JPH0518724A - Three-dimensional measuring apparatus - Google Patents

Abstract

PURPOSE:To heighten the computing operation speed. CONSTITUTION:A projector 4 is so installed as to position the light source point 5 in the X-axis of spatial coordinate axes and at the same time a solid picture picking-up camera, a solid picture picking-up device 3 is built therein, is so installed at the origin of the spatial coordinate axes as to agree the Y-axis of the spatial coordinate axes and the optical axis 8. When light is emitted from a projector 4. the light comes in to the surface of a measurement object 1 set in the space coordinate axes and the image of the measurement object 1 at that time is shot on the light radiated surface 7 of the solid-state picture picking-up device 3 in the inside of the solid-state picture picking-up camera 2 and the analog quantity is converted into digital quantity by an analog-digital converter 9. Further, the digital quantity is computed by a digital computing operation apparatus 10 of a central processing apparatus 11 and thus the computing operation like this is carried out for every scanning beam while the emitting angle of the light is successively changed by the projector 4 controlled by the central processing apparatus 11 and consequently, three-dimensional shape of the measurement object 1 is measured.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional measuring device, and more particularly to a three-dimensional measuring device capable of speeding up arithmetic processing.

[0002]

2. Description of the Related Art Generally, a three-dimensional measuring apparatus of this type includes a projector 24 for emitting light and a solid-state image pickup camera 22 having a solid-state image pickup element 23 therein, as shown in a block diagram of FIG. , An analog-to-digital converter 29 for converting the analog amount of the solid-state imaging camera 22 into a digital amount
And the digital arithmetic processing unit 30 of the central processing unit 31 which arithmetically processes the digital amount of the analog-digital converter 29. The positional relationship among the solid-state imaging camera 22, the light projector 24, and the measured object 21 is shown in FIG. As shown in FIG.

That is, the light source point 2 is located on the X axis of the spatial coordinate axes.
The light projector 24 is arranged so that 5 is located,
A solid-state image pickup camera 22 incorporating a solid-state image pickup device 23 is arranged at the spatial coordinate origin so that the Y axis of the spatial coordinate axes and the optical axis 28 form a predetermined angle.

When the light emitted from the projector 24 hits the surface of the object to be measured 21 arranged in the spatial coordinate axes, the image of the object to be measured 21 at that time is captured by the solid-state imaging camera 22.
The analog amount of the object to be measured 21 which is imaged on the light irradiation surface 27 of the solid-state image sensor 23 in the inside is converted into a digital amount through the digital-analog converter 29, and this digital amount is further converted. By performing arithmetic processing by the digital arithmetic unit 30 of the central processing unit 31, arithmetic processing on each coordinate axis of the object to be measured 21 is performed, and such arithmetic processing is emitted by the projector 24 controlled by the central processing unit 31. The three-dimensional shape of the object to be measured 21 is measured by sequentially changing the angle.

In this case, the component in the X-axis direction of the object to be measured 21 is x, the component in the Y-axis direction is y, and the component in the Z-axis direction is z,
The angle between the optical path 26 of the light emitted from the projector 24 and the X axis is γ, the angle between the optical axis 28 of the solid-state imaging camera 22 and the Y axis is a ₀ , and the angle of the light reflected on the surface of the object to be measured 21 is The angle formed by the optical path and the optical axis 28 of the image pickup camera 22 is a _x , the component in the X axis direction of the DUT 21 imaged on the solid state image pickup device 23 of the solid state image pickup camera 22 is ω _x , and the solid state image pickup camera 22 is shown.
Assuming that the component in the Z-axis direction of the object to be measured 21 that is imaged on the solid-state image sensor 23 is ω _z , and the distance from the Z-axis to the light irradiation surface 27 of the solid-state image sensor 23 is FB, the digital calculator 30
Calculation formulas for the arithmetic processing are expressed as the following formulas (1) to (5).

X = (D · tan (a ₀ + a _x )) / (tan (a ₀ + a _x ) + cot (γ)) (1) y = D / (tan (a ₀ + a _x ) + cot (γ) )) ...... (2) z = D · tan (a z) / (tan (a 0 + a x) + cot (γ)) ... (3) a x = tan -1 · ω x / FB ............ ( 4) _az = tan ^-1 · ω _z / FB ………… (5)

Then, the three-dimensional shape of the object to be measured 21 is measured by performing arithmetic processing by the digital arithmetic processor 30 of the central processing unit 31 in which the above-described calculation formula is incorporated. Therefore, since the arithmetic processing is performed by the complicated calculation formula as described above, it takes a long time to perform the arithmetic processing.

