JP6722522B2 - Three-dimensional measuring device and control method thereof - Google Patents

Description

The present invention relates to a three-dimensional measuring apparatus and a control method thereof, and more specifically, a third-order method for connecting a plurality of three-dimensional shape data having different imaging angles at the time of data acquisition to generate three-dimensional shape data with less blind spots. Regarding improvement of original measuring device.

The three-dimensional measuring device is a measuring device that optically measures the three-dimensional shape of the measuring object, and three-dimensional shape data is acquired by utilizing the principle of triangulation and the like. For example, the striped pattern light is projected onto the measurement target placed on the stage, and the measurement target on the stage is photographed by the camera in this state. The height information of the object to be measured is obtained from the pattern deviation and the degree of distortion by analyzing the photographed image.

Since the above-described three-dimensional measuring apparatus acquires three-dimensional shape data based on a captured image, it cannot acquire shape data of a blind area such as a side surface or a back surface of a measurement target. Further, the larger the angle formed by the normal line direction of the surface of the measuring object and the light receiving axis of the camera, the lower the measurement accuracy. As a measurement method for solving such a problem, a connection measurement method is known. In the connection measurement method, three-dimensional shape data is obtained from each of a plurality of photographed images having different imaging angles, and these three-dimensional shape data are combined to obtain three-dimensional shape data with a smaller blind spot.

The imaging angle corresponds to the relative positional relationship between the camera and the measurement target, and is switched by rotating the stage, for example, and is individually designated by the user as the rotation angle of the stage.
Toni F. Schenk, "Remote Sensing and Reconstruction for Three-Dimensional Objects and Scenes", Proceedings of SPIE, Volume 2572, pp. 1-9 (1995) Sabry F. El-Hakim and Armin Gruen, "Videometrics and Optical Methods for 3D Shape Measurement", Proceedings of SPIE, Volume 4309, pp. 219-231 (2001)

In the conventional three-dimensional measuring device as described above, a plurality of imaging angles have to be individually designated, and there is a problem that the setting work for connection measurement is complicated.

Moreover, there is a problem in that it is not easy for a skilled operator to appropriately specify each imaging angle for connection measurement. For example, in the connection measurement, an appropriate overlapping area needs to occur between two adjacent captured images, and it is necessary to specify a plurality of imaging angles so as to secure such an overlapping area. In addition, when a partial area of the measurement target is an important area that is desired to be measured with high accuracy, it is necessary that the plurality of imaging angles include an imaging angle at which the important area substantially faces the camera. .. There is a problem that it is not easy for the user to specify a plurality of imaging angles so as to satisfy such a condition.

Further, even when attempting to automate such setting work, there is a problem that it is not easy to specify an appropriate imaging angle for the same reason. For example, there is a problem in that it is not possible to determine whether or not the plurality of automatically specified imaging angles include imaging angles with which the user can accurately measure the important area.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a three-dimensional measuring device that can simplify setting work for connection measurement. In particular, it is an object of the present invention to provide a three-dimensional measuring device capable of performing connection measurement without individually specifying an imaging angle for connection measurement. Another object of the present invention is to provide a three-dimensional measuring device capable of easily confirming that the automatically determined imaging angle includes an imaging angle capable of measuring an important region with high accuracy. To do.

Another object of the present invention is to provide a control method for the above-described coordinate measuring apparatus.

A three-dimensional measuring apparatus according to a first aspect of the present invention is a three-dimensional measuring apparatus that connects a plurality of three-dimensional shape data having mutually different imaging angles at the time of data acquisition to generate a connected shape data. On which the stage is mounted, a light projecting means for irradiating the measuring object on the stage with detection light, and a light receiving axis inclined with respect to the stage and reflected by the measuring object. Based on the photographed image, an image pickup unit that receives the detection light to generate a photographed image, a rotation driving unit that switches the image pickup angle by rotating the stage around a rotation axis in the vertical direction, Shape data calculation means for obtaining the three-dimensional shape data of the measurement object and a plurality of the imaging angles are determined, and the rotation driving means is controlled to switch the stage to one of the imaging angles, and then the imaging is performed. The preview control means for acquiring an image and displaying it on the screen, and the rotation drive means for controlling the stage to sequentially switch to the plurality of imaging angles, and the three-dimensional shape data obtained from the captured image at each imaging angle. Is connected based on the imaging angle, measurement control means for obtaining the connected shape data, and geometrical features are extracted by accepting designation of a position for the connected shape data, and based on the extracted geometrical features. And a shape measuring unit that measures the shape of the measurement object.

According to such a configuration, since a plurality of imaging angles are automatically determined, it is possible to perform the connection measurement without individually specifying the imaging angles for the connection measurement. Therefore, a complicated work for the user to specify each imaging angle is unnecessary, and the setting work for connection measurement can be simplified.

In addition, since the captured image is displayed on the screen by switching the stage to one of the automatically determined imaging angles, it is possible to accurately measure the important area within the automatically determined imaging angles. It can be easily confirmed that is included.

In addition to the above configuration, the three-dimensional measuring apparatus according to the second aspect of the present invention further includes angle information designating means for accepting designation of an imaging angle range, and the preview control means includes the plurality of imagings within the imaging angle range. Configured to determine the angle. According to such a configuration, the linked measurement can be performed by specifying the imaging angle range.

In the three-dimensional measuring apparatus according to the third aspect of the present invention, in addition to the above configuration, the angle information designating means accepts designation of a plurality of attention angles, and the preview control means is based on a rotation angle between the attention angles. Then, an interpolation angle is designated, and the plurality of imaging angles are determined so as to include the plurality of attention angles and the interpolation angle. According to such a configuration, it is possible to perform connection measurement by designating a plurality of attention angles. Further, since the interpolated angle is automatically added so that an appropriate overlapping area is generated between the captured images and the connection measurement is performed, it is possible to suppress the omission in the three-dimensional shape data.

In the three-dimensional measuring apparatus according to the fourth aspect of the present invention, in addition to the above configuration, the angle information designating means accepts a change in the imaging angle, and the measurement control means, based on the imaging angle after the change, The stage is configured to be switched. With such a configuration, after confirming the automatically determined imaging angle by the screen display of the captured image, the user can change the imaging angle so that the important area is measured with high accuracy.

In the three-dimensional measuring apparatus according to the fifth aspect of the present invention, in addition to the above configuration, the angle information designating means accepts designation of a preview angle from the plurality of imaging angles, and the preview control means comprises the preview angle. Is configured to acquire the captured image by switching to the imaging angle designated as. According to such a configuration, the user can confirm the captured image by arbitrarily designating the preview angle from the plurality of capturing angles for the connection measurement.

In the three-dimensional measuring apparatus according to the sixth aspect of the present invention, in addition to the above configuration, two or more illuminations in which the light projecting means is arranged so that the light projecting axis is inclined with respect to the light receiving axis of the image pickup means. The preview control means sequentially lights the lighting device to acquire the plurality of captured images, displays a composite image obtained by combining the captured images on the screen, and based on the plurality of captured images. The shadow area is detected, and the shadow area is superimposed and displayed on the composite image. With such a configuration, the user can easily confirm whether or not the three-dimensional shape data can be obtained for the important region that the user wants to measure with high accuracy.

