JPH06129820A - Three dimensional shape recognition device - Google Patents

Abstract

PURPOSE:To detect surely the sharply tilted face of an object to be measured by providing a picture data judging device so as to judge whether a point without shape data exists or not, and sending a command from a drive command device to a table tilting device so as to tilt a table at will when the point without the shape data exists. CONSTITUTION:A picture data judging device 9 is provided so as to judge whether a point without shape data exists or not in picture data incorporated thereto, and when non-existence of the shape data is judged by the judging device 9, a command is sent to a table tilting device 8 by a drive command device 10 so as to tilt a table 7 to a constant angle in a y-z plane. Accordingly, after the table 7 is tilted, the sharply tilted face of an object to be measured 6 becomes approximately horizontal. Therefore no point without data exists when the picture data is once more incorporated to a picture-incorporating device 4 by a camera 3. As the devices 8, 9, 10 are provided this way, the angle of the tilted face of the object 6 is loosened by tilting the table 7 freely, even if the object to be measured 6 is a sharply tilted face. Thereby it is possible for the camera 3 to capture the irregular reflection light of slit light 2 so as to recognize the shape of the object 6.

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. One of the non-contact shape recognition methods is a light section 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 measurement object 6 placed on the table 7 is irradiated with the slit light 2 from the slit light generator 1. The slit light generator 1 is arranged above the table 7, and the slit light 2 is substantially perpendicular to the table 7. Then, the slit light generator can be moved in a direction orthogonal to the parallel direction of the slit light 2.

On the other hand, the camera 3 is installed diagonally above the table 7 and photographs the optical image formed by the irradiation of slit light. Image data corresponding to the image captured by the camera 3 is captured by the image capturing device 4, and the coordinate computing device 5 computes the image data so that the shape of the measuring object 6 can be recognized.

FIG. 4 shows a method of calculating coordinates by the coordinate calculator 5.
Explanation will be made 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 7 is defined as the xy plane, and the vertically upper part thereof is defined as the z-axis direction. The slit light 2 is parallel to the x direction, and the observation direction of the camera 3 is diagonally upward in the y axis direction (angle θ from the z axis).

As shown in FIGS. 4A and 4B, since the slit light 2 coincides with the zx plane, the slit light 2 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 3, 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 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) Substituting the formula (1) into the formula (3), The z-axis coordinate of the slit light cutting line is obtained. z = LMα / (L ・ sinθ + M ・ αcosθ) (4)

Similarly, the x coordinate of the cutting line of the slit light is also obtained as follows. x = (L−z · cos θ) β / f = {L−LMα · cos θ / (L · sin θ + M · α cosθ)} β / f = {1-Mα · cos θ / (L · sin θ + M · α cosθ)} Mβ (5) As described above, the three-dimensional shape can be recognized by calculating the z-coordinate and the x-coordinate using the formulas (4) and (5) and performing this calculation for the entire measurement object. Become.

Further, as shown in FIG. 5, when the table 7 supporting the measuring object 6 is rotated φ in the yz plane, the coordinates y and z of the measuring object 6 before the rotation are determined by the following equations. To be However, the coordinates y ′ and z ′ are coordinates after φ rotation. y = y ′ · cosφ + z ′ · sinφ (6) z = −y ′ · sinφ + z '· cosφ (7)

[0010]

As described above, in the three-dimensional shape recognition apparatus by the light section method, the slit light 2 is applied to the object 6 to be measured, and the irregularly reflected light is imaged by the camera 3 and the image thereof is used. The coordinates of the object to be measured are obtained, but because the light does not reach the camera 3 depending on the material and shape of the object to be measured 6, 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. 6A, when the slit light 2 is applied to the steeply inclined surface of the measuring object 1 having a high reflectance,
Since the image cannot be captured by the camera 3, there is no shape data.

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.

[0012]

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 the slit light generator. Is moved in a direction intersecting a plane parallel to the slit light, a shape recognition camera for photographing an image formed by the irradiation of the slit light, and a shape recognition camera for photographing. Image capturing device that captures image data corresponding to the image, a coordinate computing device that computes the coordinate position of the measurement object based on the image data captured by the image capturing device, and the table is tilted at a predetermined angle. An image for determining whether or not there is data indicating a three-dimensional shape image of the measurement object in the image data captured by the table tilting device and the image capturing device Over data determiner, and having a said determiner drive command device for tilting the table and outputs a command to drive to be determined that there is no data to the table tilting device by.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below 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 6 placed on the table 7 has slit light generator 1 through slit light 2
Is projected. The slit light generator 1 is arranged above the table 7, and the slit light 2 is substantially perpendicular to the table 7. However, as mentioned above, Table 7
Is the xy plane, and the vertically upper side is the z-axis direction. The slit light 2 is parallel to the x direction. The slit light generator 1 can be moved in a direction y orthogonal to the parallel direction x of the slit light 2.

Further, as shown in FIG.
The table 7 is supported by a table tilting device 8, and the table 7 can be tilted freely by the table tilting device 8. For example, as shown in FIG. 6, the table 7 is moved by the table tilting device 8 in the y-z plane.
When the table is rotated, the measuring object 6 has a steep surface before the table is tilted as shown in FIG. 7A, but after the table is tilted, the measuring object 6 is loose as shown in FIG. It becomes an inclined surface.

