JP7242482B2 - Object distance, shape measuring device and measuring method - Google Patents

Description

TECHNICAL FIELD Embodiments of the present invention relate to an object distance and shape measuring apparatus and measuring method.

Conventional distance measurement to an object and 2D/3D shape measurement technology for an object include means for projecting light onto an object, detecting the reflected light, and calculating the distance to the object using the time-of-flight method. In general, the reflected light is detected by a line sensor or a stereoscopic camera, and the distance to the object is calculated by triangulation. These measurement means obtain measurement data while the measurement device is stationary, and calculate the distance, position and shape of the object.

Based on these measurement data, it is necessary to specify and collate the feature points of the object in order to specify the positional relationship with the self-supporting mobile vehicle and the articulated arm equipped with the measuring device. In addition, specifying and collating this feature point is also necessary when collating each point of the left and right images captured by the stereoscopic camera.

JP 2017-215193 A

As mentioned above, in the distance, position and shape measurement technology of an object, it is necessary to identify and collate feature points. There is no feature point in the , and it cannot be used for collation with the measurement data of distance and shape.

Therefore, a method of counting the amount of rotation of the wheels of a moving object with an encoder to measure the movement distance, or a method of calculating a route using a gyro or the like is generally used. In the measurement using an internal sensor that detects , there is a problem that an accumulated error occurs, and as the movement distance increases, it becomes impossible to accurately grasp the position information of the moving object.

In addition, in the distance and shape measurement technology in which a measuring device is mounted on an articulated arm, when the articulated arm approaches an object, the field of view of the sensor becomes a uniform plane or curved surface, making it impossible to find feature points. It cannot be used for comparison with measurement data.

Therefore, there is a method of attaching symbol stickers, bar code stickers, etc. to the target surface approached by the measuring device and using them as feature points, or if the target object is an automobile, etc., a method of attaching guide stickers to the running surface and using them as feature points. etc. have been used, but there have been problems in that the field of application is limited and that the preliminary work burden and work cost increase.

The embodiments of the present invention have been made to solve the above-described problems. By forming feature points using phosphorescent paint on an object whose feature points are difficult to identify, the distance and orientation of the object can be calculated. It is an object of the present invention to provide an apparatus and method for measuring the distance and shape of an object, which can measure the shape, etc., of an object with high precision.

In order to solve the above problems, the object distance and shape measuring apparatus according to the present embodiment includes a coating device that applies a luminous paint to an object and a light projecting device that projects light for causing the luminous paint to emit light. an imaging device for capturing an image of the light emitted by the phosphorescent paint; an image processing device connected to the imaging device for identifying a characteristic point based on image data captured by the imaging device; and a connection to the image processing device. and has a control device that creates a two-dimensional or three-dimensional map and obtains the distance and shape of an object.

Further, the method for measuring the distance and shape of an object according to the present embodiment includes a coating step of applying a luminous paint to an object using an applicator, and a light projecting step of projecting light for causing the luminous paint to emit light using a light projecting device. an imaging step of imaging the light emitted by the phosphorescent paint with an imaging device; an identifying step of identifying a characteristic point based on imaging data captured by the imaging device with an image processing device; and a control device controlling the characteristic point. is used to create a two-dimensional or three-dimensional map to determine the distance and shape of the object, and the shape measurement step.

According to an embodiment of the present invention, the distance, position, and shape of an object can be measured with high precision by forming feature points using phosphorescent paint on an object whose feature points are difficult to identify and match. becomes possible.