In the three-dimensional measuring apparatus according to the seventh aspect of the present invention, in addition to the above configuration, the preview control unit is configured to display a saturated region in which the amount of received light is saturated in an overlapping manner on the composite image. .. With such a configuration, the user can easily confirm whether or not the three-dimensional shape data can be obtained for the important region that the user wants to measure with high accuracy.

The three-dimensional measuring apparatus according to an eighth aspect of the present invention is, in addition to the above configuration, a measurement mode designating unit that receives a user operation that designates one of the one-shot measurement mode and the linked measurement mode, and a measurement that receives a measurement start instruction. Further, the measurement control means, when the one-shot measurement mode is designated, further includes an instruction receiving means, and the imaging imaged at an imaging angle corresponding to the rotational position of the stage at the time of receiving the instruction to start the measurement. When an image is acquired and the three-dimensional shape data is obtained, and the connection measurement mode is designated, the plurality of imaging angles determined before the acceptance of the measurement start instruction is sequentially switched, and imaging is performed at each imaging angle. It is configured to obtain the captured image thus obtained and obtain the connection shape data. With such a configuration, the user can arbitrarily specify one of the one-shot measurement mode and the linked measurement mode to perform measurement.

A three-dimensional measuring apparatus according to a ninth aspect of the present invention is a three-dimensional measuring apparatus that connects a plurality of three-dimensional shape data having different imaging angles at the time of data acquisition to generate connected shape data, A stage on which is mounted, a light projecting unit that irradiates the measurement target on the stage with detection light, and an imaging unit that receives the detection light reflected by the measurement target and generates a captured image. A stage driving unit that switches the imaging angle by moving the stage in a horizontal direction or a vertical direction; and a shape data calculating unit that obtains the three-dimensional shape data of the measurement object based on the captured image. A preview control unit that determines a plurality of the imaging angles, controls the stage driving unit to switch the stage to one of the imaging angles, then acquires the captured image and displays it on the screen, and the stage driving unit. Control to sequentially switch the stages to the plurality of imaging angles, connect the three-dimensional shape data obtained from the captured images at each imaging angle based on the imaging angles, and obtain the connected shape data. The control unit includes a control unit and a shape measuring unit that receives a designation of a position with respect to the connected shape data, extracts a geometric feature, and measures the shape of the measurement object based on the extracted geometric feature.

A control method of a three-dimensional measuring apparatus according to a tenth aspect of the present invention is a control method of a three-dimensional measuring apparatus for connecting a plurality of three-dimensional shape data having different imaging angles at the time of data acquisition to generate connected shape data. Then, a light projecting step of irradiating the measurement object placed on the stage with the detection light, an imaging step of receiving the detection light reflected by the measurement object to generate a captured image, and a vertical direction. An angle switching step of switching the imaging angle by rotating the stage about the rotation axis of the, and a shape data calculation step of obtaining the three-dimensional shape data of the measurement object based on the captured image, After determining the imaging angle of, and switching the stage to one of the imaging angles, a preview step of acquiring the captured image and displaying it on the screen, and sequentially switching the stage to the plurality of imaging angles, The measurement control step of connecting the three-dimensional shape data obtained from the captured image at the imaging angle based on the imaging angle and obtaining the connected shape data, and accepting the designation of the position for the connected shape data to geometrically A shape measuring step of extracting a feature and measuring the shape of the measurement object based on the extracted geometric feature.

According to the present invention, setting work for connection measurement can be simplified. In particular, since a plurality of image pickup angles are automatically determined, the joint measurement can be performed without individually specifying the image pickup angles for the joint measurement. In addition, since the captured image is displayed on the screen by switching the stage to one of the automatically determined imaging angles, it is possible to accurately measure the important area within the automatically determined imaging angles. It can be easily confirmed that is included.

It is a system diagram showing an example of 1 composition of three-dimensional measuring device 1 by an embodiment of the invention. It is explanatory drawing which showed typically an example of 1 structure of the measurement part 2 of FIG. 6 is a flowchart showing an example of an operation at the time of dimension measurement in the three-dimensional measuring apparatus 1. 4 is a flowchart showing an example of detailed operations regarding step S101 (brightness adjustment of floodlight) of FIG. 3. 4 is a flowchart showing an example of detailed operation regarding step S102 (brightness adjustment of texture illumination) in FIG. 3. 4 is a flowchart showing an example of detailed operation regarding step S113 (data analysis) in FIG. 3. FIG. 2 is a block diagram showing an example of a functional configuration in information processing terminal 5 in FIG. 1. FIG. 8 is a diagram showing an example of the operation of the information processing terminal 5 in FIG. 7, in which a measurement setting screen 6 displayed on the display unit 51 is shown. FIG. 8 is a diagram showing an example of an operation of the information processing terminal 5 in FIG. 7, showing a case where the imaging angle range RK is designated on the angle setting circle 68. FIG. 8 is a diagram showing an example of the operation of the information processing terminal 5 in FIG. 7, and shows a case where the interpolation angle CA is close to the end angle (end position EP). FIG. 8 is a diagram showing an example of an operation of the information processing terminal 5 in FIG. 7, and shows a case where the attention angle is designated on the angle setting circle 68. 8 is a flowchart showing an example of an operation at the time of connection measurement in the information processing terminal 5 in FIG. 7.

First, the schematic configuration of the three-dimensional measuring apparatus according to the present invention will be described below with reference to FIGS.

<3D measuring device 1>
FIG. 1 is a system diagram showing a configuration example of a coordinate measuring apparatus 1 according to an embodiment of the present invention. The three-dimensional measuring device 1 is a measuring device that optically measures the three-dimensional shape of the measuring object W, and includes a measuring unit 2, a controller 4, and an information processing terminal 5.

<Measurement unit 2>
The measurement unit 2 is a head unit that irradiates the measurement target W on the stage 21 with detection light composed of visible light and receives the detection light reflected by the measurement target W to generate a captured image. The rotation driving unit 22, the image pickup unit 23, the light projecting unit 24, the texture illumination emitting unit 25, and the control board 26. The measuring unit 2 has a stage 21, an imaging unit 23, a light projecting unit 24, and a texture illumination emitting unit 25 mounted in an integrated housing.

The stage 21 is a work table having a horizontal and flat mounting surface for mounting the measurement target W. The stage 21 includes a disc-shaped stage plate 211 and a stage base 212 that supports the stage plate 211.

The stage plate 211 can be bent and fixed in the vicinity of the center, and can function as an inclined table for directly facing the measurement target W to the image capturing unit 23. The rotation drive unit 22 rotates the stage 21 about the vertical rotation axis in order to adjust the imaging angle of the measurement target W on the stage 21.

The image capturing unit 23 is a fixed-magnification camera that captures the measurement target W on the stage 21, and includes a light receiving lens 231 and an image capturing element 232. The image sensor 232 receives the detection light from the measurement object W via the light receiving lens 231, and generates a captured image. As the image sensor 232, for example, an image sensor such as a CCD (Charge Coupled Devices) or a CMOS (Complementary Metal Oxide Semiconductor) is used. The image sensor 232 is, for example, a monochrome image sensor.

