JP6657654B2 - 3D object reading system - Google Patents

Description

  The present disclosure relates to a reading system that reads a shape of a three-dimensional object.

  2. Description of the Related Art Conventionally, there has been known a reading system that irradiates a reading target with light and receives reflected light thereof to read a three-dimensional shape of the reading target and generate shape data of the reading target (for example, Patent Reference 1). A system for reading a shape of an object to be read which is provided with a table on which the object to be read is mounted, wherein the orientation of the object to be read with respect to a light emitting unit and a light receiving unit fixedly arranged separately from the table is changed by rotating the table. Is also known. In addition, a system including a platform capable of moving two-dimensionally in a horizontal direction is also known.

JP 2010-32380 A

  In a system that reads a reading target while changing the direction and position of the reading target by rotating and moving the table, if the reading target is read by moving the table uniformly regardless of the shape of the reading target, the reading target is read. The resolution changes due to the shape. In order to obtain a uniform resolution, it is preferable that the table rotates and moves so that the scan points move uniformly along the side surface of the reading object. The scan point corresponds to a point on the side surface of the object to be read, which is irradiated with irradiation light, and corresponds to a reading point having a side surface shape.

  According to one aspect of the present disclosure, it is desirable that the reading target can be read satisfactorily at a uniform resolution by appropriately rotating and moving the table in accordance with the shape of the reading target.

  A three-dimensional object reading system according to an embodiment of the present disclosure includes a table, an irradiation unit, a light receiving unit, and a control unit. The table includes a mounting surface on which the object to be read is mounted and a power source for the mounting surface. The table is configured such that the mounting surface is two-dimensionally moved and rotated on a surface parallel to the mounting surface based on power from a power source.

  The irradiating unit is configured to irradiate light to a side surface of the reading target placed on the table. The light receiving unit is configured to receive reflected light generated by the irradiation light from the irradiation unit reflecting the object to be read.

  The control unit executes a division process, a reading control process, and a combining process. The dividing process is a process of dividing the reading target into a plurality of sections having a boundary surface parallel to the mounting surface. The reading control process includes, for each section, a procedure of executing a scanning process for reading the shape of the section of the object to be read. In the scanning process, the power source is controlled to move and rotate the mounting surface, and further, the irradiation unit irradiates light to acquire light receiving data of the reflected light from the light receiving unit, and based on the acquired light receiving data, the object to be read. Of generating shape data representing the shape of the section of the image. The combining process is a process of combining shape data for each section to generate shape data representing the shape of the object to be read.

  According to the three-dimensional object reading system, the object to be read can be read for each section having a different height from the mounting surface. That is, it is possible to read the object to be read by appropriately moving the mounting surface according to the shape of the object to be read at that height for each section having a different height. Therefore, according to an embodiment of the present disclosure, it is possible to read the object to be read satisfactorily at a uniform resolution while suppressing the influence of the shape change of the object to be read in the height direction.

  In one aspect of the present disclosure, the control unit may be configured to execute an acquisition process for acquiring information on a reading resolution designated by a user. The division process may be a process of dividing the reading target into sections having a size corresponding to the reading resolution specified by the user, based on the information on the reading resolution acquired by the acquisition process.

  According to an embodiment of the present disclosure, the scan processing for each section includes a determination processing regarding the corresponding section, a re-division processing, and a divided reading control processing. The determination process is a process of determining whether or not there is a level difference equal to or more than a predetermined reference along a direction perpendicular to the mounting surface on a side surface in the corresponding section of the reading target. The subdivision process is a process of subdividing the corresponding section into a plurality of small sections when it is determined that there is a level difference greater than or equal to a predetermined reference. In the re-division processing, for example, the section can be divided into a plurality of small sections having a boundary surface parallel to the mounting surface.

  The divided reading control process is a process of executing, for each of the small sections, a small section scanning process for reading the shape of the small section of the object to be read, when it is determined that there is a step greater than or equal to a predetermined reference. In the small section scan process, the power source is controlled to move and rotate the mounting surface, and further, the irradiation unit irradiates light to acquire the reflected light reception data from the light reception unit and read based on the acquired light reception data This is a process of generating shape data representing the shape of the small section of the object.

  According to this three-dimensional object reading system, when there is a large step in a section, the section can be further divided into a plurality of sections to read an object to be read. Therefore, even if the object to be read has a shape that is distorted in the height direction, the mounting surface can be appropriately moved according to the shape of the object to be read, and the object to be read can be satisfactorily read at a uniform resolution. .

  According to one aspect of the present disclosure, the scanning process for each section is performed by moving and rotating the mounting surface to determine the incident angle of light from the irradiation unit to the side surface of the reading target and on a surface parallel to the mounting surface. By moving the scan point, which is the point where light is illuminated on the object to be read, in the circumferential direction on the side while adjusting the angle of incidence at a certain angle, shape data representing the shape of the corresponding section of the object to be read is generated. Processing.

  Adjusting the incident angle to a fixed angle corresponds to adjusting the direction of the side surface with respect to the irradiation unit to be constant. By reading the sides of the object to be read while aligning the orientations in this manner, a plurality of surfaces of the object to be read can be read under the same conditions as each other, and each surface can be read at a uniform resolution. it can.

  In particular, by adjusting the incident angle to 45 degrees, when the scan point is moved along the side surface of the reading object, the scan point moves by the same amount in two directions (XY directions) parallel to the mounting surface. become. Therefore, the side surface of the object to be read can be read with uniform resolution in two directions (XY directions) parallel to the mounting surface.

  In one aspect of the present disclosure, the irradiation unit and the light receiving unit may be arranged such that an irradiation axis of light from the irradiation unit and a light receiving axis of the light receiving unit are orthogonal to each other on a plane parallel to the mounting surface. In this case, the scanning process moves and rotates the mounting surface so as to move the mounting surface in the direction along the light receiving axis while adjusting the incident angle to a fixed angle, so that the scan point moves in the circumferential direction of the side surface. It may be a process of moving and generating shape data representing the shape of the corresponding section of the object to be read.

  Further, in the scanning process, when the reflected light from the scan point disappears from the field of view of the light receiving unit, the position of the mounting surface where the reflected light appears in the field of view is searched by at least one of movement and rotation of the mounting surface. Then, based on the position of the mounting surface on which the reflected light detected by the search appears in the field of view, the mounting surface is moved while adjusting the incident angle to a certain angle to generate shape data. Good.

  In the scanning process, when the reflected light from the scan point disappears from the field of view of the light receiving unit, the mounting surface is moved along the irradiation axis to search for the position of the mounting surface where the reflected light appears in the field of view. May be included.