1 is a configuration diagram of a distance and shape measuring apparatus according to a first embodiment; FIG. FIG. 2 is a control block diagram of the distance and shape measuring device according to the first embodiment; The configuration diagram of a distance and shape measuring apparatus according to a second embodiment. The configuration diagram of a distance and shape measuring apparatus according to a third embodiment. The configuration diagram of the distance and shape measuring device according to the fourth embodiment. The configuration diagram of the distance and shape measuring device according to the fifth embodiment. (a) is a plan view of a distance and shape measuring apparatus according to a sixth embodiment, and (b) is a side view along line X1-X1 of (a). (a) is a plan view of a distance and shape measuring apparatus according to a seventh embodiment, and (b) is a side view along line X2-X2 of (a). (a) is a plan view of a distance and shape measuring apparatus according to an eighth embodiment; (b) is a side view; FIG. 11 is a schematic diagram of a light emission pattern formed by a distance and shape measuring device according to an eighth embodiment; A specific example of a light emission pattern formed by the distance and shape measuring device according to the eighth embodiment. (a) is a plan view of a distance and shape measuring device according to a modification of the eighth embodiment, and (b) is a side view. The block diagram of the distance and shape measuring device which concerns on 9th Embodiment. Operation diagram of the distance and shape measuring device according to the ninth embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of an object distance/shape measuring apparatus and measuring method according to the present invention will be described below with reference to the drawings.
[First Embodiment]
An object distance/shape measuring apparatus and measuring method according to the first embodiment will be described with reference to FIGS. 1 and 2. FIG. In this embodiment, an example in which the distance and shape measuring device is mounted on a moving object that moves on the floor will be described.

(composition)
As shown in FIG. 1, the distance and shape measuring device 1 according to the present embodiment is provided on a self-supporting moving body 8 that moves on a running surface 12 such as a floor, and on the moving body 8. A coating device 2 for spray coating, a light projecting device 3 for projecting light of a wavelength that causes the phosphorescent paint A to emit light, an imaging device 4 composed of a stereoscopic camera, a line sensor, or the like for imaging the state of light emitted from the phosphorescent paint A, and an imaging device 4. an image processing device 5 connected to the image processing device 5, a data generation software unit 6 connected to the image processing device 5 for creating a two-dimensional/three-dimensional map, running control of the mobile body 8 and the application device 2 to the data generation software unit 6 It is composed of a control device 10 that controls each component in an integrated manner.

In this embodiment, the coating device 2 and the light projection device 3 are provided at the front and rear portions of the moving body 8, and the coating device 2 and the light projection device 3 are provided in this order from the front portion and the rear portion, respectively.
FIG. 2 is a control block diagram of each component constituting the distance and shape measuring device 1, and shows an example in which the control device 10 comprehensively controls the running control of the moving body 8 and the application device 2 to the data generation software unit 6. showing.

Further, in addition to the self-reliant moving body 8, this embodiment can also be applied to an unmanned carriage, a mobile robot that moves in a narrow space, an automobile, and the like. Furthermore, in this embodiment, an example in which the image processing device 5, the data generation software unit 6, and the control device 10 are provided in the mobile body 8 is shown, but the present invention is not limited to this. It may be placed in other locations.

(Action)
In the distance and shape measuring device 1 configured as described above, first, the coating device 2 sprays the luminous paint A onto the running surface 12 (coating step). Next, light of a predetermined wavelength is projected by the light projecting device 3 onto the running surface 12 coated with the phosphorescent paint A, causing the phosphorescent paint A to emit light (projection step). At that time, if the light projecting device 3 projects a spotlight or a marker-like or pattern-like light having a predetermined shape, the running surface 12 continues to emit light having the same shape for a certain period of time.

Then, this light emitting state is imaged by an imaging device 4 composed of a two-dimensional camera, a line sensor, or the like (imaging step), and the image data is sent to the image processing device 5 . The image processing device 5 identifies feature points from the image data that is generated sequentially (identification step), creates map data of the feature points, and transmits the map data to the two-dimensional/three-dimensional data generation software section 6 .

The data generation software unit 6 collates the map data of the feature points composed of the individual light-emitting markers and light-emitting patterns projected by the light projecting device 3 with the map data of the feature points read by the imaging device 4 . Then, the distance, direction, and the like between characteristic points such as light-emitting markers and light-emitting patterns emitted on the traveling surface 12 are calculated. , the current position, orientation, moving speed, etc. of the moving body 8 are obtained, and the distance and shape of the moving body 8 are measured (distance and shape measuring step).