The light projecting unit 24 is an illuminating device that irradiates the measuring object W on the stage 21 with detection light, and includes a light source 241, a collector lens 242, a pattern generation unit 243, and a light projecting lens 244. As the light source 241 for projecting light, for example, an LED (light emitting diode) or a halogen lamp that generates monochromatic detection light is used. Since it is easy to correct chromatic aberration and the like, it is more advantageous to use the monochromatic light emitting source 241 than to use a white light source. Since a shorter wavelength is more advantageous for increasing the resolution of the three-dimensional shape data, it is preferable to use a blue light source, for example, a blue LED as the light projecting light source 241. However, a wavelength that allows the image sensor 232 to receive light with a good S/N is selected.

When the light source 241 for projecting light of a single color is used, if the image sensor 232 is a color image sensor, the light receiving element of RG cannot be used. Therefore, only the light receiving element of B is used, and the number of usable pixels is reduced. become. Therefore, when the pixel size and the number of pixels are made uniform, it is more advantageous to use a monochrome image sensor for the image sensor 232.

The detection light emitted from the light source 241 for projecting is incident on the pattern generation unit 243 via the collector lens 242. Then, the detection light emitted from the pattern generation unit 243 is applied to the measuring object W on the stage 21 via the light projecting lens 244.

The pattern generation unit 243 is a device for generating pattern light for structured illumination, and can switch between uniform detection light and detection light having a two-dimensional pattern. For the pattern generation unit 243, for example, a DMD (Digital Micromirror Device) or a liquid crystal panel is used. The DMD is a display element in which a large number of minute mirrors are arranged two-dimensionally and the tilt state of each mirror is controlled to switch between a bright state and a dark state for each pixel.

The structured illumination method for measuring the three-dimensional shape of the measuring object W using the principle of triangulation includes a sine wave phase shift method, a multi-slit method, a spatial code method, and the like. The sine wave phase shift method is an illumination method in which a sine wave-shaped stripe pattern is projected on the measurement target W and a captured image is acquired every time the stripe pattern is moved at a pitch shorter than the cycle of the sine wave. The three-dimensional shape data is obtained by obtaining the phase value in each pixel from the brightness value of each captured image and converting it into height information.

The multi-slit method is an illumination method in which a thin line-shaped stripe pattern is projected on the measurement object W and a captured image is acquired every time the stripe pattern is moved at a pitch narrower than the interval between stripes. The three-dimensional shape data is obtained by obtaining the photographing timing of the maximum luminance in each pixel from the luminance value of each photographed image and converting it to height information.

The space code method is an illumination method in which a plurality of striped patterns having a black-and-white duty ratio of 50% and different pattern widths are sequentially projected onto a measurement target W and a captured image is acquired. The three-dimensional shape data is obtained by obtaining the code value in each pixel from the brightness value of each captured image and converting it to height information.

The pattern generation unit 243 can generate the above-mentioned striped pattern as a two-dimensional pattern. In this three-dimensional measuring apparatus 1, by combining the multi-slit method and the spatial code method, three-dimensional shape data can be acquired with high resolution and high accuracy.

In addition, in the three-dimensional measuring apparatus 1, the two light projecting units 24 are arranged symmetrically with the image capturing unit 23 interposed therebetween. The light projecting axes J2 and J3 of each light projecting section 24 are inclined with respect to the light receiving axis J1 of the image capturing section 23 in order to use the principle of triangulation. In the light projecting unit 24, the light projecting lenses 244, the collector lens 242, and the pattern generating unit 243 are offset from the light projecting lens 244 toward the light receiving axis J1 to tilt the light projecting axes J2 and J3. I am making it. By adopting such a configuration, the measuring unit 2 can be downsized as compared with the case where the entire light projecting unit 24 is tilted.

The texture illumination emitting unit 25 emits uniform illumination light, which is visible light, for detecting the color or pattern of the measurement target W as surface texture information toward the measurement target W on the stage 21. The texture illumination emitting unit 25 has a projection axis substantially parallel to the light receiving axis J1 of the image capturing unit 23, and is arranged so as to surround the light receiving lens 231 of the image capturing unit 23. Therefore, as compared with the illumination from the light projecting unit 24, a shadow is less likely to be formed on the measurement target W, and the blind spot at the time of photographing is reduced.

The control board 26 processes a control circuit for controlling the rotation drive unit 22, a drive circuit for driving the light source 241 for projecting light of the light projecting unit 24 and a pattern generating unit 243, and a detection signal from the image sensor 232 of the image capturing unit 23. A circuit board provided with a processing circuit and the like.

The controller 4 is a control device for the measurement unit 2, and includes a texture light source 41 that generates illumination light for texture illumination, a control board 42 provided with a drive circuit for the texture light source 41, and the like in the measurement unit 2. It is configured by a power source 43 that supplies power to each device. The texture light source 41 sequentially turns on illumination light of each color of R (red), G (green), and B (blue) in order to obtain a color texture image from a captured image. Since the image sensor 232 is a monochrome image sensor, color information cannot be acquired when texture information is acquired using a white light source as the texture light source 41. Therefore, the texture light source 41 illuminates by switching RGB.

If a monochrome texture image is sufficient, a white light source such as a white LED may be used as the texture light source 41, or a light source that simultaneously emits RGB monochromatic light may be used. A color image sensor may be used as the image sensor 232 when the decrease in measurement accuracy is allowed to some extent. The illumination light is transmitted to the texture illumination emitting unit 25 of the measuring unit 2 via the light guide 3. The control board 42 and the power supply 43 are connected to the control board 26 of the measuring unit 2.

The information processing terminal 5 is a terminal device that controls the measuring unit 2 to display a captured image on the screen, register setting information for dimension measurement, generate a three-dimensional shape data, calculate the dimension of the measurement target portion W, and the like. , A display unit 51, a keyboard 52 and a mouse 53 are connected. The display unit 51 is a monitor device that displays captured images and setting information on the screen. The keyboard 52 and the mouse 53 are input devices with which the user inputs operations. The information processing terminal is, for example, a personal computer, and is connected to the control board 26 of the measuring unit 2.

FIG. 2 is an explanatory diagram schematically showing a configuration example of the measuring unit 2 in FIG. The measuring unit 2 includes two image capturing units 23a and 23b having different photographing magnifications, and is attached to the base housing 27 so that the relative positional relationship between the stage 21 and the image capturing units 23a and 23b does not change. .. For this reason, it is easy to combine and combine a plurality of captured images having different rotation angles of the stage 21.

The imaging unit 23a is a low-magnification imaging unit 23. The imaging unit 23b is an imaging unit 23 having a higher magnification than the imaging unit 23a. The imaging units 23a and 23b are both arranged such that the light receiving axes J11 and J12 are inclined with respect to the stage 21 in order to obtain three-dimensional shape data of the entire measurement target.

