its wavelength does not become an integral multiple of the wavelength of the short wavelength light pattern 20.

  Further, when projecting each light pattern of the short wavelength light pattern 20 and the long wavelength light pattern 30, the phase of the light and shade pattern displayed on the sine wave grating 3b is controlled so that the phase of each light pattern is π / Shifted by two.

  As shown in FIG. 2, the control unit 5 includes a camera control unit 10 that controls the operation of the camera 4, a projector control unit 11 that controls the operation of the projector 3, and an image capture that captures an image signal output from the camera 4. A storage unit 13 that stores a later-described table 13a and the like, a phase calculation unit 14 that calculates a phase value, a distance deriving unit 15 that obtains a distance to the object 2 with reference to the table 13a, and a three-dimensional And a three-dimensional data generation unit 16 for generating data.

  The image capture unit 12 captures an image signal for one screen output from the camera 4 in synchronization with the phase shift operation of the projector 3 and stores the image signal in the storage unit 13. In the present embodiment, an image signal is captured at each timing when the phase shift amount of the light pattern becomes 0, π / 2, π, 3π / 2, 2π.

The phase calculation unit 14 calculates a phase value based on the image signal captured by the image capture unit 12. The phase value is calculated for each pixel when the short wavelength light pattern 20 is projected and when the long wavelength light pattern 30 is projected. The phase value φ ₁ when the short-wavelength light pattern 20 is projected is calculated by the following formula 1, and the phase value φ ₂ when the long-wavelength light pattern 30 is projected is calculated by the following formula 2. Is done.

Here, (x, y) are the horizontal and vertical coordinate values of the pixel, and I ₁ and I ₂ are the luminance values of the pixel. N ₁ and N ₂ are the number of phase shift shifts, and t ₁ and t ₂ are phase shift shift amounts.

Both of the phase values φ ₁ and φ ₂ calculated as described above have indefiniteness that is an integral multiple of the period 2π. In the following description, the phase value having indefiniteness is referred to as a “relative phase value”. Called. Also, the phase shifted short wavelength light pattern 20 is projected, the relative phase value obtained from the captured image is referred to as “short wavelength relative phase value”, and the phase shifted long wavelength light pattern 30 is projected. The relative phase value obtained from the captured image is referred to as a “long wavelength relative phase value”.

The distance deriving unit 15 refers to the table 13a stored in the storage unit 13 using the relative phase values φ ₁ and φ ₂ calculated by the phase calculating unit 14 and refers to the distance from the reference point J to the measurement target point P. Z (see FIG. 1) is derived.

FIG. 3 is a schematic diagram illustrating an example of the table 13a, and FIG. 4 is a diagram conceptually illustrating a method for creating the table 13a. As shown in FIG. 3, the table 13a is provided with a plurality of distance tables 40a, 40b,... 40k, and each distance table 40 has a short wavelength relative phase value φ ₁ and a long wavelength relative phase value φ. ₂ is recorded. Hereinafter, in order to distinguish the relative phase values φ ₁ and φ ₂ recorded in the table 13a from the relative phase values φ ₁ and φ ₂ calculated at the time of measuring the three-dimensional shape, the relative phase table values Tφ ₁ and Tφ ₂ Called.

The table 13a is created by sampling the short-wavelength relative phase value φ ₁ and the long-wavelength relative phase value φ ₂ before measuring the three-dimensional shape. In creating the table 13a, first, the distance between the projector 3 and the camera 4 and their installation angles are fixed to the same state as when measuring an actual three-dimensional shape, and a flat plate having a flat surface is set to a predetermined reference. Installed at a position (distance Z ₀ ) to project a short wavelength light pattern. Then, an image is taken while shifting the phase by π / 2, and a short wavelength relative phase value φ ₁ (A ₀ ) is calculated for each pixel. Next, a long wavelength light pattern is projected without changing the position of the flat plate, and a long wavelength relative phase value φ ₂ (B ₀ ) is calculated in the same manner as described above.

Next, the calculated short-wavelength and long-wavelength relative phase values φ ₁ (A ₀ ) and φ ₂ (B ₀ ) are stored in the distance table 40a for the distance Z ₀ and the short-wavelength and long-wavelength relative phase table values Tφ ₁ ( A ₀ ) and Tφ ₂ (B ₀ ). At this time, the relative phase table values Tφ ₁ and Tφ ₂ of the short wavelength and the long wavelength are recorded in association with the coordinates of each pixel, and the two phase values are not recorded separately but set in pairs. Record with.