In addition, in this embodiment, since the coating device 2 and the light projecting device 3 are provided on the front portion and the rear portion of the moving body 8 in opposite directions, respectively, the moving direction of the moving body 8 is the left side (advance direction) or the right side of the paper surface. Distance and shape measurement can be performed in any direction (reverse direction).

(effect)
According to this embodiment, by utilizing the luminous effect of the phosphorescent paint A, it is possible to draw marker-like or pattern-like light on the running surface 12 without contact. Since the light-emitting markers and light-emitting patterns continue to emit light for a certain period of time on the travel route, characteristic points are reliably formed and can be easily specified. As a result, it is possible to create a two-dimensional/three-dimensional map of the moving body 8 and to measure the position, azimuth, speed, etc. of the moving body 8 with high accuracy.

In addition, since the phosphorescent paint A has the function of a temporary marker, it is possible to obtain the same effect as a track seal or the like pasted on the traveling route in advance, and the shapes of the markers and patterns can be changed as appropriate. can form a plurality of feature points that are easy to identify.
Furthermore, since work such as installing a track seal in advance is not required, the work load and work cost can be reduced.

[Second embodiment]
An object distance/shape measuring apparatus and measuring method according to the second embodiment will be described with reference to FIG.

(composition)
When the moving body 8 is moving at a high speed, when the normal light projecting device 3 lacks the light intensity and the phosphorescent paint A cannot be illuminated at a level of brightness that can be read by the imaging device 4, or when the light pattern does not flow. There is a risk that problems such as the outline becoming unclear may occur, and there is a possibility that feature points cannot be extracted accurately.

Therefore, in the second embodiment, in order to enable the phosphorescent paint A to emit high-intensity and clear marker-like or pattern-like light, a flash device 3-1 is added to the light projecting device 3. there is

More specifically, as shown in FIG. 3, the light projecting device 3 is provided with a flash device 3-1 comprising a charging section, a flash circuit section and the like (not shown).
As a result, compared to the light projecting device 3 without the flash device 3-1, even if the average output is the same, it is possible to emit light with high energy for an extremely short period of time.

(Effect)
According to the second embodiment, since the flash device 3-1 is provided in the light projecting device 3, high-energy light can be projected even if the light projection time from the light projecting device 3 is short. Therefore, it is possible to obtain clear and bright luminescence that is almost the same as when the luminous paint A emits light in a stationary state for a certain period of time.
As a result, even when the moving body 8 is moving at high speed, identifiable feature points can be reliably formed.

[Third Embodiment]
An object distance and shape measuring apparatus according to the third embodiment will be described with reference to FIG.

(composition)
In this embodiment, as the light projecting device 3, a flash device 3-1, a light source 3-2 such as a lamp, and a liquid crystal projector 3-3 are used. The light source 3-2 generates light having a wavelength that causes the phosphorescent paint A to emit light, and the liquid crystal projector 3-3 is controlled by a command from the control device 10 to generate a predetermined light emission pattern.

As the light emission pattern, a barcode-like light emission pattern as shown in FIGS. 10 and 11, which will be described later, can be used. In addition to this, an arbitrary light emission pattern can be generated by controlling the liquid crystal projector 3-3. is also possible.

(Effect)
According to this embodiment, various light emission patterns can be generated by controlling the liquid crystal projector 3-3, so that it is possible to clearly distinguish and specify a plurality of feature points.

In addition, since the image processing device 5 has in advance the information of the feature points to be extracted, the processing load on the data generation software unit 6 can be reduced. By creating a two-dimensional/three-dimensional map, the position, orientation, moving speed, etc. of the moving body 8 can be obtained with high accuracy.

Also, if the light emission pattern is in the form of a bar code as shown in FIGS. 10 and 11, it is possible to obtain the same effect and action as the magnetic seal used in the linear encoder. If the light emission pattern is made into a two-dimensional striped pattern, it becomes possible to recognize the direction of the moving body 8 and to display unique information on the running surface 12 .

