JP5669195B2 - Surface shape measuring device and surface shape measuring method - Google Patents

Description

  The present invention relates to a surface shape measuring device and a surface shape measuring method, and more particularly to a surface shape measuring device and a surface shape measuring method for three-dimensionally measuring topography and the shape inside a building.

In order to measure the topography and the internal shape of a building three-dimensionally, a measurement method using a laser scanner has been put into practical use. In these systems, a three-dimensional shape of a portion visible from the position of the three-dimensional scanner is measured by projecting a laser around the three-dimensional scanner fixed by a tripod or the like. However, in order to measure a wider area, it is necessary to move the measuring instrument. However, when the measuring instrument is moved, there is a problem that the operation of connecting the three-dimensional data before and after the movement is complicated.
In order to solve this, a method of detecting the position using high-accuracy GPS is conceivable. However, there is a problem that the accuracy of the satellite is greatly reduced because the radio wave of the artificial satellite cannot be detected in the valley of the building or inside the building. is there.
Further, in Patent Document 1 by the same applicant as the prior art, the value of the diameter of the optical ring imaged when the imaging means is moved by irradiating light in all directions to measure the shape in the small-diameter pipe, By calculating the moving distance of the image pickup means based on the movement amount of the pattern and the pattern, it is possible to calculate the three-dimensional shape of the inner surface of the small-diameter tube and accurately and quickly measure the state of the inner surface of the small-diameter tube. A shape measuring apparatus is disclosed.

JP 2010-223710 A

However, the prior art disclosed in Patent Document 1 is based on the movement of the camera based on the amount of movement of a plurality of combinations at 180 ° and the value of the optical ring diameter among the patterns imaged on the inner surface of the small-diameter tube. Since the amount of movement is detected and the amount of movement of the camera is calculated using the average value of a plurality of combinations, there is a problem that some amount of error is included in the amount of movement.
The present invention has been made in view of such a problem. A laser scanner and a camera are attached to a traveling carriage, and the cross-sectional data of the measurement object is acquired by the laser scanner while moving the traveling carriage, and is simultaneously captured by the camera. A surface shape measuring device that can easily and in real time obtain the three-dimensional shape of the measurement object by calculating the moving amount and moving direction of the traveling carriage based on the image data, and superimposing both data, and An object is to provide a surface shape measuring method.

In order to solve this problem, the present invention provides a surface shape measuring apparatus that three-dimensionally measures the shape of the surface while moving along the surface of the object to be measured. A distance measurement data detecting means for scanning the surface of the laser beam and outputting distance measurement data for each direction of the laser beam irradiated on the surface of the object to be measured, and a part of the projection surface of the laser beam. Imaging means for imaging the surface of the measurement object included, distance measurement data detection means, movement means for moving the imaging means along the surface of the measurement object, and distance measurement data detection by the movement means And the distance measurement data obtained from the distance measurement data detection means when the image pickup means is moved to calculate the position coordinates in the z-axis direction, and the image data obtained from the image pickup means is calculated. X-axis direction And a position coordinate detection means for obtaining a position coordinate in the y-axis direction, and a three-dimensional shape of the measurement object based on the position coordinates in the x-axis direction, the y-axis direction, and the z-axis direction obtained by the position coordinate detection means And a control means for computing the z-axis in the vertical direction with the laser projection portion of the distance measurement data detection means as the origin, and the x-axis and y in the horizontal direction with respect to the z-axis. It is characterized by installing a coordinate system that takes an axis .
To obtain a three-dimensional shape, coordinates in the x, y, and z axis directions are required. In the present invention, the z-axis direction is determined by measuring the distance from the time when the laser beam scans the surface of the measurement object and the laser beam reflects and reciprocates on the surface of the measurement object. Calculate the z-axis coordinates by calculating the data. Also, the x-axis and y-axis coordinates are obtained by moving the surface of the measurement object with an imaging means such as a camera, and calculating the image data and the distance data z by the laser beam to obtain the x and y coordinates. Ask. Accordingly, a moving means for moving the distance measurement data detecting means and the imaging means along the surface of the measurement object is required. The present invention is characterized in that a movement amount and a moving direction of the moving means are obtained by calculating a change in coordinates in the x and y axis directions. Thereby, the three-dimensional shape of the measurement object can be measured with a simple configuration and at a low cost.

