JPH0550681B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an apparatus for forming a three-dimensional shape such as a three-dimensional image from an object having a three-dimensional shape such as a person.

(Prior Art) Conventionally, a copying machine tool mold, an inverted mold, etc. have been used to form an object having a three-dimensional shape into an equivalent three-dimensional shape.

However, due to dimensional limitations of machine tools, molds, etc., the objects that can be molded into three-dimensional shapes are restricted, and it is difficult to reproduce three-dimensional shapes from objects with complex shapes and noticeable irregularities. Was. In addition, when the target object is a soft object,
The problem was that replicating the object required not only a high degree of skill but also an artistic sense.

Tokuko Sho 53-2580 was developed as a method to obtain cross-sectional contours by cutting and photographing three-dimensional shapes using a slit light plane.
The method used to test tires is known. According to this method, the cross-sectional outline of a tire with a concave portion obtained by cutting with a laser beam plane formed by projecting a laser from all sides is photographed using multiple cameras arranged so that the entire circumference can be photographed. Then, by projecting the photographic record at the same magnification from the photographing position onto a screen installed at substantially the same position as the optical plane, the cross-sectional contour of the tire is reproduced, and the shape and dimensions of the tire cross-section are observed.
can be measured. In this method, it is important that the screen position at the time of projection be exactly the same as the cross-sectional position of the tire at the time of photography. It is not planned to make appropriate adjustments each time a measurement is made to match the shape, etc. In addition,
Since this method involves visually observing the projected image, it is not possible to obtain graphic information to be supplied to a numerically controlled machine tool in order to create a three-dimensional image of the same shape.

Further, there is a method described in Japanese Patent Application Laid-open No. 153932/1983, which utilizes an image taken with slit light irradiated onto a three-dimensional shape in order to produce a reproduction of the three-dimensional shape. The method disclosed in this document is to acquire measurement data necessary for reproducing a person's head etc. on a data carrier or a transparency in a short time by non-contact measurement. Each time, a silhouette is photographed all around the body and the developed transparencies are projected onto a screen one after another.The outline of the silhouette is followed by a scanning element and the blocky material is processed with a hot wire cutter, etc. to create a three-dimensional human image. It is used in the method of In addition to the silhouette, the invention described in this document takes an image of a person illuminated with slit light from a certain direction, projects this image onto a screen in the same way as the silhouette, and makes a circular milling machine. By performing additional processing on the human image carved out from the silhouette, the human image can accurately reproduce the concave portions of the person that cannot be sufficiently reproduced from the silhouette alone. In the invention disclosed herein, it is essential to maintain a constant relationship between the photographing device and the projection device, and the projection image is directly copied using a copying machine tool while being machined from a block of material. Therefore, the complexity of the device and the difficulty in its configuration are unavoidable.

In addition, as an example of a method for manufacturing a three-dimensional model by overlapping templates cut out from plate-shaped members,
The invention described in specification No. 57-81283 is known. The invention is a method for manufacturing a three-dimensional model of topography by pasting together vertically cut mounts, in which topographical information expressed as contour lines is first input into a computer using a figure reading device, and a vertical section is determined based on this information. , the vertical section model member is cut by controlling the model member cutting device. In this method, information for controlling the cutting device is obtained by converting contour line information representing topography into vertical section information.
Therefore, in order to obtain a three-dimensional image, it is necessary to first import contour line information into a computer and then perform advanced image processing.

Furthermore, until now, there was no known method of using the results of observing a three-dimensional shape with an imaging device, converting it directly into control information through simple calculations, and supplying it to a numerically controlled machine tool to produce a template. .

(Object of the Invention) The present invention has been made to solve the problems of the above-mentioned prior art. It is an object of the present invention to provide a template manufacturing apparatus for forming a three-dimensional shape, which manufactures templates for forming a three-dimensional shape that is equivalent to or has a fixed ratio of a three-dimensional shape that is a target object by overlapping each other.