[Fourth embodiment]
An object distance/shape measuring apparatus and measuring method according to the fourth embodiment will be described with reference to FIG.

(composition)
In this embodiment, a color filter 11 is provided on the light receiving surface of the imaging device 4 in the above embodiment.

In this embodiment, the phosphorescent paint A emits light of a specific color when light of a predetermined wavelength projected from the light projecting device 3 is used. Then, only an image having light of a specific color (wavelength) is captured by the imaging device 4 through the color filter 11 .

(Effect)
According to this embodiment, the light-receiving surface of the imaging device 4 comprising a two-dimensional camera, a line sensor, or the like is provided with the color filter 11 that allows only the light of a specific color emitted by the phosphorescent paint A to pass therethrough. Only the image of the color emitted by the paint A is taken into the imaging device 4 as luminance information. As a result, it is possible to attenuate or block light due to reflection of external light and other light on the running surface 12 as noise, so that feature points can be specified with higher accuracy.

[Fifth Embodiment]
An object distance/shape measuring apparatus and measuring method according to the fifth embodiment will be described with reference to FIG.

(composition)
In this embodiment, a drying device 7 such as a dryer is provided adjacent to the coating device 2 .

Specifically, as illustrated in FIG. 6 , a drying device 7 is provided between the coating device 2 and the light projecting device 3 at the front and rear portions of the moving body 8 . As the drying device 7, a blowing device such as a known dryer that blows hot air or the like is used.

(Effect)
When light having a predetermined luminous marker or luminous pattern is projected by the light projecting device 3, if the luminous paint A applied to the running surface 12 is not sufficiently dried, the luminous pattern may not be fixed and may flow. , the contour may become unclear, and there is a possibility that the imaging device 4 cannot accurately identify the feature point.

According to this embodiment, since the drying device 7 is provided adjacent to the coating device 2, it is possible to quickly dry the applied phosphorescent paint A and obtain a clear light emission pattern. As a result, the feature points can be accurately grasped by the imaging device 4, so that the feature points can be specified with higher accuracy.

[Sixth Embodiment]
An object distance/shape measuring apparatus and measuring method according to the sixth embodiment will be described with reference to FIGS.

In this embodiment, when the imaging device 4 consisting of the coating device 2, the light projecting device 3, the drying device 7 and the stereoscopic cameras 4-1 and 4-2 is set as one set of shape measuring unit B, one set of shape measuring unit B is arranged in the lower central portion of the moving body 8 .
Specifically, as illustrated in FIGS. 7A and 7B, one set of shape measuring units B is arranged under the moving body 8 and between the pair of left and right wheels 9 .

In this embodiment, it is assumed that the moving body 8 moves to the left side of the paper surface of FIGS. It is possible to measure the distance and shape of the body 8 .
As a result, it is possible to reduce the size of the distance and shape measuring apparatus 1 and reduce the computational processing load.
In addition, in this embodiment, the coating device 2, the light projecting device 3, the drying device 7, and the imaging device 4 are used as one set of the shape measuring section B, but the drying device 7 may be omitted.

[Seventh Embodiment]
An object distance/shape measuring apparatus and measuring method according to the seventh embodiment will be described with reference to FIGS.

In this embodiment, a steerable steering drive shaft 9a is provided on the wheel 9 of the moving body 8, and the shape measurement units B1 and B2 each including the coating device 2, the drying device 7, the light projecting device 3, and the imaging device 4 (stereoscopic camera) are used. are provided on both sides of the wheel 9, respectively. Each shape measuring part B1, B2 is attached to a fixed frame 9b that supports and fixes the wheel 9. As shown in FIG.

In addition, the shape measuring units B1 and B2 are provided with the coating device 2, the drying device 7, the light projecting device 3, and the imaging device which constitute the shape measuring units B1 and B2 in preparation for the case where the moving body 8 moves forward or backward. The devices 4 are arranged opposite each other.