Thereafter, the flat plate is moved in the depth direction by a predetermined amount, the distance from the reference position to the flat plate is set to Z ₁ , and the relative phase values φ ₁ (A ₁ ), φ ₂ are set for each pixel in the same manner as described above. Find (B ₁ ). Then, the obtained relative phase table values Tφ ₁ and Tφ ₂ are recorded in the distance table 40b of the distance Z ₁ . Thereafter, the relative phase table values Tφ ₁ and Tφ ₂ at the distances Z ₂ , Z ₃ ... Z _k are sequentially obtained while moving the flat plate in the depth direction by a predetermined movement amount, and the distance table 40 for each distance is obtained. Record it. The relative phase table values Tφ ₁ and Tφ ₂ are recorded in the table 13a up to what distance, the size of the measurement target range is set, the shape and size of the measurement target It can be appropriately determined according to the above.

  Next, a three-dimensional shape measurement method using the above three-dimensional shape measurement apparatus 1 will be described.

  In measuring the three-dimensional shape of the object 2, first, with the phase shift amount of the light pattern set to 0, the short-wavelength light pattern 20 is projected onto the object 2 and the image signal output from the camera 4 is captured. (Step S1). Next, in a state where the phase of the light pattern is sequentially shifted by π / 2, π, 3π / 2, and 2π, the short-wavelength light pattern 20 is projected onto the object 2 and an image signal with each phase shift amount is captured ( Step S2).

Next, from the image signal captured when the phase shift amount of the light pattern is 0 and the image signal captured when the phase of the light pattern is shifted by π / 2, π, 3π / 2, 2π, the short wavelength The relative phase value φ ₁ when the light pattern 20 is projected is calculated (step S3). At this time, the relative phase value φ ₁ is calculated for each pixel and stored in the storage unit 13 in association with the pixel coordinates.

Next, a long wavelength light pattern 30 is projected onto the object 2, and the phase of the image signal and the light pattern when the phase shift amount of the light pattern is set to 0 are shifted by π / 2, π, 3π / 2, and 2π. Each image signal is captured (steps S4 and S5). Then, based on each captured image signal, the relative phase value φ ₂ when the long-wavelength light pattern 30 is projected is calculated for each pixel and stored in the storage unit 13 (step S6).

Next, one pixel is selected as a target pixel (measurement target point) from a plurality of pixels constituting one screen (step S7), and the relative phase values φ ₁ and φ ₂ of the selected pixel are stored from the storage unit 13. Read (step S8). Next, referring to the table 13a, a set having the same combination as the relative phase values φ ₁ and φ ₂ is retrieved from the set of the relative phase table values Tφ ₁ and Tφ ₂ recorded in the table 13a (step S1). S9). At this time, all relative phase table value Tifai ₁ in the table 13a, instead of referring to Tifai _2, the relative phase table value Tifai ₁ of the same coordinates as the coordinates of the target pixel, read only Tifai _2, the same among them Search for combinations.

  Next, the distance Z in the distance table 40 in which the searched set is recorded is read, and the read distance Z is recognized as the depth coordinate of the measurement target point (step S10).

  After obtaining the depth coordinates of the measurement target point, it is determined whether or not pixels (measurement target points) from which the depth coordinates have not been acquired remain (step S11). One pixel is selected as the pixel of interest (step S12). Then, in the same manner as described above, the depth coordinates are acquired (steps S8 to S10), and thereafter, the processing of steps S8 to S12 is repeated until there are no pixels for which the depth coordinates are not acquired.

  If the depth coordinates are acquired for all measurement target points on the surface of the object 2 and there are no pixels for which the depth coordinates have not been acquired, the acquired depth coordinates and the vertical and horizontal coordinates of each measurement target point And 3D data indicating the 3D shape of the object 2 is generated (step S13).

As described above, in the present embodiment, the table 13a in which the relative phase table values Tφ ₁ and Tφ ₂ are recorded in advance is associated with the distance Z to the flat plate, and the three-dimensional shape of the object 2 is measured. In doing so, the depth coordinate of the measurement target point P is obtained using the table 13a. Therefore, after the relative phase values φ ₁ and φ ₂ are calculated, the calculated relative phase values φ ₁ and φ ₂ from the set of the relative phase table values Tφ ₁ and Tφ ₂ recorded in the table 13a are The distance Z can be derived simply by searching the same set of combinations. Accordingly, the depth coordinates of the measurement target point P can be obtained by extremely simple processing, and the three-dimensional shape of the object 2 can be measured quickly.