Another object of the present invention is to easily and economically produce a replica of a target object using a general numerically controlled machine tool for processing plate materials without using a complicated and expensive copying machine tool. The present invention aims to provide a template manufacturing apparatus for three-dimensional shape molding.

Furthermore, another object of the present invention is to create information for machine tools by performing complex processing using a high-performance computer on three-dimensional shape information such as contour diagrams and solid wire diagrams, which is required in conventional methods. By simply performing simple calculations on the results of non-contact measurement of three-dimensional shapes, the system directly obtains control signals for each template and supplies them to numerically controlled machine tools. An object of the present invention is to provide a template manufacturing device for three-dimensional shape molding.

(Structure of the Invention) According to the present invention, in order to achieve the above-mentioned object, there is provided a three-dimensional shape molding template manufacturing apparatus for manufacturing a template used to create a three-dimensional replica from a three-dimensional object. slit light irradiation means for irradiating slit light having a spread angle of a certain angle in the horizontal direction of the target object, and a slit light plane formed by the slit light irradiation means in the horizontal direction of the target object. All-round irradiation means for irradiating the entire circumference on the same horizontal plane with slit light; Vertical position moving means for moving the vertical position of the all-round irradiation means with respect to the target object; By the all-round irradiation means and the vertical position moving means. a two-dimensional imaging means for continuously capturing optical images of the surface of the target object on the same horizontal plane by slit light irradiated onto the target object; and the two-dimensional imaging means is moved to follow the entire circumference irradiation means. , and the two-dimensional imaging means is positioned at one point on the slit light plane.
an imaging position variable means for moving the imaging position in a vertical plane of the plane passing through the point so that the optical axis of the imaging passes through the one point and the imaging position maintains a constant distance from the one point; and the two-dimensional imaging means. cross-sectional measuring means for measuring the cross-sectional shape of the surface of the target object with respect to the horizontal plane from the geometric relationship between the locus shape of the obtained light image and the slit light irradiation means and the two-dimensional imaging means; Template forming means for creating a template with a thin plate having a wall thickness at a constant ratio to the diameter of the slit light and having a shape identical to or similar to the cross-sectional shape based on the cross-sectional shape of the object surface; This apparatus is characterized by a three-dimensional shape molding template manufacturing apparatus, and by overlapping the templates produced thereby, it is possible to easily mold a three-dimensional replica.

(Example) Hereinafter, an example of the present invention will be described with reference to the accompanying drawings.

FIGS. 1a and 1b are diagrams showing a part of the configuration of the embodiment, and for ease of explanation, a model 1, which is a simplified human face, is used as a target object. Then, coordinate axes for the model 1 are set and used as a reference for the slit light irradiation position and the position of the optical image pickup device, which will be described later. The coordinate axes are the origin G at the center of the bottom of model 1, the horizontal direction from the origin G in the elevation view of Figure 1a is the X axis, and the vertical direction from the origin is the Y axis.
In the front view of FIG. 1b, the vertical center line of the model 1, which is the target object, is the Z axis.

A slit light irradiation device 2 is configured to apply a light emitting source 4, for example, a laser, to a model 1, which is a target object, at a thickness Δh (for example,
0.5mm) slit light 2' is irradiated. The slit light irradiation device 2 uses a diaphragm, a concave mirror, or an optical lens system to irradiate a target object with a slit light 2' having a spread angle (θ) and a thickness Δh, with the center line being a perpendicular to the Z-axis. This slit light plane is defined as an X-Y axis system plane, and the origin _Z0 of the Z axis is placed at the lowest end of the object.

The ITV camera 3, which is a two-dimensional imaging device, must be placed in a plane that is perpendicular to the slit light plane and whose movement is not hindered by the slit light irradiation device 2. In other words, the ITV camera is connected to such a plane and the X-
The ITV camera is placed on an arc-shaped guide device 8a that has a constant radius R from a point G on the line of intersection with the Y-axis plane, and the ITV camera can move along the guide device. Matches 1 point G.