  In the scanning process, when the reflected light from the scan point disappears from the field of view of the light receiving unit, the mounting surface is moved in a direction along the light receiving axis to thereby determine the position of the mounting surface where the reflected light appears in the field of view. If the search does not cause the reflected light to appear in the field of view even after a predetermined amount of movement, the processing includes rotating the mounting surface to search for the position of the mounting surface where the reflected light appears in the field of view. You may.

  According to such a scanning process, it is possible to read the object to be read satisfactorily by appropriately rotating and moving the mounting surface according to the shape of the object to be read.

It is a top view of the reading system showing the structure of a table, and the arrangement of the irradiation device and the camera with respect to the table. FIG. 2A is an explanatory diagram relating to reading of a reading target placed on a table, and FIG. 2B is a side view of a reading system showing a light irradiation mode on the reading target. FIG. 2 is a block diagram illustrating an electrical configuration of the reading system. 5 is a flowchart illustrating a main process executed by the control device. 5A is a diagram exemplifying a section of the reading object, FIG. 5B is a diagram showing an area for calculating a radius in the step determination processing, and FIG. 5C is an explanatory diagram relating to re-partitioning. It is a flowchart showing the level | step difference determination process which a control apparatus performs. It is a flowchart showing the special processing which a control apparatus performs. 8A to 8D are diagrams illustrating the first reading mode in chronological order. 9A to 9D are diagrams illustrating the second reading mode in time series. 10A to 10E are diagrams illustrating the third reading mode in chronological order. 11A to 11D are diagrams illustrating the fourth reading mode in chronological order, and FIG. 11E is a diagram illustrating the fifth reading mode.

Hereinafter, exemplary embodiments of the present disclosure will be described with reference to the drawings.
As shown in FIGS. 1 and 2A, the reading system 1 of the present embodiment irradiates a three-dimensional shape of the reading object 100 mounted on the mounting plate 11 with a laser beam from an irradiation device 20 and irradiates the three-dimensional shape. This is a system in which the reflected light L1 with respect to the light L0 is read by photographing with the camera 30.

  In the drawing, a code obtained by adding a suffix according to the shape to the number “100” is assigned to the reading target 100. 2A and 2B, the read target 100B shown in FIG. 5A, the read target 100C shown in FIGS. 8A-8D, the read target 100D shown in FIGS. 9A-9D, and FIG. 10A- A reading target 100E shown in 10E, a reading target 100F shown in FIGS. 11A to 11D, and a reading target 100G shown in FIG. 11E are examples of the reading target 100 described here.

  In FIG. 1, the reading target 100 is not shown, and the configuration below the mounting plate 11 of the table 10 is transparently indicated by a broken line. FIG. 2A shows an example of the trajectory of the irradiation light L0 and the reflected light L1 in a state where the reading target 100A is mounted on the mounting plate 11. The three-dimensional shape of the reading target 100 is read by specifying the position of the reflection point of the irradiation light L0 in the captured image based on the captured image data generated by the camera 30. The table 10, the irradiation device 20, and the camera 30 are fixedly arranged on the support 5 shown in FIG. 2B.

  As shown in FIG. 1, the table 10 includes a disk-shaped mounting plate 11, and includes a rotation driving device 13 below the mounting plate 11. The mounting plate 11 rotates around a rotation axis C (see FIG. 2B) perpendicular to the surface of the mounting plate 11 by receiving the power from the rotation driving device 13. The rotation drive device 13 is controlled by the control device 40 (see FIG. 3). The rotation axis C passes through the center O of the mounting plate 11. The surface of the mounting plate 11 functions as a mounting surface of the reading object 100.

  The rotation drive device 13 is mainly configured by an electric motor. The rotary drive device 13 is fixedly arranged on a transport plate 157 of the XY drive device 15. The mounting plate 11 rotates on the transport plate 157.

  The XY drive device 15 includes a Y-direction drive device 151 and an X-direction drive device 155 together with the transport plate 157. The XY drive device 15 is arranged between the mounting plate 11 and the support 5. The XY driving device 15 is configured to be transported in the XY directions on the XY plane parallel to the surface of the mounting plate 11 under the control of the control device 40. The mounting plate 11 moves in the XY directions due to the movement of the transport plate 157 in the XY directions. 1, 2A and 2B illustrate the X, Y and Z directions. The Z direction is the height direction, and corresponds to the direction of the paper surface normal in FIGS. 1 and 2A.

  The Y-direction driving device 151 is configured to be able to transport the X-direction driving device 155 forward and backward along the Y direction on the XY plane. The X-direction driving device 155 is configured to be able to carry the transport plate 157 forward and backward along the X direction. The Y direction driving device 151 and the X direction driving device 155 are configured to include, for example, a linear motor.

  The irradiating device 20 is configured to irradiate the side surface of the reading object 100 mounted on the mounting plate 11 with laser light. The laser light is, for example, red light. The irradiation light L0 is irradiated from the irradiation device 20 in the −X direction as light having a spread in the height direction (Z direction). 2B, the bold line drawn on the side surface of the reading target object 100A indicates that the irradiation light L0 from the irradiation device 20 is irradiated on the entire height direction of the side surface.

  The camera 30 is positioned and arranged with respect to the table 10 and the irradiation device 20 such that the light receiving axis is orthogonal to the irradiation axis of the laser beam. The reading system 1 of the present embodiment adjusts the incident angle of the laser beam on the side surface of the reading object 100 on the XY plane parallel to the mounting surface to 45 degrees as shown in FIG. 2A. While reading, the side surface of the reading object 100 is read. The camera 30 is arranged so as to be able to receive the reflected light L1 from the side surface adjusted to 45 degrees.

  The camera 30 includes an optical component including a lens and an image sensor having a predetermined number of pixels vertically and horizontally as a light receiving unit. The captured image data generated by the image sensor by receiving light is input to the control device 40. The camera 30 has a predetermined angle of view about the light receiving axis. The captured image data includes an image appearing in the field of view of the camera corresponding to the angle of view.

  As shown in FIG. 3, the reading system 1 including the table 10, the irradiation device 20, and the camera 30 includes a control device 40, a display 60, and an input device 70, which are omitted in FIGS. 1, 2A, and 2B. Is further provided.

  The control device 40 has the same hardware configuration as a known computer. Specifically, the control device 40 includes a CPU 41, a main storage device 43, and an auxiliary storage device 45. The main storage device 43 includes a RAM. The control device 40 includes a hard disk device or a flash memory as the auxiliary storage device 45. The auxiliary storage device 45 stores various programs and data.