By providing the shape measuring units B1 and B2 on both sides of the wheels 9, the light emission along with the movement of the moving body 8 can be achieved with respect to the moving body 8 moving in various directions such as changing direction, moving forward or backward. Since the pattern can be reliably formed, feature points can be generated and identified with higher accuracy.

[Eighth Embodiment]
An object distance/shape measuring apparatus and measuring method according to the eighth embodiment will be described with reference to FIGS. 9 to 11. FIG.

(composition)
In this embodiment, as illustrated in FIGS. 9A and 9B, one set of shape measuring units C1 to C4 are arranged at each of the four side ends of the moving body 8. FIG. One shape measuring unit C1 includes a coating device 2a, a drying device 7a, a flash device 3-1, a light source 3-2, a light projecting device 3a including a liquid crystal projector 3-3, and an imaging device including a stereoscopic camera (including a line sensor). As shown in FIG. 10, each of the shape measuring units C1 to C4 formed by the device 4a forms a bar code-like light emission pattern by flash lighting every time it moves for a certain interval.
The shape measuring units C1 and C2 are used when the moving body 8 moves forward, and the shape measuring units C3 and C4 are used when the moving body 8 moves backward.

(Effect)
First, when the moving body 8 starts to move forward, the coating device 2 sprays the phosphorescent paint A on the running surface 12 at the same time, and the drying device 7 quickly dries it. Then, the light emitting device 3 flashes light to project a barcode-like light emission pattern onto the traveling surface, and the lighted portion continues to emit light for a certain period of time.
FIG. 10 is a schematic diagram of barcode-like light emission patterns a1 to an formed as described above.

The light area projected from the light projecting device 3 has a certain area corresponding to the light projection angle, and as shown in FIG. The control device 10 controls the moving speed of the moving body 8 and/or the flash lighting timing of the light projecting device 3 so that a non-light projecting area of a predetermined width is formed.
Note that the timing of lighting the flash may be determined by the control device 10 based on the imaging result obtained by the imaging device 4 .

FIG. 11 is a specific example of a light emission pattern obtained by a shape measuring device (see FIG. 9) in which one set of shape measuring units C1 to C4 are arranged at each of the four side ends of the moving body 8. FIG.
In the specific example of FIG. 11, for example, the flash lighting timings of the light projection devices 3a and 3b of the left and right shape measuring units C1 and C2 on the front end side portion of the moving body 8 are shifted with respect to the forward direction of the moving body 8. Therefore, the light emission pattern can be imaged by any one of the imaging devices 4a and 4b without fail, and at both ends of the light emission pattern, as shown as region Y in FIG. To control the timing of flash lighting so that an image can be captured.

This makes it possible to continuously measure the current position of the moving body 8 without interruption. It is also possible to control the timing of flash lighting so that each light emission pattern does not overlap, which facilitates separation and identification of characteristic points of each light emission pattern.
In addition, in the backward direction, the timing of lighting the flash is similarly controlled by the left and right shape measuring units C3 and C4 on the rear end side portion of the moving body 8 .

By the way, since the distance between the light projecting device 3 fixed to the moving body 8 running on the wheels 9 and the running surface 12 is known, the actual distance of the light emission pattern (luminance distribution) projection surface can be known. .

Therefore, the light emission pattern on the running surface 12 is read by the imaging devices 4a and 4b, and the same point of each captured image is extracted from the known feature point information of the light emission pattern by the image processing device 5 and identified. The distance between each point can be calculated by triangulation. Then, the data generation software unit 6 can generate highly accurate 2D/3D route data from this calculated data.

In the conventional distance and shape measuring means, when the mobile body 8 driven by the wheels 9 runs, slippage occurs during running, and there is a problem that cumulative error occurs only by measuring the running route from the wheel drive information. In order to cancel the error, it was necessary to do some preliminary work, such as attaching a sticker on the running surface for position identification and magnetic tape for measuring the linear movement distance.