For example, the inclination angle of the light receiving axes J11 and J12 with respect to the stage 21 is about 45°. The image pickup unit 23b is arranged below the image pickup unit 23a so that the focus position FP is below the focus position FP of the image pickup unit 23a on the rotation axis J4 of the stage 21, and the light receiving axis J12 receives the light. It is substantially parallel to the axis J11.

By adopting such a configuration, the measurable region R1 of the imaging unit 23a and the measurable region R2 of the imaging unit 23b can be appropriately formed on the stage 21. The measurable regions R1 and R2 are both columnar regions centered on the rotation axis J4 of the stage 21, and the measurable region R2 is formed in the measurable region R1.

Steps S<b>101 to S<b>113 of FIG. 3 are a flowchart showing an example of the operation of the coordinate measuring apparatus 1 at the time of dimension measurement. First, the three-dimensional measuring apparatus 1 photographs the measuring object W placed on the stage 21 by the image pickup unit 23, displays the photographed image on the display unit 51, and adjusts the brightness of the floodlight (step). S101). This brightness adjustment is performed by emitting uniform detection light from the light projecting unit 24 or irradiating pattern light.

Next, the three-dimensional measuring apparatus 1 switches to texture illumination, acquires a captured image, displays it on the display unit 51, and adjusts the brightness of texture illumination (step S102). This brightness adjustment is performed by irradiating the texture illumination emitting section 25 with illumination light of each color of R (red), G (green), and B (blue) sequentially or simultaneously. The order of step S101 and step S102 may be interchanged.

The three-dimensional measuring apparatus 1 repeats the processing procedure of steps S101 and S102 until the illumination condition is determined, and after the illumination condition is determined, if the user gives an instruction to start the measurement (step S103), the light projecting unit 24 outputs. Pattern light is projected (step S104), and a pattern image is acquired (step S105). This pattern image is a captured image of the measuring object W on the stage 21. The projection of the pattern light and the acquisition of the captured image are performed by synchronizing the pattern generation unit 243 and the imaging unit 23.

Next, the coordinate measuring apparatus 1 switches to texture illumination and acquires a texture image (steps S106 and S107). This texture image is obtained by sequentially irradiating R (red), G (green), and B (blue) illumination lights of different colors to synthesize a plurality of captured images. At the time of connection measurement, the processing procedure from step S104 to step S107 is repeated while sequentially switching the stage 21 to a plurality of imaging angles designated in advance (step S108).

Next, the three-dimensional measuring apparatus 1 analyzes the pattern image acquired in step S105 by a predetermined measurement algorithm to generate three-dimensional shape data (step S109). In the step of generating the three-dimensional shape data, the three-dimensional shape data obtained from a plurality of captured images with different imaging angles are combined as necessary. Then, the three-dimensional measuring apparatus 1 maps the texture image on the generated three-dimensional shape data (step S110) and displays it on the display unit 51 as the three-dimensional shape of the measurement object W (step S111).

The three-dimensional measuring apparatus 1 repeats the processing procedure from step S101 to step S111 while changing the imaging angle, the imaging condition, and the like until the three-dimensional shape data is obtained for the desired measurement location (step S112). When the data is obtained and the user instructs the data analysis, the dimension measurement application program analyzes the data of the three-dimensional shape data and calculates the dimension of the measurement object W (step S113).

Steps S201 to S211 in FIG. 4 are flowcharts showing an example of detailed operation regarding step S101 (brightness adjustment of the floodlight) in FIG. 3, and the operation of the coordinate measuring apparatus 1 is shown. First, the three-dimensional measuring apparatus 1 turns on the left light projecting unit 24 (step S201), and accepts the brightness adjustment by the user (step S202).

Next, the coordinate measuring apparatus 1 receives the selection of the photographing magnification by the user, and when the photographing magnification is changed, switches to the corresponding imaging unit 23 (step S203). At this time, the three-dimensional measuring apparatus 1 adjusts the position and orientation of the measuring object W by rotating the stage 21 based on a user operation if the desired measurement location is not illuminated (step S204). , S205). The position and orientation may be adjusted by turning on the left and right light projecting portions 24 at the same time.

Then, the three-dimensional measuring apparatus 1 accepts the brightness adjustment by the user again if the brightness of the measurement location is not appropriate (steps S206 and S207). The coordinate measuring apparatus 1 repeats the processing procedure from step S203 to step S207 until the user instructs the end of setting (step S208).

Next, when the user gives an instruction to end the setting, the coordinate measuring apparatus 1 registers the illumination condition designated by the user as the setting information and switches to the light projecting unit 24 on the right side (step S209). The brightness adjustment is accepted (step S210). The three-dimensional measuring apparatus 1 repeats the processing procedure of step S210 until the user gives an instruction to end the setting. When the user gives an instruction to end the setting, the illumination condition designated by the user is registered as the setting information. The process ends (step S211).

Steps S<b>301 to S<b>313 of FIG. 5 are flowcharts showing an example of detailed operations regarding step S<b>102 (brightness adjustment of texture illumination) of FIG. 3, and the operations of the three-dimensional measuring apparatus 1 are shown. First, the three-dimensional measuring apparatus 1 turns on the texture illumination (step S301) and receives the brightness adjustment by the user (step S302). If the brightness of the measurement location is not appropriate (step S303), the three-dimensional measuring apparatus 1 repeats the processing procedure of step S302 and accepts the brightness adjustment by the user again.

Next, the three-dimensional measuring apparatus 1 receives the selection of the image quality of the texture image by the user (step S304), and if the normal image quality is selected, the normal image quality is designated, and the illumination condition and the shooting condition designated by the user are set. It is registered as setting information, and this processing ends (step S313).

On the other hand, if the user selects the full-focus image quality, the coordinate measuring apparatus 1 specifies the full-focus image quality (steps S305 and S306). The full-focus image quality is an image quality obtained by depth combination processing, and by combining a plurality of captured images obtained by changing the focus position, an image in focus on the entire image can be obtained.

Then, the coordinate measuring apparatus 1 specifies the HDR image quality if the HDR (high dynamic range) image quality is selected by the user (steps S307 and S308). As for HDR image quality, an image with a wide dynamic range can be obtained by synthesizing a plurality of photographed images acquired with different exposure times.

Next, when the user gives an instruction to check the texture image (step S309), the three-dimensional measuring apparatus 1 acquires a captured image based on the illumination condition and the imaging condition designated by the user (step S310), A texture image is created and displayed on the display unit 51 (step S311).

The three-dimensional measuring apparatus 1 repeats the processing procedure from step S305 to step S311 until the user instructs the end of the setting, and when the user instructs the end of the setting, the lighting condition and the imaging condition designated by the user are set. It is registered as the setting information, and this process ends (step S312).

Steps S401 to S413 in FIG. 6 are flowcharts showing an example of detailed operation regarding step S113 (data analysis) in FIG. 3, and the operation of the coordinate measuring apparatus 1 is shown. First, the three-dimensional measuring apparatus 1 reads three-dimensional shape data in a predetermined data format based on a user operation, and displays the three-dimensional shape of the measuring object W on the display unit 51 (steps S401 and S402).