The present invention solves the problems of the above-mentioned conventional ones, and simplifies the calculation formula for the arithmetic processing by the digital arithmetic processor, thereby significantly reducing the time required for the arithmetic processing. An object of the present invention is to provide a three-dimensional measuring device that can be shortened.

[0009]

In order to solve the above-mentioned problems, the present invention arranges a light projector so that a light source point is located on the X axis of the spatial coordinate axis, and at the same time, sets the Y axis of the spatial coordinate axis. A solid-state imaging camera having a built-in solid-state imaging device so that the optical axes coincide with each other is arranged at the origin of the spatial coordinates, and the light emitted from the projector is applied to the surface of the object to be measured arranged in the spatial coordinates. An image of the object to be measured is picked up on the light irradiation surface of the solid-state image pickup device in the solid-state image pickup camera, and the analog signal of the solid-state image pickup camera at this time is converted into a digital signal by an analog-digital converter, The digital signal is arithmetically processed by the digital arithmetic processor of the central processing unit, and the arithmetic processing by such a digital arithmetic processing unit is performed by sequentially changing the emission angle of light by the projector controlled by the central processing unit. By a, it is obtained by employing a means of measuring the three-dimensional shape of the object to be measured.

[0010]

The present invention, by adopting the above means,
The calculation formula of the digital arithmetic processor of the central processing unit can be remarkably simplified, and therefore, the time required for the arithmetic processing can be remarkably shortened.

[0011]

Embodiments of the present invention shown in the drawings will be described below. 1 and 2 show an embodiment of a three-dimensional measuring device according to the present invention. FIG. 1 is an explanatory view showing the positional relationship between the X-axis, Y-axis and the DUT 1, and FIG. 2 is Z. Axis, Y
It is explanatory drawing which shows the positional relationship between a shaft and the DUT 1.

That is, as shown in the block diagram of FIG. 4, the three-dimensional measuring apparatus shown in this embodiment has a projector 4 for emitting light, a solid-state image pickup camera 2 having a solid-state image pickup element 3 built-in, and a solid-state image pickup device. The solid-state imaging camera 2 includes an analog / digital converter 9 for converting an analog amount of the camera 2 into a digital amount, and a digital arithmetic processor 10 of the central treatment apparatus 1 for arithmetically processing the digital amount of the analog / digital converter 9. Is arranged at the origin of the spatial coordinate so that the optical axis 8 coincides with the Y axis of the spatial coordinate axis, the projector 4 is controlled by the central processing unit 11, and the light source point 5 is located on the X axis of the spatial coordinate axis. The light emitted from the projector 4 is a slit light that extends in the vertical direction, and the slit light in this case is a light source point of the projector 4 according to a signal from the central processing unit 11. The by rotating, has an angle γ between the optical path 6 of the X-axis and a slit light to arbitrarily changed.

Then, the slit light extending in the vertical direction is emitted from the projector 4 arranged as described above, and when the slit light is applied to the surface of the DUT 1 arranged in the spatial coordinate axis, the object to be measured at that time is projected. An image of the measurement object 1 is picked up on the light irradiation surface 7 of the fixed image pickup device 3 of the fixed image pickup camera 2 arranged at the origin of the spatial coordinates (see FIG. 3), and the analog amount at this time is converted by the analog / digital converter 9. It will be converted into a digital quantity. Then, the digital amount converted by the analog / digital converter 9 is arithmetically processed by the digital arithmetic processor 10 of the central processing unit 11, whereby the components at each coordinate axis of the DUT 1 are obtained.

In such coordinate calculation calculation, the central processing unit 11 rotates the light source point 5 of the light projector 4 to reduce the angle γ between the optical path 6 of the slit light emitted from the light projector 4 and the X axis. The three-dimensional shape of the DUT 1 is measured by largely changing and performing arithmetic processing for each scanning line corresponding to the angle.