Then, the beam light 2' of the slit light irradiation device 2 is
The optical axis of the ITV camera 3 has an angle β with respect to the X-Y axis plane passing through the Z axis, and this angle β can be varied by the guide device 8a in accordance with the unevenness of the model 1, which is the target object. .

Further, the viewing angle of the ITV camera 3 is α. A guide device 8a in which a slit light irradiation device 2 and an ITV camera 3 are arranged is fixed to a pedestal 8 that is slidably guided within a guide column 7, and the pedestal 8 is fixed to a ball nut 6 that is screwed onto a ball screw shaft 5. There is. A step motor (not shown) is connected to the ball screw shaft 5, and the step motor adjusts the thickness of the slit light △
The ball nut 6, ie, the frame 8, is driven up and down stepwise by a height of h.

The entire outer circumference of the model 1, which is a target object, is irradiated with slit light 2' (all-round irradiation means), and the ITV camera 3, which is a two-dimensional imaging device, images the entire outer circumference accordingly. In this embodiment, a plurality of slit light irradiation devices 2 and two-dimensional imaging devices 3 are arranged surrounding the target object. In this case, with respect to the Z axis of model 1, which is the target object,
Place the ITV camera 3 at the same distance, and
When the optical magnifications of the cameras 3 are made equal, it is possible to directly compare the optical images of the model 1, which is the target object of each ITV camera 3, by the slit light 2', and process the measurement data of the optical images.

Next, the geometrical positional relationship between the slit light irradiation device 2 and the ITV camera 3 with respect to the model 1, which is a target object, will be explained with reference to FIG.

In Fig. 2a, the spread angle of the light 2 from the slit light irradiation device 2 is θ, the field of view limit SLM with respect to the Y axis changes from 0 to +Ym, and the Y axis position of the target object model 1 at the origin G is Ym/ It becomes 2.
When using four slit light irradiation devices as shown in Fig. 1a, one slit light irradiation device 2 is used.
The irradiation range necessary to irradiate the entire circumference of model 1 is a range of 90° centered on the origin G, which is the range between Y _L1 and Y _L2 on the Y axis. Slit light 2' irradiated onto the target object 4 from the slit light irradiation device 2
intersects the optical axis 3' of the two-dimensional imaging device 3 at a constant angle β on the Z axis, and this position is defined as Zi. At this time, when the slit light irradiated from the slit light irradiation device 2 to the target object 4 is imaged by a two-dimensional imaging device, that is, the TV camera 3, the light image at this cross section of the target object 4 is shaped like a sickle shown in FIG. The image will look like this. In this optical image plane, the line segment 10 is an image of a straight line passing through the aforementioned Z and parallel to the Y axis. Further, point Pi' shown in FIG. 3 is an image of point Pi of the optical image of the slit light shown in FIG. 2, and this is an arbitrary point of the slit light irradiated onto the surface of the target object 4.

In Figure 2, the length of the perpendicular line drawn from point Pi to a plane parallel to the Y-axis that includes the optical axis of TV camera 3 is Δli, and in Figure 3, the length of the perpendicular line drawn from point Pi' to line segment 10 is Δli. When the foot of the perpendicular line is Yi′, the line segment
If the length of Pi′Yi′ is △zi, then △li=1/n×△zi n: optical magnification of the ITV camera.

In this case, △zi is calculated as follows.

As shown in Figure 3, one screen of a TV camera is γ
It consists of a book (generally about 240 to 500) of scanning lines, which are sequentially arranged from the top as S ₁ , S ₂ , ...Sn...
...Sr. ITV camera 3 as shown in Figure 4
The screen start signal V _BL is output from , and then the first
After the horizontal scanning signal H _BL is output for the first time, a video signal corresponding to the brightness signal of the image scans over S ₁ for a fixed time ta. Then once the scan on S ₁ is finished, again
The _HBL signal is output and the video signal is sequentially scanned from _S2 .