According to a second aspect of the present invention, the control means calculates the movement amount and movement direction of the movement means based on the movement amount and movement direction of the surface pattern of the measurement object on the image captured by the imaging means. It is characterized by.
For example, when the measurement object is a road, the textures (surface patterns) of the road surface are all different. Therefore, in the present invention, the texture of a certain region is read to determine where the texture captured in the previous frame and the same texture in the next frame have moved in units of image frames, and the moving amount and moving direction of the moving means are determined. Calculate. Thereby, the apparatus which detects the moving amount and moving direction of a moving means becomes unnecessary, and the cost of a measuring device can be reduced.

となり、該行列式からｈ１１〜ｈ３３の係数を算出し、実座標（ｘ，ｙ）の算出は、前記画像上の前記座標（ｕ，ｖ）と前記測距データ検出手段からのｚ座標を用いて、

として求めることにより、撮像された前記画像上の前記座標（ｕ，ｖ）と前記測距データ検出手段による前記測距データのｚ座標から実座標（ｘ，ｙ）を求めることを特徴とする。 According to a third aspect of the present invention, the control means installs a coordinate system taking the z-axis downward with the laser projection portion of the distance measurement data detection means as the origin, and the coordinates on the image captured by the imaging means at this time A coefficient is calculated from the relationship between (u, v) and real coordinates (x, y, z), and the coefficient, the coordinates (u, v) on the image, and the z coordinate from the distance measurement data detecting means are used. To obtain the real coordinates (x, y, z) ,
The relationship between the coordinates (u, v) on the captured image and the actual coordinate (x, y, z) that by the imaging means,

DOO Ri greens, calculates the coefficient of h11~h33 from the determinant, the calculation of the actual coordinate (x, y), the coordinates (u, v) on the image and z coordinates from the distance measuring data detection means Using,

The determined Mel it as a feature to seek the on captured the image coordinates (u, v) between the actual coordinates from the z coordinate of the distance measuring data by the distance data detecting means (x, y) To do.

撮像手段はビデオカメラを用いて連続した画像を撮影し、連続した画像間で近傍領域の移動量（Δｕ、Δｖ）を検出する。移動後の座標（ｕ＋Δｕ，ｖ＋Δｖ）およびｚ（測距データ検出手段からの座標ｚ_０。移動手段は上下方向には移動しないものとし、移動前後一定でｚ_０である。）を式に代入することで移動後の（ｘ，ｙ）が決定される。移動前の座標（ｘ_０，ｙ_０）と比較することで、移動手段の移動量および移動方向が算出される。 According to a fourth aspect of the present invention, the control unit detects a plurality of neighborhood regions of the region detected by the distance measurement data detection unit on the image captured by the imaging unit, and the coordinates of the neighborhood region before the movement are detected. The moving amount and moving direction of the moving means are determined based on the coordinates after moving.
In order to detect the fan-shaped area, the distance measurement data detection means sets the downward direction as the z axis and passes through the y axis (y ₀ = 0). From the x ₀ and z ₀ data and y ₀ = 0 detected by the ranging data detecting means, several neighboring areas on the image of the area detected by the ranging data detecting means on the camera image are detected. To do.
The coordinates (u, v) on the image of the center of this neighboring area can be obtained by substituting the data of x ₀ and z ₀ and y ₀ = 0 into the following expression.

The imaging means captures continuous images using a video camera, and detects the amount of movement (Δu, Δv) of the neighboring region between the consecutive images. The coordinates after movement (u + Δu, v + Δv) and z (coordinate z ₀ from the distance measurement data detection means. The movement means is assumed not to move in the vertical direction and is constant z ₀ before and after the movement) are substituted into the equation. Thus, (x, y) after movement is determined. By comparing with the coordinates (x ₀ , y ₀ ) before moving, the moving amount and moving direction of the moving means are calculated.