Therefore, as shown in FIG. 6A, when the object 6 to be measured is a steeply inclined surface and the diffuse reflection of the slit light 2 cannot be captured by the camera 3 as it is, FIG. ), The table 7 is tilted, and the angle of the tilted surface is loosened, and then the slit light 2 is applied to the measuring object 6.
When the light is emitted, the diffusely reflected light can be captured by the camera 3, and thus the shape of the measurement target 6 can be recognized.

On the other hand, the camera 3 is installed diagonally above the table 7 and takes an optical image formed by the irradiation of slit light. The observation direction of the camera 3 is diagonally upward in the y-axis direction. Image data corresponding to the image captured by the camera 3 is captured by the image capturing device 4, and is input to the coordinate calculator 5 via the image data determining device 9 and the drive command device 10. The coordinate calculator 5 calculates image data to calculate coordinates, and by performing this on the entire measurement object 6,
The shape of the measuring object 6 can be recognized.

Here, the image data judging device 9 is a device for judging whether or not there is no shape data point in the captured image data, and the drive command device 10 causes the image data judging device 9 to determine the shape data. When it is determined that there is no such a command, a command is given to the table tilting device 8 to tilt the table 7 at a constant angle, for example, 90 ° in the yz plane. Therefore, after the inclination, the steeply sloping surface of the measuring object 6 becomes substantially horizontal, so that by re-acquiring the image data by the camera 3 into the image acquisition device 4, there will be no shape data point. However, since this image data has coordinate coordinates y ′ and z ′ after φ rotation as shown in FIG. 5, in order to obtain the coordinate y and z before rotation, φ = 90 ° is used to obtain the above-mentioned equation ( 6) Based on (7), coordinate conversion is performed. If it is determined that there are no shape data points even after tilting, the table 7 is tilted by a certain angle to take in the image data, and until there are no shape data points.
Repeat this.

As described above, in this embodiment, since the table tilting device 8, the image data judging device 9 and the drive commanding device 10 are provided, the table 7 can be tilted freely even when the measuring object 6 is a steeply inclined surface. Then, the angle of the inclined surface of the measuring object 6 is loosened, and thereby the diffuse reflection light of the slit light can be captured by the camera 3, so that the shape of the measuring object 6 can be surely recognized. is there. Further, in most cases, the table 7 need only be tilted once (rotation by 90 °), so that complete shape recognition can be performed in substantially the same time as the conventional shape recognition time. Although the table tilting device 8 can freely set the tilting angle in the above embodiment,
The same effect can be obtained even if it can be tilted at a certain angle or can be tilted in a certain direction.

[0019]

As described above in detail with reference to the embodiments, the present invention is provided with an image data judging device to judge whether there is a point without shape data. Allows the table to be tilted arbitrarily by giving a command from the drive command device to the table tilting device, so that the three-dimensional shape can be reliably recognized even when the object to be measured has a steeply inclined surface. Is.

[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.

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

5A is a rotation of coordinates on an xy plane, FIG. 5B is a rotation of coordinates on a yz plane, and FIG. 5C is a rotation of coordinates on a zx plane. It is explanatory drawing which shows each.

FIG. 6A is an explanatory diagram showing reflection of slit light before the table is tilted, and FIG. 6B is an explanatory diagram showing reflection of slit light after the table is tilted.

[Explanation of symbols]

 1 Slit Light Generator 2 Slit Light 3 Camera 4 Image Capturer 5 Coordinate Calculator 6 Measurement Target 7 Table 8 Table Tilt Device 9 Image Data Judgment Device 10 Drive Command Device

[Procedure amendment]

[Submission date] October 6, 1993

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] Brief description of the drawing

[Correction method] Change

[Correction content]

[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. 3 is an explanatory diagram of an xy plane and a zy plane .

FIG. 4 is a zy plane and z- of a conventional three-dimensional shape recognition device.
It is explanatory drawing of the positional relationship in an x plane, and the coordinate in a camera .

FIG. 5: The table 7 was rotated φ in the yz plane.
FIG .

FIG. 6A is an explanatory diagram showing reflection of slit light before the table is tilted, and FIG. 6B is an explanatory diagram showing reflection of slit light after the table is tilted.

[Explanation of Codes] 1 slit light generator 2 slit light 3 camera 4 image capturer 5 coordinate calculator 6 measurement object 7 table 8 table tilting device 9 image data judging device 10 drive command device

Claims (1)

[Claims] 1. A slit light generator for projecting slit light toward a measurement object placed on a table; and moving the slit light generator in a direction intersecting a plane parallel to the slit light. A slit light moving device, a shape recognition camera that captures an image formed by irradiation of the slit light, an image capture device that captures image data corresponding to the image captured by the shape recognition camera,
A coordinate calculator that calculates the coordinate position of the measurement object based on the image data captured by the image capturer, a table tilting device that tilts the table at a predetermined angle, and an image captured by the image capturer. An image data judging device for judging whether or not there is data showing a three-dimensional shape image of the measuring object in the data, and when the judging device judges that there is no data, it outputs a command for driving the table tilting device. And a drive command device that tilts the table.