Next, the coordinate measuring apparatus 1 performs preprocessing such as noise removal, hole filling, and unnecessary data deletion (step S403), and accepts the user's adjustment of the display magnification and orientation (step S404).

Next, the three-dimensional measuring apparatus 1 accepts designation of a point group for specifying the geometric element of the measurement location on the displayed three-dimensional shape (step S405). Then, the coordinate measuring apparatus 1 receives the designation of the shape type for the geometric element to be measured (step S406). Shape types include points, lines, surfaces, spherical surfaces, cylindrical surfaces, conical surfaces, and the like. The order of step S405 and step S406 may be interchanged.

The three-dimensional measuring apparatus 1 repeats the processing procedure of steps S405 and S406 (step S407) until designation of the point cloud and the shape type is completed for all geometric elements to be measured, until the point cloud and the shape type are designated. When completed, the selection of the geometric element by the user is accepted (step S408). Then, the coordinate measuring apparatus 1 receives the selection of the dimension type for the selected geometric element (step S409). Dimension types include distance, angle, geometrical tolerance, diameter, and the like. The order of steps S408 and S409 may be interchanged.

Next, the coordinate measuring apparatus 1 specifies the position of the geometric element by fitting the basic solid of the shape type specified by the user to the point group for the selected geometric element, and determines the dimension value between the geometric elements. Calculate (step S410). Next, the coordinate measuring apparatus 1 displays the dimension value in association with the measurement point on the three-dimensional shape of the measurement object W (step S411). If there are other desired measurement points, the three-dimensional measuring apparatus 1 repeats the processing procedure from step S408 to step S411 (step S412). If there are no other desired measurement points, the measurement result is output. This process ends (step S413).

Next, a more detailed configuration of the coordinate measuring apparatus 1 according to the present invention will be described below with reference to FIGS. 7 to 12.

<Information processing terminal 5>
FIG. 7 is a block diagram showing an example of a functional configuration in the information processing terminal 5 of FIG. The information processing terminal 5 includes an angle information designation unit 10, a measurement setting storage unit 11, a preview control unit 12, a measurement control unit 13, a captured image storage unit 14, a shape data calculation unit 15, a shape data storage unit 16, and a measurement mode designation. It is composed of a unit 17, a measurement instruction receiving unit 18, and a shape measuring unit 19.

The angle information designation unit 10 receives designation of angle designation information for measuring a three-dimensional shape based on a user operation with the keyboard 52 or the mouse 53, and stores the designated angle designation information in the measurement setting storage unit 11. To do. The three-dimensional measuring apparatus 1 can specify either one-shot measurement mode or connection measurement mode.

The one-shot measurement mode is a measurement mode in which three-dimensional shape data is obtained based on the imaging angle when the user gives an instruction to start measurement. The imaging angle is the position and orientation of the measuring object W within the imaging field of the imaging unit 23, and can be switched by rotating the stage 21.

On the other hand, in the connection measurement mode, the captured image is acquired while sequentially switching the stage 21 to a plurality of imaging angles to obtain the three-dimensional shape data, and these three-dimensional shape data are connected and combined to reduce the blind spot. This is a measurement mode for obtaining three-dimensional shape data.

The angle information designation unit 10 receives designation of an imaging angle range. The imaging angle range is a range of rotation angles for connection measurement and is defined by, for example, a start angle and an end angle. The start angle and the end angle are attention angles designated by the user. The imaging angle range and the imaging angle for connection measurement are registered in the measurement setting storage unit 11 as measurement setting information.

The connection measurement mode includes the following three methods (1) to (3), and any one of them can be designated. (1) The imaging angle range is automatically specified to 360°, and a fixed rotation angle, for example, a plurality of interpolation angles is specified every 60° with reference to the imaging angle corresponding to the current rotation position of the stage 21. To be done. (2) If the imaging angle range is specified by the user, the interpolation angle is specified within this imaging angle range. (3) The user specifies all of the plurality of imaging angles for connection measurement.

The preview control unit 12 controls the rotation drive unit 22 and the light projecting unit 24 of the measurement unit 2 based on the measurement setting information in the measurement setting storage unit 11, acquires a captured image from the image capturing unit 23, and displays the display unit 51. To display. That is, the preview control unit 12 determines a plurality of imaging angles within the imaging angle range, controls the rotation driving unit 22 to switch the stage 21 to one of the imaging angles, acquires a captured image, and displays the captured image on the screen. To do.

Specifically, one or more interpolation angles are automatically designated within the rotation angle range from the start angle to the end angle. The interpolation angle is specified based on the step angle ρ or the division number n (n is an integer of 2 or more). For example, an interpolation angle is designated for each step angle ρ between the start angle and the end angle. Further, the interpolation angle is designated by dividing the range from the start angle to the end angle by the division number n. The division method, the division angle ρ, and the division number n are designated as the measurement setting information by default, but can be designated by the user. If the rotation angle range from the start angle to the end angle is small, the interpolated angle is not designated, and the captured image is acquired at two imaging angles, the start angle and the end angle.

At each imaging angle of the start angle, the interpolation angle, and the end angle, the left and right light projecting units 24 are sequentially turned on and the captured images are respectively acquired. That is, after a uniform detection light is emitted from the left light projecting unit 24 to obtain a captured image, a uniform detection light is emitted from the right light projecting unit 24 to obtain a captured image. On the display unit 51, a combined image obtained by combining these captured images is displayed as a preview image. The texture image acquired by the texture illumination may be displayed as a preview image.

The angle information designation unit 10 receives designation of a preview angle from a plurality of imaging angles. The preview control unit 12 switches to the imaging angle designated as the preview angle, acquires the captured image, and displays it on the screen. The user can arbitrarily specify a preview angle from a plurality of imaging angles for connection measurement and confirm the captured image.

The measurement instruction receiving unit 18 receives a measurement start instruction based on a user operation with the keyboard 52 or the mouse 53. When the measurement start is instructed, the measurement control unit 13 controls the rotation drive unit 22 and the light projecting unit 24 based on the measurement setting information in the measurement setting storage unit 11, and acquires a captured image from the image capturing unit 23. And stores it in the captured image storage unit 14. That is, the measurement control unit 13 controls the rotation drive unit 22 to sequentially switch the stage 21 to a plurality of imaging angles determined by the preview control unit 12, and acquires captured images respectively.

At each imaging angle of the start angle, the interpolation angle, and the end angle, the left and right light projecting units 24 are sequentially turned on and the captured images are respectively acquired. That is, after the pattern light is emitted from the left light projecting unit 24 to acquire the captured image, the pattern light is emitted from the right light projecting unit 24 to acquire the captured image.

The shape data calculation unit 15 obtains three-dimensional shape data of the measuring object W based on the captured image in the captured image storage unit 14, and stores it in the shape data storage unit 16. The three-dimensional shape data is composed of three-dimensional position information of many measurement points. The shape data calculation unit 15 calculates three-dimensional shape data from a plurality of captured images obtained by sequentially turning on the left and right light projecting units 24 for one imaging angle. Therefore, it is possible to acquire the three-dimensional shape data even for a measurement point where only the left or right light projecting unit 24 produces a shadow.