A surface shape measuring method for a surface shape measuring apparatus that includes a distance measurement data detecting means, an imaging means, a moving means, a position coordinate detecting means, and a control means, and three-dimensionally measures the surface shape of a measurement object. The distance measurement data detecting means scans the surface of the measurement object with a laser beam and outputs distance measurement data for each direction of the laser beam irradiated on the surface of the measurement object; The imaging unit imaging the surface of the measurement object including a part of the laser beam projection surface; and the moving unit is configured to measure the distance measurement data detection unit and the imaging unit. A step of moving along the surface of the object, and the position coordinate detection means obtained from the distance measurement data detection means when the distance measurement data detection means and the imaging means are moved by the movement means; Computing the distance data to obtain the position coordinates in the z-axis direction, computing the image data obtained from the imaging means to obtain the position coordinates in the x-axis direction and the y-axis direction, and the control means , x-axis direction was determined by the position coordinate detection means, it viewed including the steps of calculating the three-dimensional shape of the measurement object based on the position coordinates of the y-axis direction, and the z-axis direction, and
The control means is provided with a coordinate system that takes the z-axis in the vertical direction with the laser projection part of the distance measurement data detection means as the origin, and takes the x-axis and the y-axis in the horizontal direction with respect to the z-axis. Features.
There exists an effect similar to Claim 1.
In a sixth aspect of the present invention, the control means calculates the movement amount and movement direction of the movement means based on the movement amount and movement direction of the surface pattern of the measurement object on the image captured by the imaging means. It is characterized by including.
There exists an effect similar to Claim 2.

となり、該行列式からｈ１１〜ｈ３３の係数を算出し、実座標（ｘ，ｙ）の算出は、前記画像上の前記座標（ｕ，ｖ）と前記測距データ検出手段からのｚ座標を用いて、

として求めることにより、撮像された前記画像上の前記座標（ｕ，ｖ）と前記測距データ検出手段による前記測距データのｚ座標から実座標（ｘ，ｙ）を求めること特徴とする。
請求項８は、前記制御手段が、前記撮像手段により撮像された画像上での前記測距データ検出手段により検出した領域の複数個所の近傍領域を検出し、該近傍領域の移動前の座標と移動後の座標に基づいて前記移動手段の移動量及び移動方向を決定するステップを含むことを特徴とする。
請求項４と同様の作用効果を奏する。
According to a seventh aspect of the present invention, the control unit installs a coordinate system that takes the z-axis downward with the laser projection unit of the distance measurement data detection unit as the origin, and the coordinates on the image captured by the imaging unit at this time A coefficient is calculated from the relationship between (u, v) and real coordinates (x, y, z), and the coefficient, the coordinates (u, v) on the image, and the z coordinate from the distance measurement data detecting means are used. look including the step of determining an actual coordinate (x, y, z) Te,
The relationship between the coordinates (u, v) on the image captured by the imaging means and the actual coordinates (x, y, z) is as follows:

The coefficients of h11 to h33 are calculated from the determinant, and the actual coordinates (x, y) are calculated using the coordinates (u, v) on the image and the z coordinates from the distance measurement data detecting means. And

Thus, the actual coordinates (x, y) are obtained from the coordinates (u, v) on the captured image and the z-coordinate of the distance measurement data by the distance measurement data detecting means .
In the eighth aspect of the present invention, the control unit detects a plurality of neighboring regions of the region detected by the distance measurement data detection unit on the image captured by the imaging unit, and the coordinates of the vicinity region before the movement are detected. The method includes a step of determining a moving amount and a moving direction of the moving means based on the coordinates after moving.
There exists an effect similar to Claim 4.

  According to the present invention, the z-axis direction is measured by measuring the distance from the time when the laser beam scans the surface of the measurement object and the laser beam reflects and reciprocates on the surface of the measurement object. The z-axis coordinates are obtained by calculating the distance data of x, and the x-axis and y-axis coordinates are imaged while moving the surface of the measurement object by an imaging means such as a camera, and the image data is calculated and processed. Since the y coordinate is obtained, the three-dimensional shape of the measurement object can be measured with a simple configuration and at a low cost.

It is an external appearance side view of the surface shape measuring apparatus which concerns on embodiment of this invention. It is a perspective view which shows the external appearance of the surface shape measuring apparatus which concerns on embodiment of this invention. It is a block diagram explaining the function of the surface shape measuring apparatus which concerns on embodiment of this invention. It is a figure explaining a mode that it changes from a camera coordinate to a real coordinate. It is a figure which shows the relationship between the detection line of a laser scanner, and a near region. It is a figure which shows the result of having processed the image obtained by actually driving | running | working the surface shape measuring apparatus of this invention on the road.