  The CPU 41 executes a process according to a program stored in the auxiliary storage device 45. For example, by controlling the table 10 and the irradiation device 20, the CPU 41 reads the side shape of the reading target 100 while changing the direction and position of the reading target 100, and performs a process of generating shape data of the reading target 100. Execute. Hereinafter, for the sake of simplicity, the processing executed by the CPU 41 will be described as the processing executed by the control device 40. The rotation and movement control of the mounting plate 11 realized by the control device 40 controlling the rotation drive device 13 and the XY drive device 15 is also expressed as control of the table 10.

  The shape data generated by the above processing is stored in the auxiliary storage device 45. The shape data stored in the auxiliary storage device 45 is provided to, for example, an external device. The control device 40 can be configured to have a data communication function with an external device. The external device is, for example, a 3D printer.

  The display 60 is controlled by the control device 40 to display information to be transmitted to the user. The display 60 is constituted by, for example, a liquid crystal display. The input device 70 is configured to input an operation signal from a user to the control device 40. As well-known input devices, a keyboard, a pointing device, a touch panel, and the like are known. The input device 70 can be configured by one or more of known input devices.

  Subsequently, the details of the main processing executed by the control device 40 when a reading command is input from the user through the input device 70 will be described with reference to FIG. When the main process is started, the control device 40 acquires information on the designated reading resolution input from the user together with the reading command through the input device 70 (S100). The designated reading resolution indicates the reading resolution designated by the user. Thereafter, the control device 40 executes an initial reading process (S110).

  At the start of the main processing, the shape, orientation, and the like of the reading target 100 are completely unknown. Therefore, the control device 40 performs a reading process without adjusting the direction and the position of the reading target 100 as the initial reading process. That is, the control device 40 controls the irradiation device 20 to irradiate the irradiation device 20 with a laser beam, controls the camera 30, and obtains captured image data from the camera 30 based on the reception of the reflected light L <b> 1.

  In S110, the control device 40 specifies the height H of the reading target 100 based on the captured image data. Further, the position coordinates of the side surface (scan point Ps) of the reading object 100 irradiated with the laser beam are specified.

  The position coordinates include, for example, the center position coordinates (Xc, Yc, 0) of the mounting plate 11 expressed in an XYZ coordinate system statically determined with respect to the area in which the mounting plate 11 can move, It can be represented by a combination with a rectangular coordinate system or a cylindrical coordinate system on the mounting plate 11 with the center O of the plate 11 as the origin. The scan point referred to in the present embodiment corresponds to a point on the side surface of the reading target object 100 where the irradiation light L0 shines, and corresponds to a reading point of the shape (position coordinates) of the side surface. Here, the scan point is used as a term representing the irradiation position of the irradiation light L0 with reference to the side surface of the reading object 100.

  After performing the initial reading process in S110, the control device 40 proceeds to S120, and divides the reading target object 100 into a plane perpendicular to the height direction. That is, as shown in FIG. 5A, the reading object 100 is divided into a plurality of sections (first section to G section) having a boundary surface parallel to the mounting surface. In S120, the control device 40 divides the reading target object 100 into a plurality of sections based on the information on the designated reading resolution acquired in S100 such that the height of each section becomes a height corresponding to the reading resolution designated by the user. To divide.

  For example, the control device 40 causes the section height to be smaller when a high-resolution reading command is input from the user than when a standard-resolution or low-resolution reading command is input from the user. In addition, the reading object 100 can be divided.

  In the auxiliary storage device 45 of the reading system 1, setting data representing the height of the section to be set can be stored for each level of the reading resolution that can be specified by the user. In this case, the number of sections G of the reading target 100 defined by the division changes according to the height H of the reading target 100. In S120, the reading object 100 is divided into a plurality of sections, and the number of sections G is stored and held.

  After that, the control device 40 initializes the variable g to a value of zero (S130), and executes the processing after S140. In S140, the control device 40 updates the variable g to a value obtained by adding 1, and sets the g-th section of the reading target object 100 as the reading target section. The section number may be assigned to each section in order from the lowermost section of the reading target object 100 as the first section as shown in FIG. 5A, or may be assigned to each section in reverse order. You may be.

  In S150, the control device 40 estimates the tangent Lt (see FIG. 2A) to the side surface of the reading target section of the reading target object 100, and the tangent Lt at the next scan point. Basically, the next scan point corresponds to a point moved from the current scan point Ps by a preset ΔY in the Y direction along the side surface of the reading object 100.

  The tangent line Lt can be estimated by evaluating the side surface of the section to be read on the XY plane. Specifically, a straight line connecting these two points can be estimated as the tangent Lt based on the position coordinates of the side surface of the section to be read at the two points in the immediate vicinity of the next scan point obtained by the already performed reading processing. .

  If the position coordinates of the point around the next scan point that has already been obtained are less than or equal to one, the mounting position is measured in order to measure the position coordinates of a point different from the point where the position coordinates have already been obtained. By controlling the table 10 to slightly rotate the plate 11 and measuring the position coordinates of the point after the minute rotation by irradiating and receiving the laser beam, the position coordinates of the two points can be collected.

  When the estimation of the tangent Lt is completed, the control device 40 controls the table 10 to rotate the mounting plate 11 such that the tangent Lt is arranged at a position of 45 degrees between the X direction and the Y direction. (S160). However, when the tangent line Lt is already arranged at the position of 45 degrees, the rotation in S160 is unnecessary.

  In S170 following S160, the control device 40 determines that the scan point Ps has moved relative to the side by ΔY in the Y direction from before the rotation, taking into account that the scan point Ps has moved relative to the side surface from before the rotation by the rotation in S160. The mounting plate 11 is moved in the XY directions so as to move. At this time, by not rotating the mounting plate 11, the reading object 100 is translated by ΔY from the position before the rotation while the angle of the tangent line Lt is maintained at 45 degrees.

  Assuming that the position of the scan point Ps before rotation is (X1, Y1) = (Xc0 + r · cos θ, Yc0 + r · sin θ), the position (X2, Y2) after rotation in S160 is (X2, Y2) = (X2, Y2) = (X2, Y2) Xc0 + r · cos (θ + δ), Yc0 + r · sin (θ + δ)). δ corresponds to the rotation amount of the mounting plate 11 in S160. The coordinates (Xc0, Yc0) correspond to the position coordinates (Xc, Yc) of the center O of the mounting plate 11 before and after the rotation of the mounting plate 11 in S160.

  In S170, the table 10 is controlled such that the center O of the mounting plate 11 moves from the position (Xc0, Yc0) to the position (Xc0 + (X1-X2), Yc0 + (Y1-Y2) + ΔY).