However, according to the distance and shape measuring device of this embodiment, pre-work such as seals and magnetic tape installation is not required, and it is possible to reduce the work burden and cost, and four sets of shape measurement units C1 to By using C4, it is possible to reduce the accumulated error and measure the distance and shape with higher accuracy.

(Modification)
In this modified example, as shown in FIGS. 12A and 12B, the shape measuring units C1 to C4 are applied to a crawler-type moving body 8. FIG.

In the conventional crawler-type moving body 8 , the moving body 8 turns by giving a speed difference between the left and right crawlers 17 . Therefore, it was difficult to measure the travel distance from the amount of rotation of the crawler 17, and it was also difficult to calculate an accurate route.

According to this modification, as in the eighth embodiment, since the movement distance is read from the light emitting pattern formed on the running surface 12, it is possible to measure the distance and shape with less accumulated error and with higher accuracy. Become.
Other effects are the same as those of the eighth embodiment, so description thereof will be omitted.

[Ninth Embodiment]
An object distance/shape measuring apparatus and measuring method according to the ninth embodiment will be described with reference to FIGS. 13 and 14. FIG.

(composition)
In this embodiment, a multi-joint arm 15 having a shape measuring unit D attached to its tip is mounted on the upper part of the crawler-type moving body 8 described in the eighth embodiment. An example of creating a two-dimensional/three-dimensional map of a wall surface to be worked on in order to drill a screw hole will be described.

As shown in FIG. 13, the multi-degree-of-freedom multi-joint arm 15 includes a shape measuring section D including a coating device 2, a light projecting device 3, a drying device 7, and an imaging device 4 consisting of two stereoscopic cameras. It is attached and fixed to the end effector 18 at the tip of the articulated arm 15 . The specific configurations of the coating device 2, the light projecting device 3, the drying device 7, and the imaging device 4 are the same as those of the above-described embodiment, so description thereof will be omitted.
In addition, it is of course possible to apply the mobile body 8 to a mobile body 8 using wheels 9 instead of the crawler type mobile body 8 .

(Effect)
First, before starting the work, the imaging device 4 recognizes a point that will be the base point 20 of the screw hole work (in this example, for example, the door frame 14 is assumed to be the reference position) (see FIG. 14), and the moving body 8 is positioned. After positioning, the movement of the moving body 8 and the operation of the articulated arm 15 apply the luminous paint A evenly from the reference point 20 toward the direction of the specific screw hole position 22 to the vicinity of the screw hole position 22.例文帳に追加

During movement, the distance between the wall surface 13 and the shape measuring unit D can be determined by recognizing the boundary line 23 between the wall surface 13 and the running surface 12 by the imaging device 4, or by the shape measuring units C1 to C4 of the moving body 8 itself. Due to the distance measuring function of the body 8 it is possible to move the shape measuring part while maintaining a constant distance with respect to the wall surface 13 .

After completing this coating operation, the movable body 8 is returned to the base point 20, the articulated arm 15 is positioned on the coated surface, and the light emitting device 3 projects a light emission pattern (density distribution or intentional pattern) onto the phosphorescent paint A. Light up and light up.

This light emission pattern is photographed by the imaging device 4, the characteristic points of the obtained captured image are analyzed by the image processing device 5, the three-dimensional positions of the same points are obtained by triangulation, and the 2D/ 3D data is created by the data generation software unit 6 .

Based on this 2D/3D data, the distance and posture from the articulated arm 15 to the wall surface 13 are calculated. Control movement.

This work is performed each time the articulated arm 15 moves at a constant speed for a certain distance, and this work is performed until the articulated arm finally reaches the application end point (specific screw hole position 22 in this example). Repeated.

According to this embodiment, the distance between the feature points of each captured image can be obtained by triangulation calculation. There is no distance, shape measurement can be done.