  Hereinafter, the present invention will be described in detail with reference to embodiments shown in the drawings. However, the components, types, combinations, shapes, relative arrangements, and the like described in this embodiment are merely illustrative examples and not intended to limit the scope of the present invention only unless otherwise specified. .

  FIG. 1 is an external side view of a surface shape measuring apparatus according to an embodiment of the present invention. A surface shape measuring apparatus 50 according to the present invention is a surface shape measuring apparatus 50 that measures the shape of a surface three-dimensionally while moving along the surface of a road (measurement object) 8. A range sensor (ranging data detection means) 1 that scans the beam 9 and outputs ranging data for each direction of the laser beam 9 irradiated on the surface of the road 8, and a part of the projection surface of the laser beam 9 A camera (imaging means) 3 that images the surface of the road 8 including the vehicle, a range sensor 1, and a traveling carriage (moving means) 5 that moves the camera 3 along the surface of the road 8 by rotating the wheels 7. The distance measurement data obtained from the range sensor 1 when the range sensor 1 and the camera 3 are moved by the traveling carriage 5 is processed to obtain the position coordinates in the z-axis direction, and the image obtained from the camera 3 Data is processed and processed along the x-axis and y-axis The position coordinate detection means 10 for obtaining the position coordinates (see FIG. 3), and the three-dimensional shape of the road 8 based on the position coordinates in the x-axis direction, the y-axis direction, and the z-axis direction obtained by the position coordinate detection means 10 And a PC (control means) 4 for calculating In the present embodiment, the position coordinate detection means 10 is provided in the PC 4 and processed by software. Further, a battery (power source) 6 for driving the range sensor 1, the camera 3, and the PC 4 is mounted on the traveling carriage 5. Moreover, the cart 5 may run by human power or may run by a drive source such as a motor. The range sensor 1 and the camera 3 are attached to an arm 2 extending from the main body of the traveling carriage 5.

  To obtain a three-dimensional shape, coordinates in the x, y, and z axis directions are required. In this embodiment, in the z-axis direction, the laser beam 9 is scanned on the surface of the road 8, the distance is measured from the time when the laser beam reflects and reciprocates on the surface of the road 8, and the measured distance for each direction. Calculate the z-axis coordinates by calculating the data. The x-axis and y-axis coordinates are obtained by moving the surface of the road 8 with the camera 3 and calculating the image data to obtain the x and y coordinates. Therefore, the traveling cart 5 that moves the range sensor 1 and the camera 3 along the surface of the road 8 is required. The present embodiment is characterized in that a movement amount and a movement direction of the traveling carriage 5 are obtained by calculating a change in coordinates in the x-axis and y-axis directions. As a result, the three-dimensional shape of the road 8 can be measured with a simple configuration and at a low cost.

  FIG. 2 is a perspective view showing an appearance of the surface shape measuring apparatus according to the embodiment of the present invention. The same components will be described with the same reference numerals as in FIG. From the range sensor 1, the laser beam 9 scans the surface of the road 8 and scans in a fan shape. In the present embodiment, since a commercially available range sensor is used, the laser beam 9 does not reach the region B. As an example, the specifications made by Hokuyo Electric Co., Ltd. are model number (URG-04LX), measurement rejection range (60-4095 mm, 240 °), measurement rejection accuracy (60-1000 mm: ± 10 mm, 1000-4095 mm: ± 1% of distance) ), Angular resolution (step angle: about 0.36 °), scanning time (100 ms / scan), and mass (about 160 g).