  By rotating and moving the mounting plate 11 in S160 and S170 as described above, the control device 40 sets the scan point Ps on the side surface of the reading target object 100 to the next scan point ΔY away from the scan point Ps in the Y direction. Move to

  After executing the processing in S170, the control device 40 determines whether or not a special situation has occurred with respect to the reflection point in the reading target section (S180). Depending on the shape of the object 100 to be read, the other portions of the object 100 to be read are arranged on the irradiation path of the laser light to the target scan point by the rotation and movement in S160 and S170. The reflection point may suddenly fly discontinuously in the + X direction (see FIG. 8C). In another case, the reflection point of the laser beam may not be visible from the camera 30 (see FIGS. 9C and 10B). In still another case, there is a possibility that the reading target 100 is arranged at a position where a reflection point of the laser light does not occur (see FIG. 11C).

  As described above, when a special situation occurs such that the reflection point suddenly disappears from the camera field of view or jumps discontinuously in the + X direction, the position coordinates of the side surface at the target scan point are normally specified and stored. Can not do it. Therefore, the control device 40 determines the occurrence of the special situation.

  When it is determined that the special situation has not occurred (No in S180), the control device 40 proceeds to S200, and when it is determined that the special situation has occurred (S180 Yes), the process proceeds to S190. In addition, the control device 40 can sequentially determine whether or not the special situation has occurred while executing the processes of S160 and S170 (S180). For example, the control device 40 determines the occurrence of a special situation by irradiating the irradiation device 20 with laser light during the execution of S170 and S180, and observing the reflection point based on the captured image data from the camera 30. be able to. In this case, when a special situation occurs, the control device 40 can interrupt the process being executed (S170 or S180) and shift to S190.

  In S190, the control device 40 executes the special processing shown in FIG. In this special processing, the control device 40 controls the rotation and the movement of the mounting plate 11 except for adjusting the tangent Lt to 45 degrees. Thereby, the direction and the position of the reading object 100 (the reading target section) with respect to the irradiation device 20 are adjusted. Details of the special processing will be described later. After executing the special processing, the control device 40 proceeds to S200.

  In S200, the control device 40 executes the reading process, and specifies the position coordinates of the side surface at the new scan point moved by the processes of S160 to S190. Specifically, the control device 40 controls the irradiation device 20 to irradiate the irradiation device 20 with laser light, and acquires captured image data from the camera 30 based on the reception of the reflected light L1. Then, based on the captured image data, the position coordinates of the side surface of the reading target 100 at the new scan point are specified, and the position coordinates are temporarily stored in the main storage device 43.

  In S200, it is sufficient that the position coordinates of the point corresponding to the section to be read out of the scan points extending in the height direction are specified. However, the control device 40 may also specify the position coordinates of a point outside the reading target section and temporarily store the position coordinates in the main storage device 43 as reference data.

  After finishing the processing in S200, the control device 40 determines whether or not the reading target section has rotated one or more turns, and the position coordinates of the side surface of the reading target section have been completely specified (S210). If it is determined that the specification of the position coordinates in the section to be read has not been completed (No in S210), the control device 40 proceeds to S150.

  In S150, control device 40 estimates tangent Lt at the next scan point. The control device 40 associates the tangent Lt with these two position coordinates based on the position coordinates of the side surface specified in the immediately preceding reading process (S200) and the side coordinates specified in the immediately preceding reading process. Can be estimated as a straight line passing through two points.

  Thereafter, the control device 40 executes the rotation control of the mounting plate 11 to adjust the tangent Lt to 45 degrees (S160), so that the side surface of the reading object 100 moves to the position corresponding to the new scan point. Then, control is performed to translate the mounting plate 11 in parallel (S170). Further, the reading process is executed after the determination process of S180 and possibly the special process of S190 (S200), and the position coordinates of the side surface at the new scan point are specified.

  The controller 40 moves the scan point by ΔY while adjusting the side surface to 45 degrees by rotating and moving the mounting plate 11 until the position coordinates of the side surface of the section to be read are completely specified in this manner. Then, the reading process is repeatedly executed (S150-S200). When it is determined that the position coordinates of the side surface of the section to be read have been completely specified (Yes in S210), the process proceeds to S220.

  In S220, the control device 40 performs the level difference determination process shown in FIG. As a result, as shown in FIG. 5C, when there is a large step in the reading target section, the reading target section is further divided to re-partition the reading target object 100. When the repartitioning is performed, the control device 40 executes the reading process on the plurality of partitions after the repartitioning corresponding to the reading target partitions before the repartitioning to execute the reading process again. The variable g used for selection is changed to a value smaller by one (S410). Details of the step determination processing will be described later.

  After executing the level difference determination process, the control device 40 proceeds to S230, and determines whether or not repartitioning has been performed in the level difference determination process. If it is determined that the repartitioning has not been performed (No in S230), the control device 40 determines whether the reading process for all the partitions has been completed (S240). Specifically, it is determined whether or not the variable g matches the number of sections G.

  If it is determined that the reading process for all the sections has not been completed (No in S240), the control device 40 determines the reading target object 100 of this section based on the position coordinate group of the sides of the reading target section specified so far. Shape data representing a three-dimensional shape of the side surface is generated, and the shape data is stored in the main storage device 43 (S250). The shape data describes the position coordinates of each point on the side surface of the reading object 100 in the position coordinate system of the mounting plate 11 with the center O of the mounting plate 11 as the origin, thereby forming a shape representing the shape of the side surface. Data can be generated.

  After performing the process in S250, the control device 40 proceeds to S140, updates the variable g, and changes the reading target section to the next section. The control device 40 repeatedly executes the processes of S150 to S210 on the changed read target section, thereby executing the read processing for the read target section for one round of the side surface. In the first step S150 after the section change, for example, a tangent line is obtained from the position coordinates of the previous read target section obtained in the reading process for the immediately preceding read target section or the position coordinates of the current read target section stored as the reference data. Lt can be estimated.

  When the control device 40 executes the reading process for the reading target section (Yes in S210), the control device 40 executes the step determination process again in S220. When the controller 40 determines that repartitioning has been performed in the level difference determination process (Yes in S230), the process proceeds to S140, and among the plurality of partitions after repartitioning corresponding to the read target partitions before repartitioning, the most. The section with the young section number is set as the section to be read (see FIG. 5C), and S150 to S210 are repeatedly executed. Thereby, the control device 40 executes the reading process from the repartitioned section in the order of the section number. Then, each time the reading process of each section is completed (Yes in S210), the step determination process (S220) is executed, and further re-partitioning is performed as necessary.

  As described above, the control device 40 performs the re-partitioning according to the shape of the reading target object 100, and moves and rotates the mounting plate 11 suitable for that partition for each of the partitions, thereby performing the relevant partitioning of the reading target object 100. Is read in the circumferential direction, and shape data for each section is generated and stored (S250). Then, when it is determined that the reading process for all the sections has been completed (Yes in S240), shape data representing the side surface shapes of all the sections of the reading target object 100 is generated by combining the shape data in each section, and this is generated. The data is stored in the auxiliary storage device 45 (S260).