The measurement control unit 13 connects the three-dimensional shape data obtained from the captured images at each imaging angle based on the imaging angle, obtains the connected shape data as the three-dimensional shape data with less blind spots, and stores it in the shape data storage unit 16. To store.

The shape measuring unit 19 receives the designation of the position for the connected shape data, extracts the geometrical feature, measures the shape of the measurement object W based on the extracted geometrical feature, and outputs the measurement result. .. When the position of the measurement point is designated by the user, the geometric element is specified by selecting a point group composed of two or more measurement points and fitting the basic solid to the point group. The dimensions, angles, flatness, etc. between the geometric elements specified in this way are output as the measurement results.

The angle information designation unit 10 receives the change in the imaging angle and updates the measurement setting information in the measurement setting storage unit 11. The measurement control unit 13 switches the stage 21 based on the changed imaging angle. By adopting such a configuration, after confirming the imaging angle automatically designated by the preview control unit 12 on the screen display of the captured image, the user changes the imaging angle so that the important area is measured with high accuracy. can do. The important region is a partial region of the measuring object W and is a region that the user desires to measure with high accuracy.

Moreover, the angle information designation unit 10 receives designation of a plurality of attention angles. The preview control unit 12 specifies the interpolation angle based on the rotation angle between the attention angles, and determines the plurality of imaging angles so as to include the plurality of attention angles and the interpolation angles. For example, when the imaging angle range is specified by the start angle and the ending angle, and one or more attention angles that divide the imaging angle range are designated, an interpolation angle is automatically set between these attention angles. It is specified.

When multiple angles of interest are specified by the user, interpolated angles are automatically added so that an appropriate overlapping area is created between the captured images, and linked measurement is performed. Can be prevented.

The preview control unit 12 detects a shadow region based on a plurality of captured images obtained by sequentially turning on the left and right light projecting units 24, and superimposes and displays the shadow region on the composite image. Further, the preview control unit 12 superimposes and displays the saturated area in which the received light amount is saturated on the composite image. For example, the shadow area and the saturated area are displayed with different display colors. By superimposing and displaying the shadow area and the saturated area on the composite image, the user can easily confirm whether or not the three-dimensional shape data can be obtained for the important area to be measured with high accuracy.

The measurement mode designation unit 17 receives a user operation designating one of the one-shot measurement mode and the linked measurement mode, and updates the mode designation information in the measurement setting storage unit 11. When the one-shot measurement mode is designated, the measurement control unit 13 obtains a captured image captured at an imaging angle corresponding to the rotation position of the stage 21 at the time of accepting a measurement start instruction and obtains three-dimensional shape data. .. On the other hand, when the linked measurement mode is designated, the measurement control unit 13 sequentially switches to a plurality of imaging angles determined before receiving the instruction to start the measurement, and acquires captured images captured at each imaging angle. Find connection shape data. The user can arbitrarily specify one of the one-shot measurement mode and the linked measurement mode for measurement.

FIG. 8 is a diagram showing an example of the operation of the information processing terminal 5 of FIG. 7, and the measurement setting screen 6 displayed on the display unit 51 is shown. The measurement setting screen 6 is an edit screen for editing the measurement setting information, and it is possible to newly create and register the measurement setting information, or change the already registered measurement setting information.

The measurement setting screen 6 is provided with a display field 61 in which a captured image is displayed and an input field 65 for designating a measurement mode and shooting conditions. An input field 62 for designating the photographing magnification and an input field 63 for designating the display magnification are provided in the upper part of the display field 61. The photographing magnification can be selected from low magnification and high magnification.

Further, in the display field 61, angle adjustment buttons 64a to 64c for rotating the stage 21 to switch the imaging angle are arranged. The angle adjustment button 64a is an operation icon for rotating the stage 21 from the current position by 180°.

The angle adjustment button 64b is an operation icon for rotating the stage 21 counterclockwise or clockwise. The angle adjustment button 64c is an operation icon for rotating the stage 21 to the reference position. These angle adjustment buttons 64a to 64c can be operated by moving the mouse pointer 7 onto the angle adjustment buttons 64a to 64c.

The input field 65 is provided with a mode selection button 66 for designating a measurement mode, a menu button 67 for designating a projection direction, an angle setting circle 68 for designating an imaging angle range and an attention angle, and the like. Has been. By operating the mode selection button 66, either the one-shot measurement mode or the linked measurement mode can be designated as the measurement mode.

By operating the menu button 67, either side, left side, or right side can be designated as the projection direction. In the light projecting direction “both sides”, the left and right light projecting units 24 are sequentially turned on and the captured images are respectively acquired. In the projection direction “left side”, the left projection part 24 is turned on to acquire a captured image, and in the projection direction “right”, the right projection part 24 is switched on to acquire a captured image.

The angle setting circle 68 is a display object capable of designating an imaging angle by pointing the position on the circumference corresponding to the stage 21 with the mouse pointer 7. For example, if the start position SP corresponding to the start angle and the end position EP corresponding to the end angle are designated on the angle setting circle 68, the imaging angle range is determined.

FIG. 9 is a diagram showing an example of the operation of the information processing terminal 5 in FIG. 7, and shows a case where the imaging angle range RK is designated on the angle setting circle 68. When the start position SP and the end position EP are designated by the user, the angle range from the start position SP to the end position EP in the counterclockwise or clockwise direction is registered as the imaging angle range RK. Further, by dividing the imaging angle range RK based on the step angle ρ, one or two or more interpolation angles CA are automatically designated. However, the interpolation angle CA may not be generated depending on the imaging angle range RK.

The step angle ρ is a rotation angle of the stage 21 for dividing the imaging angle range RK, and a predetermined value (default value) may be used or a value specified by the user may be used. .. For example, the step angle ρ is 45° or 60°.

The interpolation angle CA is designated for each step angle ρ from the start position SP. That is, the rotation angle between the start position SP and the first interpolation angle CA and the rotation angle between the kth interpolation angle CA and the (k+1)th interpolation angle CA match the step angle ρ. ..

Further, at the start position SP and the end position EP, three-dimensional shape data is acquired regardless of the value of the step angle ρ. If the interpolation angle CA that does not exceed the end position EP and is closest to the end position EP is less than or equal to a predetermined angle difference with respect to the end position EP, the interpolation angle CA is regarded as the end angle, and thus the three-dimensional shape data is obtained. It is also possible to select a method that reduces the number of acquisitions of the data and the time required for the linked measurement.

The shape of the specific portion of the measurement object W can be measured most accurately when the image is captured at an imaging angle that is directly opposite to the specific portion. By confirming the imaging angle for the coupling measurement with the preview image before the coupling measurement, it is possible to easily confirm whether or not the imaging angle facing the important portion is included.

Further, since it is necessary to sequentially irradiate a plurality of pattern lights at each imaging angle to acquire each captured image, the time required for connection measurement is longer than the time required to acquire a preview image. Before performing such connection measurement, check the image capture angle with the preview image and fine-tune the image capture angle as necessary to shorten the time until high-precision 3D shape data is acquired. You can

FIG. 10 is a diagram showing an example of the operation of the information processing terminal 5 in FIG. 7, and shows a case where the interpolation angle CA is close to the end angle (end position EP). A plurality of interpolation angles CA are automatically designated by dividing the imaging angle range RK based on the step angle ρ.