FIG. 3 is a block diagram illustrating functions of the surface shape measuring apparatus according to the embodiment of the present invention. The same components will be described with the same reference numerals as in FIG. The PC 4 includes a position coordinate detection unit 10 and a CPU 11 that calculates the three-dimensional shape of the road 8 based on the position coordinates in the x-axis direction, the y-axis direction, and the z-axis direction obtained by the position coordinate detection unit 10. The result is visualized on the monitor 12.
Here, the PC 4 calculates the movement amount and movement direction of the traveling carriage 5 based on the movement amount and movement direction of the surface pattern of the road 8 on the image captured by the camera 3. For example, when the measurement object is a road, the textures (surface patterns) of the road surface are all different. Therefore, in the present embodiment, the texture of a certain region is read, and the amount of movement and movement of the traveling carriage 5 is measured by measuring where the texture captured in the previous frame and the same texture in the next frame move in image frames. Calculate the direction. This eliminates the need for a device that detects the amount and direction of movement of the traveling carriage 5, and reduces the cost of the device.
In addition, the PC 4 is provided with a coordinate system that takes the z-axis downward with the laser projection unit of the range sensor 1 as the origin, and the coordinates (u, v) on the image captured by the camera 3 at this time and the actual coordinates ( The coefficient is calculated from the relationship of x, y, z), and the actual coordinate (x, y, z) is calculated using the coefficient, the coordinate (u, v) on the image, and the z coordinate from the distance measurement data detecting means. (Details will be described later).

Next, the process in which the PC 4 according to the present invention obtains the movement amount and movement direction of the traveling carriage 5 from each coordinate will be described in detail.
A range sensor (hereinafter referred to as a laser scanner for convenience of explanation) 1 projects a laser in a fan shape vertically (when the road surface is horizontal) and has a shape on a plane on which the laser is projected ( Cross-sectional shape) is measured. The camera 3 includes a part of the laser projection surface of the laser scanner 1 and images the road (sidewalk) surface 8. The moving amount and moving direction of the traveling carriage 5 are detected from the moving amount and moving direction of the texture (surface pattern) on the road surface on the image photographed by the camera 3.

ここで、ｈ_１１−ｈ_３３は係数である。
これを展開し、

ｓを消去して変形し、

・・・・（１）
となる。 A coordinate system (actual coordinates) that takes the z-axis vertically downward with the laser projection portion of the laser scanner 1 as the origin is installed. At this time, the relationship between the coordinates (u, v) on the image photographed by the camera 3 and the actual coordinates (x, y, z) is as follows.

Here, h ₁₁ -h ₃₃ is a coefficient.
Expand this,

delete s and transform,

(1)
It becomes.

As shown in FIG. 4, a scale plate 13 in which x and y scales are written is installed horizontally, and the scale plate 13 is photographed by the camera 3. In the photographed image, one part of the scale plate 13 is designated using a mouse or the like, and the position (coordinates u, v on the image) is read by a computer. Further, the actual coordinates (x, y) of the position are read from the scale plate. The z coordinate is read from the data of the laser scanner 1. The position (z position) of the flat plate is changed, and the photographing with the camera 3 is repeated to detect a plurality (6 or more) combinations of (u, v) and (x, y, z). By substituting these combinations into equation (1), the coefficient of h ₁₁ -h ₃₃ can be calculated.
When h ₁₁ -h ₃₃ is determined, real coordinates (x, y) can be calculated by the following equation using camera coordinates (u, v) and z coordinates from the laser scanner 1.

から、

・・・（２）
となる。 (1) is transformed,

From

... (2)
It becomes.

・・・（３）
となり、ｘ、ｙ、ｚからｕ、ｖへの変換が可能になる。 Conversely, the formula for calculating u and v is

... (3)
Thus, conversion from x, y, z to u, v becomes possible.

となり、相関関数φｆｇがもっとも小さくなるΔｕとΔｖを求めることを行う。 As shown in FIG. 5, the laser scanner detects the fan-shaped region 14, and the vertical downward direction is taken as the z axis and passes through the y axis (y = 0). Using the equation (3), several neighboring areas on the image of the area 15 detected by the laser scanner 1 on the camera image are detected from the x ₀ and z ₀ data detected from the laser scanner. To do. The camera 3 uses a video camera to take continuous images and detects the movement amount (Δu, Δv) of the neighboring region between the continuous images. For example, the neighborhood region is centered on (u, v) and the size is m × n. The correlation function at this time is

Thus, Δu and Δv that minimize the correlation function φfg are obtained.