  Next, the details of the level difference determination process (S220) performed by the control device 40 will be described with reference to FIGS. 5B, 5C, and 6. FIG. As shown in FIG. 5B, in the step determination process, the reading target section is divided into meshes. Specifically, the section to be read is divided into a plurality of layers from the first layer to the Nth layer in the height direction. Further, each layer is divided into a plurality of portions from a first portion to an M-th portion in the angular direction about the axis of the reading object 100. The distance R from the axis of the side surface of the reading object 100 corresponding to each portion defined in this way is calculated from the position coordinates specified in S200, and the presence or absence of a step is determined.

  Each axis on the axis line is a minimum enclosing all points on the projection plane, which are arranged by equilibrium projection along the Z direction on the projection plane parallel to the surface of the mounting plate 11 on the projection surface. A straight line parallel to the Z direction passing through the center of the circle can be used. The distance R from the axis of the side surface corresponding to each part can be defined as, for example, any one of the average value, the median value, the maximum value, and the minimum value of the distance from the axis of each point of the side surface belonging to the part. it can.

  When the step determination process is started, the control device 40 divides the reading target section into a mesh as described above (S310). After finishing the processing in S310, the control device 40 selects two layers from a plurality of layers from the first layer to the Nth layer as a pair (S320). After that, the control device 40 calculates the sum of the differences of the distances R between the layers of the selected two layers from the first portion to the Mth portion as the step difference total Q (S330).

  Assuming that the two selected layers are the i-th layer and the k-th layer, the total step difference Q = Q [i, k] is expressed by the following equation.

Here, the distance R [i, j] represents the distance R from the axis of the j-th part in the i-th layer, and the distance R [k, j] is the distance R from the axis of the j-th part in the k-th layer. Represents
After calculating the total step difference Q = Q [i, k] in S330, the control device 40 determines whether the total step difference Q = Q [i, k] is larger than a predetermined threshold value Q0 (S340). When judging that it is larger (Yes in S340), control device 40 increments variable P representing the number of pairs having a step by one. Further, the information of the pair in which the step total Q is larger than the threshold value Q0 is temporarily stored in the main storage device 43 as the information of the pair having the step (S350). Thereafter, the flow shifts to S360. The variable P is reset to an initial value of zero at the start of the step determination processing. When the controller 40 determines that the total step difference Q = Q [i, k] is equal to or smaller than the threshold value Q0 (No in S340), the process proceeds to S360 without updating the variable P.

  In S360, control device 40 determines whether or not all selectable pairs have been selected in S320. If a negative determination is made in S360, the control device 40 proceeds to S320, selects an unselected pair from a plurality of layers from the first layer to the Nth layer, and performs the processing from S330 on the selected pair (two layers). Execute.

  When determining that all the pairs have been selected in S320 (Yes in S360), control device 40 proceeds to S370, and determines whether variable P representing the number of pairs having a level difference is 1 or more. When determining that the variable P is zero (No in S370), the control device 40 determines that it is not necessary to re-partition the read target partition (S380). The fact that the variable P is zero indicates that there is no large step between any layers of the section to be read. Thereafter, the level difference determination process ends.

  If the control device 40 determines that the variable P is 1 or more (Yes in S370), it determines that the read target partition needs to be repartitioned (S390), and proceeds to S400. In step S400, the control device 40 divides the read target section into a plurality of sections based on the information of the pair having the step temporarily stored in step S350, by classifying the pair of the adjacent layer that is not the pair having the step into the same section. To repartition. In other words, for a pair of adjacent layers having a level difference, the section to be read is re-partitioned into a plurality of small sections by setting the boundary of the section between the two layers corresponding to this pair.

  According to the example shown in FIG. 5C, the pair of the first layer and the second layer is a pair of adjacent layers that does not correspond to the pair having a step, but the pair of the second layer and the third layer is a pair having a step. Is a pair of adjacent layers. The pair of the third layer and the fourth layer is a pair of adjacent layers that does not correspond to a pair having a step, whereas the pair of the fourth layer and the fifth layer is a pair of adjacent layers corresponding to a pair having a step. . Therefore, according to the example shown in FIG. 5C, the reading target section including the first to sixth layers is divided into the section including the first and second layers, the section including the third and fourth layers, and the fifth layer. And re-partitioning so as to be divided into sections composed of the sixth layer.

  When the read target partition before the repartitioning is the g-th partition and the read target partition is repartitioned into F partitions by the repartitioning, the F partition after the repartitioning corresponding to the read target partition is used. Each of the sections is redefined as a g-th section, a {g + 1} -th section,..., A {g + (F−1)}-section, respectively. Then, the (g + 1) th partition before the repartitioning is redefined as the (g + F) th partition. That is, the section numbers after the section to be read are renumbered.

  After finishing the process in S400, the control device 40 proceeds to S410 and updates the number of partitions G to the number of partitions {G + (F-1)} after repartitioning. Further, in order to execute the reading process for the plurality of sections after the repartitioning corresponding to the reading target section, the variable g is changed to a value smaller by 1 as described above. Thereafter, the level difference determination process ends.

  Subsequently, the details of the special processing executed by the control device 40 will be described with reference to FIGS. When the special process is started in S190, the control device 40 switches the process according to the special situation that has occurred, and performs appropriate rotation and movement control of the mounting plate 11 according to the situation. Specifically, in S510, control device 40 determines whether or not the current situation is a situation where the reflection point of the laser beam has disappeared from the camera field of view. When the control device 40 determines that the reflection point has disappeared from the camera field of view (Yes in S510), the process proceeds to S540. On the other hand, if it is determined that the reflection point has jumped discontinuously in the + X direction (No in S510), the process proceeds to S520.

  In S520, the control device 40 controls the table 10 to return the mounting plate 11 to the state (position and orientation) before execution of S160 and S170 executed immediately before. Thereafter, in S530, the control device 40 controls the table 10 so that the mounting plate 11 is advanced by + Y in the + Y direction.

  As another example, in S520 and S530, the control device 40 irradiates the irradiation device 20 with a laser beam, confirms the result of receiving the reflected light L1, and performs the process in the immediately preceding S160 until the reflection point no longer jumps. The control of the table 10 for rotating the mounting plate 11 in a direction opposite to the rotating direction may be performed. At the same time, the control of the table 10 for moving the mounting plate 11 in the XY direction may be performed so that the scan point at the position where the reflection point does not fly is a position advanced by ΔY from the previous scan point.

  When the processing in S530 ends, the control device 40 ends the special processing, and executes the reading processing in S200. In this case, the reading process on the reading object 100 is executed in a state where the side surface (tangent line Lt) of the reading object 100 is not adjusted to 45 degrees at the scan point.

