JPH0518726A - Three-dimensional color image input apparatus - Google Patents

Abstract

PURPOSE:To make processing speed for data input high to shorten the input time and at the same time to improve detected position precision. CONSTITUTION:A color three-dimensional image input apparatus consists of a scanning means 3 to radiate measuring luminous-ray fluxes to a measurement object 2 on a reference plane 1 and scan it with the fluxes, a light converging means 4 to converge the scattered luminous-ray fluxes among the measuring luminous-ray fluxes from the measurement object, and a spectro-scopic means 5 to separate the luminous-ray fluxes from the light converging means 4 into three principle colors. RGB. Further, it consists of a position detecting means 6 to detect the light converging position of each luminous-ray flux and a signal processing part 7 to compute and introduce a distance of the surface of the measurement object 2 from the reference plane 1 based on the deflection of the detected position by the position detecting means 6 from the standard position corresponding to the reference plane 1. The position detecting means 6 is composed of a plurality of non-dividing-type position detecting devices to detect the light converging position for each luminous-ray flux dividually.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a scanning means for projecting and scanning a measuring ray bundle on a measuring object on a reference surface, and a collecting means for condensing a scattered ray bundle of the measuring ray bundle from the measuring object. A light unit, a spectroscopic unit that disperses a light beam bundle from the condensing unit into three primary colors of RGB, a position detection unit that detects a condensing position of each light beam bundle from the spectroscopic unit, and a detection position by the position detection unit. And a signal processing unit that calculates and derives the distance of the measurement object surface from the reference surface based on the deviation from the reference position corresponding to the reference surface. Input device for CAD data that inputs the external shape from the model of various types of designed products and finishes the final design drawing, input device for color three-dimensional image material used for education and sales, medical diagnosis Device A color three-dimensional image input device used as a visual sensor of a robot.

[0002]

2. Description of the Related Art A color three-dimensional image input device of this type is
The position detecting means is composed of a single one-dimensional image sensor (CCD) that detects the condensing position of each light flux dispersed by the spectral means.

[0003]

According to the above-mentioned prior art, first, the position detecting means reads out all the pixel data (for example, 256 pixels) of the image sensor (CCD) to obtain each of the scattered light fluxes of RGB. Pixels showing the corresponding peak value are extracted, and the position thereof is specified as the condensing position of each ray bundle, and then the signal processing unit causes the standard condensing position (scattered light rays from the reference plane to be calculated). The height of the object to be measured from the reference surface is derived by performing a predetermined calculation based on the deviation of the detected condensing position from the bundle condensing position) and the scanning position by the scanning unit. It takes a considerable time to read all the pixel data of the image sensor (CCD) at each measurement timing, and in particular, the input time for obtaining highly accurate three-dimensional data is long. Further, the accuracy of the condensing position cannot be higher than the resolution determined by the pixels of the image sensor (CCD), and in order to improve the accuracy, the deviation obtained based on each pixel data of RGB is averaged. Etc., but in this case the scattered light flux is R
If any component of GB is lacking, it is not suitable either. An object of the present invention is to eliminate the above-mentioned conventional drawbacks.

[0004]

In order to achieve this object, the color three-dimensional image input device according to the present invention is characterized in that the position detecting means is used for converging position of each light flux dispersed by the spectroscopic means. It is composed of a plurality of non-divided position detecting elements for individually detecting the. The signal processing unit arithmetically derives the distance of the surface of the measuring object from the reference surface by using the data indicating the maximum amount of received light among the data detected by the position detecting unit corresponding to the three primary colors of RGB. It is preferable that it is configured as follows.