・・・（４）
展開すると、

・・・（５）
になる。 The coordinates after movement (u + Δu, v + Δv) and z (coordinate z ₀ from the laser scanner 1, the traveling carriage 5 is assumed not to move in the vertical direction, and is constant z ₀ before and after the movement) are expressed in Equation (2). By substituting, (x, y) after movement is determined. By comparing with the coordinates (x ₀ , y ₀ ) before movement, the movement amount and movement direction of the carriage are calculated. That is, the movement amount and the movement direction of the traveling carriage 5 are determined from the coordinates before and after the movement of the above-mentioned several neighboring areas 15. This will be specifically described below.
The expression indicating the translation and rotation (direction) from (x ₀ , y ₀ ) to (x, y) is as follows.

... (4)
When expanded

... (5)
become.

・・・（６）
Ａの逆行列（または擬似逆行列）を両辺にかけることで、係数ｈ_１１からｈ_２３が決定される。係数ｈ_１１からｈ_２３が決定されると移動と回転を示す（４）式が決定されることになる。すなわち走行台車５の移動量および移動方向（回転）が決定されたことになる。 Substitution coordinates (x _0i , y _0i ) and coordinates after movement (x _i , y _i ) of several (n) neighboring regions are substituted into (5) to obtain the following simultaneous equations.

... (6)
By multiplying the inverse matrix of A (or pseudo-inverse) to both sides, h ₂₃ is determined from the coefficient h _11. When the coefficients h ₁₁ to h ₂₃ are determined, the equation (4) indicating the movement and rotation is determined. That is, the moving amount and moving direction (rotation) of the traveling carriage 5 are determined.

The three-dimensional shape of the road 8 is calculated by superimposing the cross-sectional data from the laser scanner 1 in consideration of the moving amount and moving direction of the traveling carriage 5. More specifically, the three-dimensional shape is calculated by accumulating the cross-sectional data from the laser scanner 1 on the memory while moving and rotating using the equation (4).
In the present embodiment, the case where the road is horizontal is mentioned. However, by attaching a tilt sensor to the traveling carriage and correcting the measurement rejection data obtained from the range sensor 1 by the signal of the tilt sensor, Measurement can also be possible.

  FIG. 6 is a diagram showing a result of processing an image actually obtained by running the surface shape measuring device of the present invention on a road. In the present embodiment, it is an image obtained by running on the road shown in the photograph. Photo (A) is a view seen straight from the center of the road, and Photo (B) is a view seen obliquely from the end of the road to the warehouse side. In this photo, 16 roads, 17 side roads, and 18 warehouses. 6A is a processed image of the photograph (A), FIG. 6B is a processed image of the photograph (B), and FIG. 6C is a view of the image developed from the top. . As can be seen from this figure, the unevenness of the road 16 and the position of the warehouse 18 are clearly drawn. In addition, since there is grass on the side road side, the image is slightly blurred because the laser is not easily reflected.

1 range sensor, 2 arms, 3 cameras, 4 PCs, 5 traveling carts, 6 batteries, 7 wheels, 8 roads (road surface), 9 laser beams, 10 position coordinate detection means, 11 CPU, 12 monitor, 13 scale plate, 14 fan-shaped area, 15 neighboring area, 16 road, 17 side road side, 18 warehouse, 50 surface shape measuring device

Claims (8)

A surface shape measuring device that three-dimensionally measures the shape of the surface while moving along the surface of the measurement object,
Ranging data detecting means for scanning the surface of the measuring object with a laser beam and outputting ranging data for each direction of the laser beam irradiated on the surface of the measuring object;
An imaging means for imaging a surface of the measurement object including a part of a projection surface of the laser beam;
Moving means for moving the distance measurement data detection means and the imaging means along the surface of the measurement object;
When the distance measurement data detection means and the image pickup means are moved by the movement means, the distance measurement data obtained from the distance measurement data detection means is processed to obtain position coordinates in the z-axis direction, and the image pickup means Position coordinate detection means for calculating the position coordinates in the x-axis direction and the y-axis direction by calculating the image data obtained from
Control means for calculating the three-dimensional shape of the measurement object based on the position coordinates in the x-axis direction, the y-axis direction, and the z-axis direction obtained by the position coordinate detection means,
The control means is provided with a coordinate system that takes the z-axis in the vertical direction with the laser projection part of the distance measurement data detection means as the origin, and takes the x-axis and the y-axis in the horizontal direction with respect to the z-axis. Characteristic surface shape measuring device.   The said control means calculates the movement amount and movement direction of the said movement means based on the movement amount and movement direction of the surface pattern of the said measurement target object on the image imaged by the said imaging means. Item 2. The surface shape measuring device according to Item 1. The control means installs a coordinate system taking the z-axis downward with the laser projection part of the distance measurement data detection means as the origin, and the coordinates (u, v) on the image captured by the imaging means at this time And the real coordinates (x, y, z) are calculated, and the real coordinates (x, y, z) are calculated using the coefficients, the coordinates (u, v) on the image, and the z-coordinate from the distance measurement data detecting means. x, y, and z) asked,
The relationship between the coordinates (u, v) on the image captured by the imaging means and the actual coordinates (x, y, z) is as follows:

The coefficients of h11 to h33 are calculated from the determinant, and the actual coordinates (x, y) are calculated using the coordinates (u, v) on the image and the z coordinates from the distance measurement data detecting means. And

By determining the features a Rukoto seek the coordinates (u, v) on the captured the image and the actual coordinates from the z coordinate of the distance measuring data by the distance data detecting means (x, y) The surface shape measuring device according to claim 1 or 2.   The control means detects a plurality of neighboring areas of the area detected by the distance measurement data detecting means on the image taken by the imaging means, and sets the coordinates of the neighboring area before and after the movement. The surface shape measuring apparatus according to claim 1, wherein a movement amount and a movement direction of the moving means are determined based on the movement means. A surface shape measuring device that includes a distance measurement data detecting means, an imaging means, a moving means, a position coordinate detecting means, and a control means, and measures the shape of the surface three-dimensionally while moving along the surface of the measurement object. A surface shape measuring method,
The distance measurement data detecting means scanning the surface of the measurement object with a laser beam and outputting distance measurement data for each direction of the laser beam irradiated on the surface of the measurement object;
The imaging means imaging the surface of the measurement object including a part of the projection surface of the laser beam;
The moving means moving the distance measurement data detecting means and the imaging means along the surface of the measurement object;
The position coordinate detection means performs arithmetic processing on the distance measurement data obtained from the distance measurement data detection means when the distance measurement data detection means and the imaging means are moved by the movement means, and the position in the z-axis direction. Obtaining coordinates, calculating the image data obtained from the imaging means to obtain the position coordinates in the x-axis direction and the y-axis direction;
Said control means, said saw including a step of computing the three-dimensional shape of the measurement object, a based on the x-axis direction, the position coordinates of the y-axis direction, and the z-axis direction was determined by the position coordinate detection means,
The control means is provided with a coordinate system that takes the z-axis in the vertical direction with the laser projection part of the distance measurement data detection means as the origin, and takes the x-axis and the y-axis in the horizontal direction with respect to the z-axis. Characteristic surface shape measurement method.   The control means includes a step of calculating a movement amount and a movement direction of the movement means based on a movement amount and a movement direction of the surface pattern of the measurement object on the image captured by the imaging means. The surface shape measuring method according to claim 5. The control means installs a coordinate system taking the z-axis downward with the laser projection part of the distance measurement data detection means as the origin, and the coordinates (u, v) on the image captured by the imaging means at this time And the real coordinates (x, y, z) are calculated, and the real coordinates (x, y, z) are calculated using the coefficients, the coordinates (u, v) on the image, and the z-coordinate from the distance measurement data detecting means. x, y, the step of determining a z) only contains,
The relationship between the coordinates (u, v) on the image captured by the imaging means and the actual coordinates (x, y, z) is as follows:

The coefficients of h11 to h33 are calculated from the determinant, and the actual coordinates (x, y) are calculated using the coordinates (u, v) on the image and the z coordinates from the distance measurement data detecting means. And

The actual coordinates (x, y) are obtained from the coordinates (u, v) on the captured image and the z-coordinate of the distance measurement data by the distance measurement data detection means. 5. The surface shape measuring method according to 5 or 6.   The control means detects a plurality of neighboring areas of the area detected by the distance measurement data detecting means on the image taken by the imaging means, and sets the coordinates of the neighboring area before and after the movement. 7. The surface shape measuring method according to claim 5, further comprising a step of determining a moving amount and a moving direction of the moving means based on the moving means.

Images