  By adjusting the side surface to 45 degrees, when the scan point is moved along the side surface of the reading target object 100, the scan point moves by the same amount in the XY directions. When the mounting plate 11 is moved in the + Y direction by ΔY, the scan points move in the −Y direction and the −X direction by the same amount. Therefore, the side surface of the reading object 100 can be read with a uniform reading resolution in two directions (XY directions) parallel to the mounting surface. In other words, the reason why the side surface is adjusted to 45 degrees is to read the shape of the reading object 100 at equal intervals in the XY directions. Therefore, reading the shape of the side surface should be given priority over maintaining the uniformity of resolution by adjusting the side surface to 45 degrees.

  Therefore, in the case where a negative determination is made in S510, in the special processing, the condition for adjusting the side surface to 45 degrees is removed, and the rotation of the mounting plate 11 for reading the side surface of the reading object 100 at the position following the previous scan point is performed. And movement control.

  For example, with respect to the reading object 100C shown in FIG. 8A, a case is considered in which the side surface portion indicated by the thick solid line is read while the mounting plate 11 is moved in the direction of the dashed arrow to hold the side surface at a position of 45 degrees. In this case, the scan point gradually changes with respect to the reading target 100C by moving the mounting plate 11 in the + Y direction by ΔY.

  As shown in FIG. 8A, the reading object 100C has a shape in which a side surface is bent. That is, the side surface has a different tangential direction at the bent point as a boundary. From this, when the scan point moves to a point where the side surface is bent as shown in FIG. 8B, rotation (S160) is performed at this point to adjust the side surface to 45 degrees as shown in FIG. 8C. However, due to this rotation, a part of the reading object 100C rotates to a position that blocks the laser light irradiation path to the target scan point, and the reflection point flies to the right.

  At this time, the control device 40 executes the processing of S520 and S530, rotates the mounting plate 11 rotated in S160 in the reverse direction as shown in FIG. 8D, and reads the reflected light so that the reflection point does not fly to the right. After arranging the object 100C, a reading process (S200) is performed, and the side surface is read along the thick line shown in FIG. 8D.

  In the process of reading the side surface along the thick line shown in FIG. 8D, the control device 40 repeatedly executes the processes of S160 and S170 to adjust the side surface to 45 degrees. However, since a special situation occurs each time this processing is performed, the control device 40 executes the reading processing (S200) after executing the special processing (S190). As a result, the side surface of the reading target object 100C is read without being adjusted to 45 degrees along the thick line shown in FIG. 8D.

  The control device 40 makes an affirmative determination in S510, and when proceeding to S540, controls the table 10 so as to move the mounting plate 11 by ΔX in the −X direction. As an example of the case where the reflection point disappears from the camera field of view, a case where the reading object 100 has a portion protruding toward the camera 30 like the reading object 100E shown in FIG. 10A can be exemplified.

  For example, with respect to the reading object 100E shown in FIG. 10A, a case is considered in which the side surface portion indicated by the thick solid line is read while the mounting plate 11 is moved in the direction of the dashed arrow to hold the side surface at a 45 ° position. In this case, as the mounting plate 11 moves in the + Y direction, the scan point gradually changes toward the lower side of the reading target 100E.

  Then, as shown in FIG. 10B, when the scan point approaches the lower side, depending on the relative position and the angle of view of the camera 30 with respect to the reading target 100E, the lower side of the reading target 100E moves between the camera 30 and the reflection point. It enters between the connected camera fields of view, and the reflection point becomes invisible from the camera 30. In this case, when the object to be read 100E is moved in the −X direction, the lower side that makes the reflection point invisible is shifted in the −X direction in front of the camera 30 as shown in FIG. The reflection point is visible outside of the field of view 30. For this reason, in S540, the mounting plate 11 is moved by ΔX in the −X direction.

  If the reflection point is visible by moving the mounting plate 11 by ΔX in the −X direction, the control device 40 determines that the reflection point has appeared in S550 (Yes in S550), and ends the special processing. , A reading process is executed in S200.

  In the case of FIGS. 10A to 10D, even if the mounting plate 11 is moved by ΔX in the −X direction, in the course of execution of the repetition of S150 to S210, as the mounting plate 11 moves in the + Y direction, the reflection point is again set. A similar special situation occurs that becomes invisible from the camera 30. Therefore, as shown in FIGS. 10C to 10D, the reading process (S200) for the side surface indicated by the thick solid line is performed by the special process (S190) executed every time a special situation occurs, and the mounting plate 11 is set to -X. It is repeatedly executed with the operation of moving little by little in the direction.

  According to the reading target 100E, when the scan point moves to the position shown in FIG. 10D, even if the mounting plate 11 is moved in the −X direction by ΔX, a situation occurs in which a reflection point no longer appears in the camera field of view.

  If the reflection point does not appear in the camera field of view even after the processing in S540, the control device 40 makes a negative determination in S550 and returns the mounting plate 11 moved in S540 to the original position. 11 is moved in the + X direction by ΔX (S560). Thereafter, the control device 40 controls the table 10 to move the mounting plate 11 by ΔY in the + Y direction (S570).

  After finishing the processing in S570, the control device 40 determines whether or not a reflection point has appeared in the camera field of view (S610). According to the reading target 100D shown in FIGS. 9A to 9D, the reading is performed in the same manner as the reading target 100C as shown in FIGS. 8A and 8B and FIGS. 9A and 9B until the scan point moves to the point where the side surface is bent. Can be When the scan point moves to a point where the side surface is bent as shown in FIG. 9B, rotation (S160) is performed at this point to adjust the side surface to 45 degrees. However, during this rotation, a part of the reading object 100D rotates to a position that blocks the laser light irradiation path to the target scan point, as shown in FIG. 9C, and the reflection point moves toward the camera 30 side. When the reflection point is generated on an unfacing surface, the reflection point disappears from the camera field of view. In this case, a situation may occur in which the reflection point does not appear in the camera field of view even if the mounting plate 11 is moved in the −X direction by ΔX in S540.

  However, when the process of S570 is performed, the reflection point falls within the camera field of view as shown in FIG. 9D. According to the example shown in FIG. 9D, the reflection point appears near the target scan point. In such a case, control device 40 makes an affirmative determination in S610 and ends the special processing. Thereafter, the control device 40 performs a reading process (S200) and operates to read the side surface of the reading target 100 from the position where the reflection point appears.

  On the other hand, in the situation shown in FIG. 10D, even if the mounting plate 11 is moved in the + Y direction by ΔY by performing S570, no reflection point appears in the camera field of view. In such a case, the control device 40 makes a negative determination in S610, and proceeds to S620.