Here, if there is an optical image of the slit light 2' during scanning on Sn, it will appear conspicuously in the video signal HS as the slit light video signal BHS. Then, the scanning is repeated in sequence up to the scanning of Sr, and the scanning of one screen is completed.
Next, when the scanning of Sr is completed, the motor moves the slit light by △h to an adjacent position in the Z-axis direction, and then, as the start signal V _BL for the next screen is output, horizontal scanning is started in the same way as above. The signals are sequentially output and one new screen is scanned.

Figure 5 is a block diagram showing the control circuit for determining △zi using this ITV camera;
In the ITV camera, 31 is a separation circuit that outputs a video signal HS of the optical image of the slit light 2' taken by the ITV camera 3, a horizontal scanning start signal _HBL , and a screen start signal _VBL.
A signal containing H BL and V BL is input to the separation circuit 31, and the separation circuit 31 separates the video signal from H _BL and V _BL .

20 is a counter for counting the number of horizontal scanning start signals _HBL , and is a counter for counting the number of horizontal scanning start signals HBL;
V Reset to 0 when _BL is transmitted. Therefore, the counter 20 calculates the horizontal scanning start signal after the screen start signal V _BL is transmitted until the next V _BL is transmitted.
Count the number of H _BL . In this way, the scanning line number Si is detected according to the count counted by the counter 20. This scanning line number Si is multiplied by the scanning line interval q by a multiplier 21 to convert the length from _S1 to Si. It is then subtracted from the value r×q/2 (the center line of the screen, ie, the position of line segment 10 in FIG. 3) in the subtractor 22 to calculate the vertical length of the scanning point with respect to line segment 10.

On the other hand, an oscillator 23 is provided which outputs interval pulses obtained by dividing the scanning time ta of one scanning line into m equal parts, and this interval pulse is counted by a counter 24, and the interval pulse is reset to 0 by the horizontal scanning start signal _HBL . do. In this case, the counter 24 counts the pulses from the oscillator 23 on the previous scanning line until the horizontal plane scanning start signal _HBL for each scanning line is output. Divide the length into m equal parts and multiply by the length △ye. In this way, the horizontal position of the scanning point on the image plane of the ITV camera is calculated from the output signal of the multiplier 26.

In addition, in order to convert the video signal HS into logical binary values of bright "1" and dark "0", a binarization circuit 25 is connected behind the separation circuit 31, and only the video signal HS is converted to the binarization circuit. At step 25, the slit light image portion irradiated onto the outer periphery of the model 1, which is the target object, is outputted as "1" and the other portions are outputted as "0".

The vertical position of the optical image is determined by using the output of the subtracter 22 at the moment when the output of the binarization circuit 25 is "1" to the gate circuit 27.
The data is stored in the recording circuit 28 via.

Regarding the horizontal position of the optical image, when the output of the binarization circuit 25 is "1", the output of the multiplier 26 is stored in the storage circuit 30.

In this way, according to the block diagram shown in FIG. 5, the vertical position Δzi and horizontal position Δyi with respect to one scanning line Si shown in FIG. 3 for one screen of the optical image are determined. Note that a plurality of Δzi and Δyi may be detected for one scanning line, but all of them are determined as Δzi ₁ to Δzip and Δyi ₁ to Δyip.

In order to convert from one screen of this ITV camera to a two-dimensional plane in the slit light plane, that is, an X-Y axis system plane, calculation is performed using the following calculation formula.

Xi=1/n×△zi×1/sinβ...(1) Yi=(Ym/2-1/n×Δyi)×Xi/L+1/n×Δ
yi...(2) n: Optical magnification of the ITV camera L: Horizontal distance between the ITV camera and the Z axis The above calculations are performed by a general-purpose microcomputer or the like. At this time, since β changes by changing the inclination of the ITV camera according to the unevenness of the model 1, which is the target object, β is also calculated in correspondence with the conversion to this X-Y axis system plane.

Then, in order to irradiate the entire model 1 with the slit light 2', the slit light 2' is driven up and down stepwise. That is, since the light irradiation device 2 is fixed to a pedestal 8 and a ball nut screwed onto the ball screw shaft 5, the thickness Δh of the slit light can be adjusted by rotating the ball screw shaft 5 with a motor (not shown). The pedestal 8 is driven up and down with respect to the Z axis stepwise by the height.