Of these interpolation angles CA, when the interpolation angle CA closest to the end position EP has an angle difference Δρ that is equal to or smaller than a predetermined value with respect to the end position EP, three-dimensional imaging is performed at both imaging angles of the interpolation angle and the end position EP. It is possible to select whether to acquire the shape data or whether to acquire the three-dimensional shape data at any imaging angle.

On the other hand, if the angle difference Δρ of the interpolation angle CA closest to the end position EP exceeds the predetermined value with respect to the end position EP, the three-dimensional shape data is acquired at both imaging angles of the interpolation angle and the end position EP. It

When one or more interpolation angles CA are automatically designated by dividing the imaging angle range RK based on the division number n, the quotient when the imaging angle range RK is divided by the division number n is calculated. The imaging angle range RK is equally divided as the step angle ρ.

By moving the mouse pointer 7 on the angle setting circle 68 and designating one of the imaging angles as the preview angle, the stage 21 is switched to the corresponding imaging angle, the captured image is acquired, and the preview image is displayed on the measurement setting screen. 6 is displayed. Therefore, the user can confirm by the preview image whether or not the position or orientation of the measuring object W is appropriate for an arbitrary interpolation angle CA that is automatically specified by dividing the imaging angle range RK.

Even if the user does not specify the preview angle, the captured images can be acquired while sequentially switching the imaging angles and displayed as a list on the measurement setting screen 6 as a preview image.

FIG. 11 is a diagram showing an example of the operation of the information processing terminal 5 in FIG. 7, and shows a case where the attention angle is designated on the angle setting circle 68. When the start position SP and the end position EP and the attention position AP corresponding to the attention angle are designated by the user, the angle range from the start position SP counterclockwise or clockwise to the end position EP is set as the imaging angle range RK. be registered. Further, one or more interpolation angles CA are automatically designated based on the rotation angle between two adjacent attention angles. Therefore, the interpolation angle CA may not be generated depending on the rotation angle between the attention angles.

The attention position AP is designated within the imaging angle range RK from the start position SP to the end position EP. The interpolation angle CA is 1 or 2 when the angle difference between the start position SP and the attention position AP, between the two attention positions AP, or between the attention position AP and the end position EP is equal to or more than a predetermined threshold value. Two or more interpolation angles CA are automatically designated.

For example, the interpolation angle CA is designated by equally dividing the angles by the division number n according to the angle difference. On the other hand, no interpolated angle is designated between angles whose angle difference is less than a predetermined threshold value.

In order to secure the measurement accuracy, it is necessary that a certain overlapping area is generated between the captured images. By automatically specifying the interpolating angle according to the angle difference between the angles, it is possible to prevent the interval between the imaging angles from becoming too wide and the three-dimensional shape data to be missing, or to prevent the measurement accuracy from deteriorating.

In the example shown in FIG. 11, three attention positions AP are designated by the user on the angle setting circle 68, and three interpolation angles CA are automatically designated. The angle difference between the start position SP and the first attention position AP and the angle difference between the first attention position AP and the second attention position AP are less than a threshold value. On the other hand, the angle difference between the second attention position AP and the third attention position AP and the angle difference between the third attention position AP and the end position EP are equal to or greater than the threshold value, and are interpolated. Angle CA is specified between the angles.

The space between the second attention position AP and the third attention position AP is equally divided into two at a step angle ρ ₁ , and one interpolation angle CA is designated. Further, the third attention position AP and the end position EP are equally divided into three at a step angle ρ ₂ , and two interpolation angles CA are designated.

Note that the interpolation angle CA may be specified by dividing the angles based on the step angle ρ. As the number of divisions n and the step angle ρ, a predetermined value (default value) may be used, or a value designated by the user may be used.

By moving the mouse pointer 7 on the angle setting circle 68 and designating one of the interpolation angles CA as the preview angle, the stage 21 is switched to the corresponding imaging angle, the captured image is acquired, and the preview image is measured and set. Displayed on screen 6. Therefore, the user can confirm by the preview image whether or not the position and orientation of the measuring object W is appropriate for the automatically specified arbitrary interpolation angle CA.

Steps S501 to S514 of FIG. 12 are flowcharts showing an example of the operation at the time of the connection measurement in the information processing terminal 5 of FIG. First, when the user specifies the imaging angle range RK (step S501), the information processing terminal 5 determines a plurality of imaging angles by dividing the imaging angle range RK and specifying the interpolation angle CA (step S501). S502).

Next, when the preview angle is designated by the user (step S503), the information processing terminal 5 rotates the stage 21 of the measuring unit 2 to switch to the preview angle (step S504). Then, the information processing terminal 5 acquires the captured image from the image capturing unit 23 of the measuring unit 2 (step S505) and displays it on the measurement setting screen 6 as a preview image (step S506).

On the other hand, if no preview angle is designated by the user, the information processing terminal 5 designates one of the imaging angles as the preview angle, switches the stage 21 to the preview angle, and acquires the captured image (steps S503 and S505). A preview image is displayed on the measurement setting screen 6 (step S506).

Next, if the user determines that the desired imaging angle does not exist (step S507), the information processing terminal 5 starts from the start angle, the end angle, the attention angle, the interpolation angle, the step angle ρ, and the division number n. A change in setting information is accepted (step S508). The information processing terminal 5 determines the imaging angle again based on the changed angle setting information (step S509), and repeats the processing procedure from step S503.

When the information processing terminal 5 determines that all the desired imaging angles are present by the user (step S507), the rotation driving unit 22 of the measuring unit 2 is controlled to switch the stage 21 to any imaging angle (step S510). ). Next, the information processing terminal 5 acquires a captured image (step S511) and calculates three-dimensional shape data (step S512).

The information processing terminal 5 repeats the processing procedure from step S510 to step S512 while sequentially switching the imaging angles for all imaging angles until the measurement is completed (step S513). Then, when the measurement is completed for all the imaging angles, the information processing terminal 5 synthesizes a plurality of three-dimensional shape data obtained from the captured images at each imaging angle based on the imaging angles to obtain the connected shape data. (Step S514).

According to the present embodiment, since a plurality of imaging angles are automatically determined, it is possible to perform connection measurement without individually specifying the imaging angles for connection measurement. Therefore, a complicated work for the user to specify each imaging angle is unnecessary, and the setting work for connection measurement can be simplified. Further, since the captured image is displayed on the screen of the display unit 51 by switching the stage 21 to one of the automatically determined imaging angles, the important area can be highly accurately located in the automatically determined imaging angle. It is possible to easily confirm that the measurable imaging angle is included.

Further, since the interpolated angle is automatically added so that an appropriate overlapping area is generated between the captured images and the connection measurement is performed, it is possible to suppress the omission in the three-dimensional shape data.