  The situation in which a negative determination is made in S610 also occurs under the situation where the reading target 100E is arranged as shown in FIG. 11C. 11A to 11C show a process in which the side surface is gradually read by moving the mounting plate 11 in the Y direction while holding the side surface of the reading target object 100E indicated by a thick solid line at 45 degrees. I have. FIG. 11C illustrates a situation in which the reflection point has disappeared by the end of the side surface moving in the Y direction beyond the irradiation axis of the laser light with the movement of the mounting plate 11 performed in S170. In such a situation, even if the mounting plate 11 is moved in the −X direction by ΔX in S540, or if the mounting plate 11 is moved in the + Y direction by ΔY in S570, the reflection point does not appear in the camera field of view. Absent. Therefore, the control device 40 makes a negative determination in S610, and proceeds to S620.

  In S620, the control device 40 controls the table 10 to rotate the mounting plate 11 by 90 degrees as shown in FIGS. 10E and 11D, thereby rotating the reading object 100 by 90 degrees. According to this rotation, when the reading object 100 has an angle that bends at 90 degrees to the side surface, even if the surface of the reading object 100 to which the laser light is applied is switched before and after rotation, the laser light is applied after the switching. The tangent Lt of the surface is adjusted to 45 degrees.

  After executing the processing of S620, the control device 40 determines whether or not the reflection point has appeared in the camera visual field (S630), and determines that the reflection point has appeared in the camera visual field (Yes in S630). After that, the reading process is executed in S200. Thus, according to the examples shown in FIGS. 10E and 11D, the reading of the side surfaces of the reading object 100E and the reading object 100F indicated by the thick solid line is started.

  In addition, when the control device 40 determines in S630 that the reflection point does not appear in the camera field of view, the process proceeds to S640, and further rotates the mounting plate 11 by 67.5 degrees. If the reflection point does not appear in the camera field of view even by the rotation of S620, the angle of the reading object 100 that has passed through the irradiation axis of the laser beam in the Y direction is an angle β of 0 to 45 degrees as shown in FIG. 11E. Likely to have If the angle β is 22.5 degrees, which is intermediate between 0 degrees and 45 degrees, and the mounting plate 11 is rotated by 67.5 degrees in S640, as shown in FIG. When appearing, the side surface of the reading object 100 corresponding to the reflection point is arranged at 45 degrees.

  For this reason, in this embodiment, the mounting plate 11 is rotated 67.5 degrees in S640. When the processing in S640 ends, the control device 40 ends the special processing, and executes the reading processing in S200. Thus, according to the example illustrated in FIG. 11E, reading of the side surface of the reading target object 100G indicated by the thick solid line is started.

  According to the reading system 1 of the present embodiment, when the control device 40 performs the main processing as described above, the reading target 100 has the boundary surface parallel to the mounting surface (the surface of the mounting plate 11). It is divided into a plurality of sections (S120). Specifically, the control device 40 divides the reading target object 100 into a plurality of sections so that each section has a height (size) corresponding to the reading resolution designated by the user.

  After that, the control device 40 executes a scan process (S150-S210, S250) for reading the shape of the section of the reading target object 100 for each section. This scanning process is performed by controlling the rotation driving device 13 and the XY driving device 15 to rotate and move the mounting plate 11, further irradiating the irradiation device 20 with light, and capturing captured image data based on the reception of the reflected light L1. From the camera 30 and generating shape data representing the shape of the section of the reading object 100 based on the obtained captured image data. The control device 40 combines the shape data generated for each section in this way to generate shape data representing the shape of the reading target 100 (S260).

  In particular, in this embodiment, when reading each section, the control device 40 controls the table 10 so as to move the mounting plate 11 in accordance with the shape of the reading object in that section, and preferably reads the reading object 100 at a scan point. The shape of the object to be read 100 is read such that the tangent line Lt on the side surface becomes a constant angle (45 degrees). Further, when a special situation occurs due to the shape of the reading object 100, the rotation and movement control of the mounting plate 11 adapted to the situation is performed to read the side surface of the reading object 100.

  Further, according to the present embodiment, when reading each section of the reading target object 100, the control device 40 causes a step greater than or equal to a predetermined reference (threshold value Q0) to be set in the section based on the reading result of that section. It is determined whether or not it is in the vertical Z direction (S310-S370). If it is determined that there is a step that is equal to or greater than the predetermined reference (Yes in S370), the control device 40 re-divides the section having the step into a plurality of small sections having a boundary surface parallel to the mounting surface and re-partitions. (S400). Specifically, the section having the step is repartitioned so as to be divided into a plurality of sections at the boundary of the step. Then, the control device 40 performs a process related to reading for each small section after the repartitioning (S410, S150-S210, S250).

  Therefore, according to the present embodiment, in the height direction (Z direction) of the reading target object 100, the influence of the shape change is suppressed, and in the XY directions, the reading target object 100 can be accurately scanned with a uniform resolution. Can be read. In other words, even if the reading target 100 has a shape distorted in the height direction, the mounting surface can be appropriately moved according to the shape of the reading target, and the reading target 100 can be read, and the uniform resolution can be obtained. Thus, good shape data of the object to be read 100 can be generated.

  In addition, in the present embodiment, when the reflected light L1 of the section to be read disappears from the camera view (Yes in S510), the control device 40 changes the state in which the reflected light L1 appears in the camera view to the mounting plate 11. The search is performed by at least one of the movement and the rotation (S540-S640). Then, the control device 40 adjusts the tangent Lt (the incident angle of the laser beam) to a certain angle based on the position of the mounting plate 11 at which the reflected light L1 detected by the search appears in the field of view, and then adjusts the mounting position. The plate 11 is moved in the Y direction (S160-S170) to generate shape data (S250).

  For example, when the reflected light L1 disappears from the field of view of the camera, the control device 40 moves the mounting plate 11 along the −X direction corresponding to the irradiation axis, so that the reflected light L1 appears in the field of view. The position of the placement surface is searched (S540). If the reflected light L1 does not appear even after this search, the mounting plate 11 is moved along the + Y direction corresponding to the light receiving axis to search for the position where the reflected light L1 appears in the camera view (S570). ). If the reflected light L1 does not appear by this search, the mounting plate 11 is rotated to search for a position where the reflected light L1 appears in the camera field of view (S610-S640). Therefore, according to the present embodiment, the reading object 100 can be satisfactorily read by appropriately rotating and moving the mounting plate 11 according to the shape of the reading object 100.

Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and may employ various aspects.
In the above embodiment, the table 10 is controlled so that the side surface of the reading target object 100 is adjusted to 45 degrees. However, the side surface may be adjusted to a fixed angle other than 45 degrees or may not be adjusted to a fixed angle. Good. In the above embodiment, the rotation and the movement of the mounting plate 11 are performed separately, but the table 10 may be controlled so that the mounting plate 11 moves while rotating.

