JPH05149727A - Three-dimensional shape recognizing device - Google Patents

Abstract

PURPOSE:To surely recognize and detect the three-dimensional shape of an object to be measured even on the steeply inclined face of the object by providing a camera moving device, picture data discriminator, and driving command circuit and freely moving a camera around the object when the absence of shape data is automatically discriminated. CONSTITUTION:The picture data corresponding to a picture taken with a camera 5 are inputted to a coordinate computing element 7 through a picture data discriminator 9 and drive commanding device 10 after the data are fetched to a picture fetching device 6. The element 7 recognizes the shape of an object 2 to be measured by computing the coordinates of the picture data. The discriminator 9 discriminates the presence/absence of the data indicating the image of a tree-dimensional shape in the picture data of the device 6 and inputs discriminated results to the commanding device 10. When the discriminator 9 discriminates the absence of data, the device 10 gives a driving command to a camera moving device 8 to move a camera 5 in the direction in which the quantity of randomly reflected light from the object 2 increases. The camera 5 obtains shape data by catching the randomly reflected light of slit light 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional shape recognition device by a light cutting method, and more particularly to a device applied to a die machining device.

[0002]

2. Description of the Related Art In the field of machine tools, it is sometimes necessary to recognize a three-dimensional shape in order to prevent copying and collision. As a method of non-contact shape recognition, there is a light cutting method. This is to irradiate the measuring object with slit light and determine the coordinates of the measuring object from the image that is diffusely reflected.

FIG. 2 shows a conventional three-dimensional shape recognition device based on this optical cutting method. As shown in the figure, the slit light generator 3 irradiates the measurement object 2 placed on the table 1 with the slit light 4. The slit light generator 3 is arranged above the table 1, and the slit light 4 is substantially perpendicular to the table 1. Then, the slit light generator can be moved in a direction orthogonal to the parallel direction of the slit light 4. On the other hand, camera 5
Is installed diagonally above the table 1 and photographs an optical image formed by irradiation of slit light. This camera 5
Image data corresponding to the image photographed in (3) is captured by the image capturing device 6, and the coordinate calculator 7 calculates the image data so that the shape of the measuring object 2 can be recognized.

FIG. 4 shows a method of calculating coordinates by the coordinate calculator 7.
Explanation will be given with reference to (a) (b) (c). However, the coordinate axes are shown in Figure 3.
As shown in (a) and (b), the upper surface of the table 1 is defined as the xy plane, and the vertically upper part thereof is defined as the z-axis direction. The slit light 4 is parallel to the x direction, and the observation direction of the camera 5 is obliquely upward in the y axis direction (angle θ from the z axis). As shown in FIGS. 4A and 4B, since the slit light 4 coincides with the zx plane, the slit light 4 is expressed by the following equation. y = 0 (1) Further, the magnification rate M at the coordinate origin O, which is a distance L from the lens center O ′ of the camera 5, is expressed by the following equation. M = A / A ₀ = B / B ₀ = L / f (2) where A ₀ and B ₀ are the origin of coordinates, that is, the widths A and B at the distance L viewed from the x direction and the y direction. The width within the screen.

Here, when the coordinates in the image are α and β, respectively, as shown in FIG. 4C, the shooting direction on the y-x plane corresponding to these coordinates is expressed by the following equation. z = y (L ・ cosθ-M ・ αsinθ) / (L ・ sinθ + M ・ αcosθ) + LMα / (L ・ sinθ + M ・ αcosθ) ・ ・ ・ (3) In the above equation (3) above (1) By substituting the equation, the z-axis coordinate of the slit light cutting line is obtained. z = LMα / (L · sin θ + M · α cosθ) (4) Similarly, the x coordinate of the cutting line of the slit light is also obtained as follows. x = (LZ ・ cosθ) β / f = {L-LMα ・ cosθ / (L ・ sinθ + M ・ αcosθ)} β / f = {1-Mα ・ cosθ / (L ・ sinθ + M ・ αcosθ)} M β (5) As described above, the three-dimensional shape can be recognized by calculating the z-coordinate and the x-coordinate using the equations (4) and (5) and performing this calculation for the entire measurement object become.

[0006]

As described above, in the three-dimensional shape recognition device by the light section method, the slit light 4 is irradiated onto the measuring object 2 and the irregularly reflected light is imaged by the camera 5 and the image is taken. The coordinates of the object to be measured are obtained, but because the light does not reach the camera 5 depending on the material and shape of the object to be measured 2, an image of the object to be measured cannot be obtained, and there are points without shape data. There is a problem that there are cases. For example, as shown in FIG. 5A, when the slit light 4 is irradiated from the camera 5 onto the steeply inclined surface of the measuring object 1 having a high reflectance, the image cannot be captured by the camera 5, so that there is no shape data. It was.

The present invention has been made in view of the above prior art, and in the three-dimensional shape recognition by the optical cutting method,
An object of the present invention is to provide a three-dimensional shape recognition device that can reliably detect a steeply inclined surface of a measurement target.