[0005]

Function: Non-divided position detection element (for example, an element that detects the incident position of the light spot from the difference between the left and right photocurrents using the surface resistance of the photodiode, and there is a PSD element manufactured by Hamamatsu Photonics) In this case, since a continuous electric signal corresponding to the incident position is output, time-consuming signal processing such as CCD in which each pixel data is sequentially read to obtain a pixel showing a peak value is unnecessary. For example,
In the case of the above-mentioned PSD element, as shown in FIG. 3, the center position of the incident light is determined by the photocurrents I ₁ and I ₂ generated on the left and right with respect to the incident light. The height of the object to be measured from the reference surface is derived by performing a predetermined calculation based on the deviation of the center position from the reference condensing position and the scanning position of the scanning unit. Further, the signal processing unit uses the data showing the maximum received light amount having a high S / N ratio among the respective data detected by the position detecting means in correspondence with the three primary colors of RGB, If the distance of the surface of the measurement object is calculated and derived, the height of the measurement object from the reference surface can be calculated and derived with high accuracy in a relatively large number of cases. For example, in the case of the above-mentioned PSD element, since the sum of the photocurrents I ₁ and I ₂ has a value corresponding to the amount of incident light, the presence / absence and composition of the corresponding component of RGB are immediately found from this, and the value is the maximum. The incident position of the component that becomes is used to derive the height of the measurement target from the reference surface.

[0006]

As described above, according to the present invention, it is not necessary to perform time-consuming signal processing such as CCD in which each pixel data is sequentially read to obtain a pixel having a peak value.
It has become possible to provide a color three-dimensional image input device capable of shortening the sampling interval, inputting three-dimensional image data at high speed and with high accuracy in a relatively large number of cases.

[0007]

EXAMPLES Examples will be described below. As shown in Figure 1,
The three-dimensional image input device collects a scanning means 3 for projecting and scanning a measurement light beam on a measurement object 2 on an XY reference plane 1 and a scattered light beam from the measurement object 2 in the measurement light beam. The condensing means 4 that emits light and the light flux from the condensing means 4 are R
Spectral means 5 for splitting into the three primary colors of GB, and the spectroscopic means 5
Position detecting means 6 for detecting the condensing position of each ray bundle from the
And a signal processing unit 7 for calculating and deriving the distance of the surface of the measuring object 2 from the reference plane 1 based on the deviation between the detected position by the position detecting means 6 and the reference position corresponding to the reference plane 1. The model generation unit 8 for reconstructing the measurement object 2 from the three-dimensional data derived by the signal processing unit 7 and the measurement operation by the scanning unit 3, the condensing unit 4, the spectroscopic unit 5, and the position detecting unit 6. It comprises a measurement control unit 9 for controlling. The position detecting means 6 is configured by arranging three non-divided position detecting elements, which detect the condensing position of each light beam split by the spectroscopic means 5, separately in the spectral direction. Said scanning means 3, three primary colors (R: Red, G: Green, B: Blue) and the light source 3A made of a hollow cathode type H _e -C _d laser that simultaneously oscillate, rotate parallel axis about the Y axis It is composed of a free-moving mirror 3B and a fixed mirror 3C for projecting and scanning the light beam scanned by the scanning mirror 3B with the output light beam of the laser onto the measurement object 2 in a direction parallel to the X axis. There is. The condensing unit 4 includes a fixed mirror 4A that reflects a scattered light flux from the surface of the measurement object 2 of the measurement light flux toward the back surface of the scanning mirror 3B, and the scanning mirror 3B.
It is composed of a lens 4B for condensing the light flux reflected from the back surface of the scanning mirror 3B on the detection surface of the position detection means 6. As shown in FIG. 2, the spectroscopic means 5 is composed of a prism that disperses the scattered light flux into three primary colors (R: red, G: green, B: blue), and the position detecting means 6 is arranged at the incident position. Corresponding position detection element that outputs continuous electrical signals (element that detects the incident position of the light spot from the difference between the left and right photocurrents using the surface resistance of the photodiode, a PSD element manufactured by Hamamatsu Photonics) 6
Three A, 6B, and 6C are arranged in the spectral direction corresponding to each wavelength of RGB. An optical head is configured by the scanning unit 3, the condensing unit 4, the spectroscopic unit 5, and the position detecting unit 6, and a scanning mechanism that performs scanning in the Y-axis direction by moving the optical head in the Y-axis direction ( (Not shown)
Is provided, the three-dimensional coordinates of the measurement target in the XYZ directions,
And input the color data. The measurement control unit 9 controls movement scanning of the scanning mirror 3B and the optical head in the Y-axis direction, and sends a synchronization signal to the signal processing unit 7. The signal processing unit 7 calculates the distance of the surface of the measuring object 2 from the calculated reference plane 1;
XYZ from the directional coordinate and the sync signal when it was obtained
Specify the three-dimensional coordinates of the direction. As shown in FIG. 4, in the signal processing unit 7, the distance X ₀ X ₁ detected by the position detecting unit 6 is proportional to ΔX ₀ , and the reference plane 1
The surface position Z ₀ of the measuring object 2 from Z is Z ₀ · θ = ΔX
_Since it has a relation of ₀ , Z ₀ is obtained. The model generation unit 8 converts the XYZ coordinate data specified by the value in the Z direction for each measurement point (determined by the scanning density) obtained by scanning in the X direction and scanning in the Y direction into three-dimensional image data. Then, the shape of the measuring object 2 is reproduced from them on a computer.