  In addition, the function of one component in the above-described embodiment may be provided separately for a plurality of components. The functions of a plurality of components may be integrated into one component. A part of the configuration of the above embodiment may be omitted. All aspects included in the technical idea specified by the language described in the claims are embodiments of the present disclosure.

  Finally, the correspondence between terms will be described. The irradiation device 20 corresponds to an example of an irradiation unit, the camera 30 corresponds to an example of a light receiving unit, and the control device 40 corresponds to an example of a control unit.

  DESCRIPTION OF SYMBOLS 1 ... Reading system, 10 ... Table, 11 ... Placement plate, 13 ... Rotation drive device, 15 ... XY drive device, 20 ... Irradiation device, 30 ... Camera, 40 ... Control device, 41 ... CPU, 43 ... Main storage device , 45: auxiliary storage device, 70: input device, 100A, 100B, 100C, 100D, 100E, 100F, 100G: read object, L0: irradiation light, L1: reflected light.

Claims (9)

A power source for the mounting surface on which the reading target is mounted and the mounting surface is provided, and the mounting surface is two-dimensionally moved on a plane parallel to the mounting surface based on power from the power source. A table configured to rotate,
An irradiation unit that irradiates light to a side surface of the read target placed on the table,
A light receiving unit that receives reflected light generated by the irradiation light from the irradiation unit reflecting the object to be read,
A control unit;
With
The control unit includes:
A dividing process of dividing the read object into a plurality of sections having a boundary surface parallel to the placement surface;
For each section, a scanning process for reading the shape of the section of the object to be read, in which the power source is controlled to move and rotate the mounting surface, and further, the light is transmitted to the irradiation unit. A reading control process of irradiating and acquiring light receiving data of the reflected light from the light receiving unit, and performing a scanning process of generating shape data representing the shape of the section of the reading target based on the obtained light receiving data; and ,
A combining process of combining the shape data for each section to generate shape data representing the shape of the read target;
An acquisition process of acquiring information about the specified reading resolution from Yu chromatography The,
Is configured to perform
The dividing process is a process of dividing the reading target object into sections having a size corresponding to the reading resolution specified by the user, based on the information on the reading resolution acquired by the acquiring process. standing body object reading system that. A power source for the mounting surface on which the reading target is mounted and the mounting surface is provided, and the mounting surface is two-dimensionally moved on a plane parallel to the mounting surface based on power from the power source. A table configured to rotate,
An irradiation unit that irradiates light to a side surface of the read target placed on the table,
A light receiving unit that receives reflected light generated by the irradiation light from the irradiation unit reflecting the object to be read,
A control unit;
With
The control unit includes:
A dividing process of dividing the read object into a plurality of sections having a boundary surface parallel to the placement surface;
For each section, a scanning process for reading the shape of the section of the object to be read, wherein the power source is controlled to move and rotate the mounting surface, and further, the light is emitted to the irradiation unit. A reading control process of irradiating and acquiring light receiving data of the reflected light from the light receiving unit, and performing a scanning process of generating shape data representing the shape of the section of the reading target based on the obtained light receiving data; and ,
A combining process of combining the shape data for each section to generate shape data representing the shape of the read target;
Is configured to perform
The scan processing for each of the sections,
A determination process for determining whether or not there is a level difference equal to or greater than a predetermined reference along a direction perpendicular to the placement surface on a side surface in the section corresponding to the read target,
When it is determined that there is a step that is equal to or greater than the predetermined reference, a re-division process that divides the corresponding section into a plurality of small sections having a boundary surface parallel to the placement surface at a point where the step exists. When,
If it is determined that there is a step that is equal to or greater than the predetermined reference, a small section scan process for reading the shape of the small section of the object to be read is performed for each small section, and the power source is controlled. Move and rotate the mounting surface, and further irradiate the light to the irradiation unit to obtain light receiving data of the reflected light from the light receiving unit, based on the obtained light receiving data of the object to be read. Divided reading control processing for executing small section scanning processing for generating shape data representing the shape of the small section,
Standing body object reading system that comprising a. The control unit is configured to execute an acquisition process of acquiring information on a reading resolution designated by a user,
  The dividing process is a process of dividing the reading target into sections having a size corresponding to the reading resolution specified by the user, based on the information on the reading resolution acquired by the acquiring process.
  The three-dimensional object reading system according to claim 2, wherein: The scanning process for each section, by moving and rotating the mounting surface, the incident angle of light from the irradiation unit with respect to the side surface of the object to be read, on a surface parallel to the mounting surface A shape representing the shape of the section of the object to be read by moving a scan point, which is a point where the light is irradiated on the object to be read, in the circumferential direction of the side surface while adjusting the incident angle of the object to a constant angle. The three-dimensional object reading system according to claim 1, wherein the three- dimensional object reading system is a process for generating data. The three-dimensional object reading system according to claim 4, wherein the scanning process includes a process of adjusting the incident angle to 45 degrees as the fixed angle. The irradiation unit and the light receiving unit are arranged such that an irradiation axis of light from the irradiation unit and a light receiving axis of the light receiving unit are orthogonal to each other on a plane parallel to the mounting surface,
The scanning process is to move and rotate the mounting surface described above so as to move the mounting surface in a direction along the light receiving axis while adjusting the incident angle to a fixed angle, thereby setting the scan point to the side surface. The three-dimensional object reading system according to claim 4 or 5, wherein the processing is a process of generating shape data representing a shape of the section of the read target by moving the target in the circumferential direction. The scanning process, when the reflected light from the scan point disappears from the field of view of the light receiving unit, the position of the mounting surface, the reflected light appears in the field of view, movement of the mounting surface, and Searching by at least one of rotations, based on the position of the mounting surface, wherein the reflected light detected by the search appears in the field of view, and moving the mounting surface while adjusting the incident angle to a certain angle. The three-dimensional object reading system according to claim 6, wherein the processing is a process of generating the shape data. In the scanning process, when the reflected light from the scan point disappears from the field of view of the light receiving unit, the reflected light appears in the field of view by moving the placement surface along the irradiation axis. The three-dimensional object reading system according to claim 7, further comprising a process of searching for a position of the placing surface. The scanning process, when the reflected light from the scan point disappears from the field of view of the light receiving unit, by moving the mounting surface in a direction along the light receiving axis, the reflected light is in the field of view Search for the position of the placement surface that appears, and if the reflected light does not appear in the field of view even after the predetermined amount of movement, rotate the placement surface to make the reflected light appear in the field of view. The three-dimensional object reading system according to claim 7, further comprising a process of searching for a position of the placing surface.

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