In addition, when the liquid crystal projector 3-3 described in the third embodiment is used, it becomes possible to obtain a barcode-like light emission pattern, which has an effect similar to the magnetic pattern of an absolute position type magnetic encoder. It is also possible to obtain

In this embodiment, after the phosphorescent paint is applied from the starting point to the final point, the luminous pattern is formed by returning to the starting point. At the same time, a light emission pattern may be formed and imaged.

Further, in the present embodiment, a stereoscopic camera consisting of two cameras is used as the imaging device 4 of the shape measuring unit D, but the present invention is not limited to this, and one camera is used as the imaging device 4. By installing an optical distance sensor capable of non-contact measurement of the distance to a specific point in the field of view, the distance between the imaging device 4 and the imaging plane can be specified. Equivalent distance and shape measurements are possible.

Although several embodiments of the invention have been described above, these embodiments are presented by way of example and are not intended to limit the scope of the invention. In addition, these novel embodiments can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and equivalents thereof.

A... Phosphorescent paint, B, B1, B2, C1 to C4, D... Shape measuring unit, 1... Distance, shape measuring device, 2... Coating device, 3... Projector, 3-1... Flash device, 3-2 Light source 3-3 Liquid crystal projector 4 Imaging device 5 Image processing device 6 Data generation software unit 7 Drying device 8 Moving body 9 Wheel 10 Control device 11 Color Filter 12 Running surface 13 Wall surface 15 Articulated arm 17 Crawler 18 End effector

Claims (10)

A coating device for applying a phosphorescent paint to an object, a light projecting device for projecting light for causing the phosphorescent paint to emit light, an imaging device for capturing an image of the light emitted by the phosphorescent paint, and an imaging device connected to the imaging device. , an image processing device for identifying feature points based on image data captured by the imaging device; and a control device connected to the image processing device for creating a two-dimensional or three-dimensional map and obtaining the distance and shape of an object. Object distance and shape measurement device. 2. The object according to claim 1, wherein said light projecting device comprises a flash device, a light source and a liquid crystal projector, and projects spot-shaped or slit-shaped light or one-dimensional or two-dimensional barcode-shaped light onto said phosphorescent paint. Distance and shape measuring device. 3. The object distance and shape measuring apparatus according to claim 1, wherein said imaging device is a stereoscopic camera or a line sensor comprising a plurality of cameras. 4. The object distance and shape measuring apparatus according to any one of claims 1 to 3, wherein the imaging device is provided with a filter for transmitting only light of a specific wavelength. 5. An object distance and shape measuring apparatus according to claim 1, further comprising a drying device adjacent to said coating device. 6. The object distance and shape measurement according to any one of claims 1 to 5, wherein a set of shape measurement units comprising at least the coating device, the light projection device, and the imaging device is arranged in the center of the moving body. Device. A set of shape measuring units comprising at least the coating device, the light projection device, and the imaging device are arranged on both sides of the wheels of the moving body, and the coating device, the light projection device, and the imaging device are arranged. 6. The object distance and shape measuring device according to claim 1, wherein the order is opposite to each other. A set of shape measuring units comprising at least the coating device, the light projecting device, and the imaging device are arranged on both sides of the front end and the rear end of the moving body, respectively, and at the front end and the rear end. 6. The object distance and shape measuring apparatus according to claim 1, wherein the coating device, the light projecting device, and the imaging device are arranged in the opposite order to each other. 9. Any one of claims 6 to 8, wherein an articulated arm is mounted on said moving body, and a set of shape measuring units comprising at least said coating device, said light projecting device and said imaging device are arranged at the tip of said articulated arm. 2. The object distance and shape measuring device according to 1 or 2 above. A coating step of applying a luminous paint to an object with a coating device, a light projecting step of projecting light for causing the luminous paint to emit light from a light projecting device, and an imaging device capturing an image of the light emitted by the luminous paint. an image capturing step, a specifying step of specifying a feature point based on image data captured by the image capturing device by an image processing device, a two-dimensional or three-dimensional map created by a control device using the feature point, and an object distance; A distance and shape measuring method for an object, comprising a distance and shape measuring step for obtaining a shape.

Images