[0008]

The structure of the present invention which achieves such an object is a slit light generator for projecting slit light toward an object to be measured placed on a table, and irradiation of the slit light. A shape recognition camera that captures an image formed by the image recognition device, an image capture device that captures image data corresponding to the image captured by the shape recognition camera, and the image capture device that captures the image data based on the image data captured by the image capture device. A coordinate calculator for calculating the coordinate position of the measuring object,
An image data determiner that determines whether or not the image data captured by the image capturer has data indicating a three-dimensional image of the measurement target, and a camera moving device that moves the shape recognition camera. When the image data judging device judges that there is no data indicating the three-dimensional shape of the measuring object, a drive command is given to the camera moving device to move the camera and increase diffused reflected light from the measuring object. And a drive command device.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the embodiments shown in the drawings. FIG. 1 shows a first embodiment of the present invention. As shown in the figure, the measurement object 2 placed on the table 1 has slit light generator 3 to slit light 4
Is projected. The slit light generator 3 is arranged above the table 1, and the slit light 4 is substantially perpendicular to the table 1. However, as described above, Table 1
Is the xy plane, and the vertically upper side is the z-axis direction. The slit light 4 is parallel to the x direction. The slit light generator 3 can be moved in a direction y orthogonal to the parallel direction x of the slit light 4.

On the other hand, the camera 5 is installed diagonally above the table 1 and photographs the optical image formed by the irradiation of slit light. The observation direction of the camera 5 is diagonally upward in the y-axis direction. Further, the camera 5 is placed around the measuring object 2 so as not to change the distance L to the measuring object 2.
A camera moving device 8 for moving the camera is provided. Therefore, only the angle θ with respect to the measurement object 2 is changed to the angle θ ′, and the following formulas (6) and (7) may be used instead of the formulas (4) and (5) described in the related art. Good. z = LMα / (L ・ sinθ '+ M ・ αcosθ') ・ ・ ・ (6) x = {1-Mα ・ cosθ '/ (L ・ sinθ' + M ・ αcosθ ')} Mβ ・ ・ ・ (7 ) Image data corresponding to the image captured by the camera 5 is captured by the image capturing device 6, and the image data determining device 9,
It is input to the coordinate calculator 7 via the drive command device 10, where the image data is calculated and the coordinates are calculated. By performing this on the entire measuring object 2, the shape of the measuring object 2 can be recognized.

Here, the image data judging device 9 judges whether or not the image data taken in by the image taking device 6 has data showing an image of the three-dimensional shape of the measuring object 2, and the result is a driving command. Input to the device 10. For example, as shown in FIG. 5 (a), on the steeply inclined surface of the measuring object 1 having a high reflectance,
When the slit light 4 is emitted from the camera 5, the measurement object 2
Since the angle between the camera and the camera 5 is steep, the camera 5 cannot detect the irregular reflection light of the slit light 4, and it is determined that there is no shape data. On the other hand, when the image data determiner 9 determines that there is no image data of the three-dimensional shape of the measurement object 2, the drive command device 10 gives a drive command to the camera moving device 8 to move the camera 5 from the measurement object. Move the diffused reflected light in the direction of increasing. As a result, by moving the camera 5 as shown in FIG. 5 (b) to loosen the angle between the measurement object 2 and the camera 5, the diffuse reflection light of the slit light 4 is captured by the camera 5, The shape data can be obtained. This movement is repeated until there are no shapeless points.

As described above, in this embodiment, by using the camera moving device 8, the image data judging device 9 and the drive command circuit 10, even if the measuring object 2 is a steeply inclined surface, the shape is automatically adjusted. A point without data is detected, the camera 5 is freely moved, and the angle θ formed between the measurement object 2 and the camera 5 is loosened, whereby the camera 5 can capture irregular reflection light of slit light. , Surely measurement object 2
The shape can be recognized and the workability and measurement accuracy are improved.

[0013]

As described above in detail with reference to the embodiments, the present invention automatically detects the shape data missing point by providing the camera moving device, the image data judging device and the drive command circuit. Since the camera can be freely moved around the object to be measured, the three-dimensional shape can be reliably recognized even when the object to be measured has a steep slope.

[Brief description of drawings]

FIG. 1 is a perspective view of a three-dimensional shape recognition device according to a first embodiment of the present invention.

FIG. 2 is a perspective view of a conventional three-dimensional shape recognition device.

FIG. 3A is an explanatory view of an xy plane, and FIG. 3B is z.
It is explanatory drawing of-y plane.

FIGS. 4 (a) and 4 (b) are layout diagrams showing the positional relationship on a zy plane and a zx plane of a conventional three-dimensional shape recognition device, and FIG. 4 (C) is a coordinate in a camera. FIG.

5A is an explanatory diagram showing reflection of slit light before the camera is moved, and FIG. 5B is an explanatory diagram showing reflection of slit light after the camera is moved.

[Explanation of symbols]

 1 Table 2 Object to be Measured 3 Slit Light Generation Device 4 Slit Light 5 Camera 6 Image Capture Device 7 Coordinate Calculator 8 Camera Moving Device 9 Image Data Judgment Device 10 Drive Command Device

Claims (1)

[Claims] 1. A slit light generator for projecting slit light toward an object to be measured placed on a table, a shape recognition camera for photographing an image formed by the irradiation of the slit light, and An image capture device that captures image data corresponding to the image captured by the shape recognition camera,
A coordinate calculator for calculating the coordinate position of the measurement target based on the image data captured by the image capturer, and a three-dimensional image of the measurement target in the image data captured by the image capturer. Image data judging device for judging whether or not there is data shown, a camera moving device for moving the shape recognition camera, and the image data judging device judges that there is no data showing the three-dimensional shape of the measurement object. The three-dimensional shape recognition device, further comprising: a drive command device that gives a movement command to the camera moving device to move the camera to increase diffused reflected light from the measurement object.