Then, the slit light 2' is used for every diameter △h of the slit light 2' from the lowest end _Z0 to the uppermost end Zm of the model 1, which is the target object, on the plane formed by the slit light, that is, the X-Y axis system plane. Find the light image locus and calculate X- for each change in the diameter Δh of the slit light.
Find shape data Xi and Yi on the Y-axis plane.

Based on the shape data Xi and Yi obtained for each diameter △h of the slit beam 2', these data are input to the NC laser cutting machine, and from the thickness △h of the thin plate, the same shape data as the shape data is cut. Produce a plate (template forming means). By sequentially overlapping these templates, a three-dimensional shape having the same shape as the target object is created.

According to this embodiment, even if the target object, such as a human face image, has a complex shape and a soft surface,
By changing the imaging angle of the ITV camera, the target object can be easily grasped, and a three-dimensional image of the same or enlarged or reduced scale can be easily formed.

In this example, when forming the template, a thin plate with the same thickness as the slit beam was used to form the same shape as the target object, but the thickness of the thin plate was set at a constant ratio to the thickness △h of the slit beam. By setting the shape data Xi and Yi to a constant ratio, a three-dimensional image that is easily enlarged or reduced can be formed. Although four slit light irradiation devices and an ITV camera were used in this embodiment, a pedestal 9 shown in FIG. 2b was provided, and the pedestal 9 was
It is also possible to irradiate the slit light with one slit light irradiation device by rotating it by 90 degrees and take an image with an ITV camera.

(Effects of the Invention) As is clear from the above description, according to the present invention, even if the shape of the target object is somewhat complicated, and regardless of the hardness of the target object, the same A replica having a three-dimensional shape or a three-dimensional shape enlarged or contracted at a certain ratio can be easily created using a desired thin plate material.

[Brief explanation of the drawing]

Figures 1a and 1b are schematic plan and elevation views of a first embodiment of the invention. FIG. 2 is an explanatory diagram for measuring an optical image of a target object in the same embodiment. FIG. 3 is a diagram showing the screen of the ITV camera (two-dimensional imaging device) of the same embodiment. Figure 4 shows
FIG. 4 is a diagram showing a scanning state of the screen shown in FIG. 3; FIG. 5 is a block diagram showing data processing for calculating the cross-sectional shape of the same embodiment. (Explanation of symbols), 1...Model (target object), 2
...Slit light irradiation device, 2'...Slit light,
3... ITV camera (two-dimensional imaging device), 5... Ball screw, 6... Ball nut, 7... Guide column,
8,18... mount.

Claims (1)

[Scope of Claims] 1. An apparatus for manufacturing a template used for making a replica from a target object having a three-dimensional shape, which irradiates the target object with slit light having a spread angle of a certain angle in the horizontal direction of the target object. slit light irradiation means; all-around irradiation means for irradiating the entire circumference of the target object on the same horizontal plane with the slit light formed by the slit light irradiation means; and a vertical position movable device for moving the all-around irradiation means in the vertical direction. means, two-dimensional imaging means for continuously capturing optical images of the surface of the target object on the same horizontal plane by the slit light irradiated onto the target object by the all-round irradiation means; The two-dimensional imaging means is moved to follow the circumferential irradiation means, and the two-dimensional imaging means is moved within a vertical plane of the plane passing through one point on the slit light plane, and the imaging optical axis passes through the one point and the imaging position is at the one point. From the geometric relationship between the imaging position variable means that moves the image so as to maintain a constant distance from the point, the locus shape of the light image obtained by the two-dimensional imaging means, the slit light irradiation means, and the two-dimensional imaging means. , a cross-sectional measuring means for measuring the cross-sectional shape of the surface of the target object with respect to the horizontal plane; A three-dimensional shape molding template for producing templates capable of molding a three-dimensional replica by overlapping each other, comprising a template forming means for creating a template with the same or similar shape to the cross-sectional shape. Manufacturing equipment.