In this case, the component in the X-axis direction of the DUT 1 is x, the component in the Y-axis direction is y, and the component in the Z-axis direction is z, and the optical path 6 of the slit light emitted from the projector 4 and the X-axis. The angle between the optical axis of the solid-state imaging camera 2 and the Y-axis is a ₀ , and the angle between the optical path of the light reflected on the surface of the DUT 1 and the optical axis of the solid-state imaging camera 2. A _x is the X of the DUT 1 imaged on the solid-state imaging device 3 of the solid-state imaging camera 2.
The component in the axial direction is ω _x , the component in the Z-axis direction of the DUT 1 imaged on the solid-state imaging device 3 of the solid-state imaging camera 2 is ω _z ,
The distance from the Z axis to the light irradiation surface 7 of the solid-state image sensor 3 is FB
Then, since the optical axis 8 of the solid-state imaging camera 2 and the Y-axis coincide with each other, the calculation formulas for the arithmetic processing by the digital arithmetic unit 9 of the central processing unit 11 are the following formulas (6) to (8). Is represented as

X = (D · ω _x ) / (ω _x + FB · cot (γ)) …… (6) y = (D · FB) / (ω _x + FB · cot (γ)) …… … (7) z = (D · w _z ) / (ω _x + FB · cot (γ)) ………… (8)

Therefore, the calculation formula can be simplified as compared with the conventional calculation formula, whereby the time required for the arithmetic processing in the digital arithmetic processor 10 of the central processing unit 11 can be remarkably shortened. Therefore, the arithmetic processing can be remarkably speeded up.

[0018]

As described above, the present invention remarkably simplifies the calculation formula of the digital arithmetic processor of the central processing unit when arithmetically processing the digital amount converted by the analog-digital converter. Therefore, the time required for the arithmetic processing in the digital arithmetic processor can be significantly shortened,
As a result, the time required for measuring the three-dimensional shape of the object to be measured can be shortened, and the three-dimensional measurement can be remarkably speeded up.

[Brief description of drawings]

FIG. 1 shows an object to be measured and X of a three-dimensional measuring apparatus according to the present invention.
It is explanatory drawing which shows the positional relationship with an axis and a Y-axis.

FIG. 2 is a diagram showing an object to be measured and Y of the three-dimensional measuring apparatus according to the present invention.
It is explanatory drawing which shows the positional relationship with an axis and a Z-axis.

FIG. 3 is an explanatory view showing an image picked up on a solid-state image pickup device by the three-dimensional measuring apparatus according to the present invention.

FIG. 4 is a block diagram of a three-dimensional measuring device according to the present invention and a conventional three-dimensional measuring device.

FIG. 5 is an explanatory diagram showing a positional relationship between an object to be measured and an X axis and a Y axis of a conventional three-dimensional measuring device.

FIG. 6 is an explanatory diagram showing a positional relationship between an object to be measured and a Y axis and a Z axis of a conventional three-dimensional measuring apparatus.

[Explanation of symbols]

 1, 21 ... Object to be measured 2, 22 ... Solid-state imaging camera 3, 23 ... Solid-state imaging device 4, 24 ... Projector 5, 25 ... Light source point 6, 26 ... Optical path 7, 27 ... Light irradiation Surface 8, 28 ... Optical axis 9, 29 ... Analog / digital converter 10, 30 ... Digital arithmetic processor 11, 31 ... Central processing unit

[Procedure amendment]

[Submission date] July 31, 1992

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0006

[Correction method] Change

[Correction content]

X = (D * tan (ao + ax)) / (tan (ao + ax) + cot (γ)) (1) y = D / (tan (ao + ax) + cot (γ)) (2) ) Z = D · tan (az) / (tan (ao + ax) + cot (γ)) (3) ax = tan-1 (ωx / FB) ………… (4) az = tan-1 (ωz / FB) ………… (5)

Claims (1)

Claims: 1. A light projector (4) is arranged so that a light source point (5) is located on the X axis of the spatial coordinate axis, and the Y axis of the spatial coordinate axis and the optical axis (8) are An object to be measured (1) in which a solid-state imaging camera (2) having a built-in solid-state imaging device (3) is arranged at the origin of spatial coordinates so that the light emitted from the projector (4) is arranged within the spatial coordinates ), The image of the measured object (1) at that time is picked up on the light irradiation surface (7) of the solid-state imaging device (3) in the solid-state imaging camera (2), and The analog signal of the solid-state imaging camera (2) is converted into a digital signal by the analog-digital converter (9), and the digital signal is arithmetically processed by the digital arithmetic processor (10) of the central processing unit (11). The arithmetic processing by such a digital arithmetic processor (10) is described above. By performing central processing unit (11) the firing angle of the light by the light projector (4) controlled sequentially varied, the three-dimensional measuring apparatus characterized by measuring the three-dimensional shape of the object to be measured (1).