In the present embodiment, an example in which the imaging angle is switched by rotating the stage 21 about the vertical rotation axis J4 has been described, but the present invention limits the imaging angle switching method to this. Not something to do. For example, the present invention can be applied to an apparatus that switches the imaging angle by moving the stage 21 in the horizontal direction or the vertical direction. Alternatively, the imaging angle may be switched by rotating the stage 21 around a rotation axis other than the vertical direction.

In addition, in the present embodiment, an example in which three-dimensional shape data is acquired by a projection method that combines the multi-slit method and the spatial code method has been described, but the present invention provides a projection method for structuring. It is not limited to this. For example, a three-dimensional shape can be obtained by a sine wave phase shift method, a light cutting method of projecting linear pattern light and scanning in one direction, or a stripe projection method of projecting striped pattern light and scanning in one direction. It may be configured to acquire data.

Further, in the present embodiment, an example in which the two light projecting units 24 are arranged so as to sandwich the image capturing unit 23 has been described, but the present invention uses the configurations of the image capturing unit 23 and the light projecting unit 24. It is not limited. The present invention is also applicable to a device including one image capturing unit 23 and one light projecting unit 24, and a device including two image capturing units 23 sandwiching one light projecting unit 24.

DESCRIPTION OF SYMBOLS 1 Three-dimensional measuring device 2 Measuring part 21 Stage 22 Rotation drive parts 23, 23a, 23b Imaging part 24 Light projecting part 25 Texture illumination emitting part 26 Control board 27 Base housing 3 Light guide 4 Controller 41 Texture light source 42 Control board 43 Power supply 5 information processing terminal 51 display unit 52 keyboard 53 mouse 10 angle information designation unit 11 measurement setting storage unit 12 preview control unit 13 measurement control unit 14 photographed image storage unit 15 shape data calculation unit 16 shape data storage unit 17 measurement mode designation unit 18 Measurement instruction receiving unit 19 Shape measuring unit 6 Measurement setting screen J1, J11, J12 Light receiving axis J2, J3 Light emitting axis J4 Rotation axis W Measurement object

Claims (8)

In a three-dimensional measuring device that generates a connected shape data by connecting a plurality of three-dimensional shape data having different imaging angles with respect to the measurement object when acquiring the three-dimensional shape data of the measurement object ,
A stage on which the object to be measured is placed,
Projection means for irradiating the measurement object on the stage with detection light,
An image pickup unit that is arranged so that the light receiving axis is inclined with respect to the stage, receives the detection light reflected by the measurement object, and generates a captured image,
By rotating the stage about a vertical rotation axis, a rotation driving unit that switches the imaging angle with respect to the measurement object placed on the stage ,
Shape data calculation means for obtaining the three-dimensional shape data of the measurement object based on the photographed image,
Angle information specifying means for receiving angle specification information according to specification input,
After determining the plurality of imaging angles based on the angle designation information and controlling the rotation driving means to switch the stage to one of the imaging angles, the captured image at the imaging angle is acquired and displayed on the screen. Preview control means for
According to the measurement instruction, the rotation driving means is controlled to sequentially switch the stages to the determined plurality of imaging angles, and the three-dimensional shape data obtained from the captured image at each imaging angle is based on the imaging angle. Measurement control means for executing measurement control for obtaining the connection shape data,
Extracting the geometrical element accepts the designation of position relative to the coupling shape data, based on the extracted geometrical element, e Bei the shape measuring means for measuring the shape of the measurement object,
When the designation input is accepted after the preview control unit determines the imaging angle and before the measurement control unit executes the measurement control, the angle information designation unit changes the angle designation information according to the designation input. ,
The preview control means re-determines the imaging angle based on the angle designation information changed by the angle information designation means,
The three-dimensional measuring apparatus , wherein the measurement control means executes the measurement control based on the re-determined imaging angle . The angle information specifying means, with the designation under the imaging angle range,
The three-dimensional measuring apparatus according to claim 1, wherein the preview control unit determines the plurality of imaging angles within the imaging angle range. The angle information designating means accepts designation of a plurality of attention angles,
The preview control means specifies an interpolation angle based on a rotation angle between the attention angles, and determines the plurality of imaging angles so as to include the plurality of attention angles and the interpolation angles. Item 3. The three-dimensional measuring device according to item 2. The angle information designating means accepts designation of a preview angle from the plurality of imaging angles,
The preview control means, the three-dimensional measuring apparatus according to any one of claims 1 to 3 to switch the imaging angle designated as the preview angle and acquires the captured image. The light projecting means is composed of two or more illuminating devices arranged such that the light projecting axis is inclined with respect to the light receiving axis of the image pickup means,
The preview control means sequentially lights the lighting device to acquire a plurality of the captured images, displays a composite image obtained by combining the captured images on a screen, and, based on the plurality of captured images, a shadow area. detecting a three-dimensional measuring apparatus according to any one of claims 1 to 4, characterized in that superimposed and displayed on the on the composite image. The three-dimensional measuring apparatus according to claim 5 , wherein the preview control means displays a saturated region in which the amount of received light is saturated in a superimposed manner on the composite image. A measurement mode designating means for accepting a user operation for designating one of the one-shot measurement mode and the linked measurement mode,
Further comprising a measurement instruction receiving means for receiving a measurement start instruction,
When the one-shot measurement mode is designated, the measurement control means acquires the captured image captured at an imaging angle corresponding to the rotational position of the stage at the time of receiving the instruction to start the measurement, and acquires the three-dimensional image. Shape data is obtained, and when the connected measurement mode is designated, the plurality of imaging angles determined before receiving the instruction to start the measurement are sequentially switched, and the captured images captured at each imaging angle are acquired. The three-dimensional measuring device according to any one of claims 1 to 7 , wherein the connection shape data is obtained by the above. A control method of a three-dimensional measuring device, which generates a connected shape data by connecting a plurality of three-dimensional shape data having different imaging angles with respect to the measurement object when the three-dimensional shape data of the measurement object is obtained,
A light projecting step of irradiating the measuring object placed on the stage with the detection light,
An imaging step of receiving the detection light reflected by the measurement object to generate a captured image,
An angle switching step of switching the imaging angle with respect to the measurement object placed on the stage by rotating the stage about a vertical rotation axis,
A shape data calculation step of obtaining the three-dimensional shape data of the measurement object based on the captured image;
A specification step that receives angle specification information according to the specification input,
A determination step of determining a plurality of the imaging angles based on the angle designation information ,
A preview step of acquiring the captured image and displaying the captured image on the screen by the imaging step after switching the stage by the angle switching step to the imaging angle of any of the plurality of determined imaging angles ;
A change step to change the angle designation information according to the designation input,
A re-determining step of re-determining a plurality of the imaging angles based on the changed angle designation information,
The stage is sequentially switched to the plurality of re-determined imaging angles by the angle switching step, and the three-dimensional shape data obtained from the captured image at each imaging angle by the imaging step is based on the imaging angle. A measurement control step of connecting and obtaining the connection shape data;
Extracting the geometrical element accepts the designation of position relative to the coupling shape data, based on the extracted geometrical element, three-dimensional measuring device, characterized in that it comprises a shape measuring step of measuring the shape of the measurement object Control method.

Images