Another embodiment of the present invention will be described below. As the position detecting means, a PSD element that uses the surface resistance of the photodiode to detect the incident position of the light spot from the difference between the left and right photocurrents is used, but the position detecting means is not limited to this. As a light source, an example of using the hollow cathode-type H _e -C _d lasers is not limited to this, it is possible to use the same laser. The scanning mechanism of the scanning means in the XY directions is not limited to this, and for example, FIG.
As shown in FIG. 5, the optical head may be composed of a scanning mechanism that scans only the projection light beam bundle and a fixed optical system that guides the scattered light beam bundle to the light receiving element, or by moving the optical head in the Y-axis direction, A scanning mechanism for scanning in the axial direction (this is
Instead of using a motor and a pulley), as shown in FIG. 6, it is rotatable about the Z-axis to scan the plane formed by the projection ray bundle and the scattered ray bundle in the Y-axis direction. It may be configured by providing a reflection mirror. In the previous embodiment, the spectroscopic means was composed of a prism, but it is not limited to this and may be composed of a diffraction grating.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a three-dimensional image input device.

FIG. 2 is a sectional view of a main part

FIG. 3 is an explanatory diagram showing the principle of a position detection element.

FIG. 4 is an explanatory diagram showing the principle of detecting Z-direction coordinates.

FIG. 5 is a configuration diagram of a main part showing another embodiment.

FIG. 6 is a configuration diagram of a main part showing another embodiment.

[Explanation of symbols]

3 scanning means 4 Focusing means 5 Spectral means 6 Position detection means 7 Signal processing unit

Claims (2)

[Claims] 1. A scanning means (3) for projecting and scanning a measuring ray bundle onto a measuring object (2) on a reference surface (1), and a scattered ray bundle from the measuring object among the measuring ray bundles. Condensing means (4) for illuminating light, spectroscopic means (5) for spectroscopically dividing the light flux from the condensing means (4) into three primary colors of RGB, and condensing position of each light flux from the spectroscopic means (5) Based on a deviation between a position detection means (6) for detecting the position and a reference position corresponding to the reference surface (1) detected by the position detection means (6), and the measurement target from the reference surface (1). A color three-dimensional image input device comprising a signal processing section (7) for calculating and deriving the distance of the surface of an object (2), wherein the position detecting means (6) is separated by the spectroscopic means (5). A plurality of non-divided position detection elements that detect the focused position of each bundle To Aru color three-dimensional image input device. 2. The signal processing section (7) uses the data indicating the maximum light receiving amount among the data detected by the position detecting means (6) corresponding to the three primary colors of RGB, and the reference surface (1 3. The color three-dimensional image input device according to claim 1, which is configured to calculate and derive the distance of the surface of the measuring object (2) from (1).