In the present embodiment, since the wavelength of the long wavelength light pattern 30 is set so as not to be an integral multiple of the wavelength of the short wavelength light pattern 20, as shown in FIG. In the section L ₁ from the start point to the end point of the first period of the pattern 30 and the section L ₂ from the start point to the end point of the second period, the relative phase value φ ₁ of the short wavelength and the relative phase value φ _{2 of the} long wavelength are The combination pattern is different. Therefore, for example, even when the relative phase value φ ₂ of the long wavelength is the same π, the relative phase value φ ₁ of the short wavelength in the section L ₂ is different from the relative phase value φ ₁ of the short wavelength in the section L _1. Therefore, it is possible to avoid that the measurable distance is limited to the distance of one cycle of the long wavelength light pattern 30.

1 is an overall configuration diagram showing an embodiment of a three-dimensional measurement apparatus according to the present invention. It is a block diagram which shows the control part of FIG. It is a schematic diagram which shows the table of FIG. It is a figure which shows the creation method of a table notionally. It is a flowchart explaining operation | movement of the three-dimensional measuring apparatus of FIG. It is a wave form diagram which shows the relationship between the relative phase of a short wavelength, and the relative phase of a long wavelength. It is a whole lineblock diagram showing an example of the conventional three-dimensional shape measuring device. It is a wave form diagram explaining operation | movement of the conventional three-dimensional shape measuring apparatus. It is a wave form diagram which shows the optical pattern used with the conventional three-dimensional shape measuring apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 3D shape measuring apparatus 2 Object 3 Projector 3a Light source 3b Sine wave grating 4 Camera 5 Control part 10 Camera control part 11 Projector control part 12 Image capture part 13 Storage part 13a Table 14 Phase calculation part 15 Distance deriving part 16 Three-dimensional Data generation unit 20 Short wavelength optical pattern 30 Long wavelength optical pattern 40 (40a to 40c, 40k) Distance table

Claims (4)

A three-dimensional shape measuring device that projects a sinusoidal light pattern on an object, images the object on which the light pattern is projected, and measures the three-dimensional shape of the object based on the captured image,
Projecting means for projecting each of a first light pattern having a first wavelength and a second light pattern having a second wavelength longer than the first wavelength onto the object;
Photographing means for photographing the object on which the first and second light patterns are projected;
Phase calculating means for calculating a relative phase of the first and second light patterns for each pixel constituting the image based on an image photographed by the photographing means;
A table that is created in advance and is associated with the distance and in which the relative phase table values of the first and second light patterns are recorded for each pixel coordinate ;
A distance deriving unit that obtains a distance to the object by referring to the table using a relative phase of the first and second light patterns calculated by the phase calculating unit ;
The distance deriving unit reads out the relative phase table values of the first and second light patterns associated with the same coordinates as the coordinates of the target pixel indicating the measurement target point from the table, and the first and second light patterns. A three-dimensional shape measuring apparatus, wherein a relative phase table value of the first and second light patterns having the same combination as the combination of relative phases is searched .   The three-dimensional shape measurement apparatus according to claim 1, wherein the second wavelength is a non-integer multiple of the first wavelength. A three-dimensional shape measurement method for projecting a sinusoidal light pattern on an object, photographing the object on which the light pattern is projected, and measuring the three-dimensional shape of the object based on the photographed image,
Projecting a first light pattern having a first wavelength and a second light pattern having a second wavelength longer than the first wavelength onto the object;
Photographing an object on which the first and second light patterns are projected;
Calculating a relative phase of the first and second light patterns for each pixel constituting the image based on the captured image;
The first and second light patterns calculated in the third step are prepared in advance, and a table in which the relative phase table values of the first and second light patterns are recorded for each coordinate in association with the distance. referring to using a relative phase, it has a determining a distance to the object,
The step of obtaining the distance to the object reads out the relative phase table values of the first and second light patterns associated with the same coordinates as the coordinates of the pixel of interest indicating the measurement target point from the table, and A three-dimensional shape measurement method, wherein a relative phase table value of the first and second light patterns having the same combination as a combination of relative phases of the second light pattern is searched .   The three-dimensional shape measurement method according to claim 3, wherein the second wavelength is a non-integer multiple of the first wavelength.

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