JPH07139923A - Apparatus for measuring three dimensional object - Google Patents

Abstract

PURPOSE:To measure in a short time by detecting a delay time between an original pulse signal and a reflected pulse signal by a plurality of delay time- detecting means and calculating a threedimensional distance. CONSTITUTION:For instance, original pulse signals are projected to an object 1 from two light sources 2A, 2B, and reflected pulse signals from measuring points 1A, 1B of the object 1 are received by a plurality of photodetectors 6A, 6B, thereby to detect a time difference between tone original pulse signals and reflected pulse signals by delay time detectors 7A, 7B. Detected values are input to a computer 8 and three-dimensional distances from measuring devices 101, 102 and the object 1 are calculated. A shape of the object is thus measured in three dimensions. Accordingly, three-dimensional data of the object can be measured in a short, time or in real time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional object measuring device for measuring surface information of a three-dimensional object.

[0002]

2. Description of the Related Art Conventionally, as a three-dimensional object measuring apparatus for three-dimensionally measuring an object shape, a pulse radar type three-dimensional object measuring apparatus having a schematic configuration shown in FIG. 7 is known. Figure 7
, 1'is an object, 1'A is a measurement point, 2'is a laser light source, 3'is a half mirror, 4'is a rotating mirror, 5'is an optical receiver, 6'is a delay time detector, and 7'is The computer, 8 ', is a pulse oscillator.

In the conventional pulse radar type three-dimensional object measuring apparatus, as shown in FIG. 7, a laser light source 2 '(transmission unit) controlled by a pulse oscillator 8'to a half mirror 3'and a rotating mirror 4'. The original pulse signal (radar pulse) P0 is emitted toward the object 1'to be measured via the reflected pulse signal P1 which is generated when the pulse signal P0 hits the measuring point 1'A of the object 1'and bounces off. ,
Original pulse signal P0 and received pulse signal (reflected pulse signal P
This is a mechanism for performing three-dimensional measurement of the object shape by measuring the delay time Δt (FIG. 8) with 1) and calculating the three-dimensional distance between the measuring device and the object from the measurement result.

[0004]

However, in the conventional pulse radar type three-dimensional object measuring apparatus, the distance between the measuring apparatus and a point on the object is basically obtained. It uses a single transmitter and a single receiver, and can only measure one point at a time. Therefore, in order to perform the three-dimensional measurement of the entire object, it is necessary to gradually change the transmitting direction of the original pulse signal P0 by using a mechanism such as the rotating mirror 4'shown in FIG. 7 so as to cover the entire object. It is necessary to scan and perform the measurement once for each point. For this reason,
In order to measure the whole object, a long measurement time is inevitable, and it is basically difficult to measure the moving object in real time.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a pulse radar type three-dimensional object measuring apparatus capable of measuring in a shorter time or in a real time. To provide.

Another object of the present invention is to provide a pulse radar type three-dimensional object measuring apparatus capable of color measurement.

The above and other objects and novel features of the present invention will become apparent from the description of this specification and the accompanying drawings.

[0008]

In order to achieve the above object, a three-dimensional object measuring apparatus according to the present invention comprises one or a plurality of light sources, and pulse generation for emitting an original pulse signal from the light sources toward an object. Vessel, a plurality of optical receiving means for receiving the reflected pulse signal repelled by the object, a plurality of delay time detecting means for detecting the delay time between the original pulse signal and the reflected pulse signal, It is characterized by further comprising: measuring means for calculating the three-dimensional distance between the measuring device and the object from the detection values of the plurality of delay time detecting means to perform the three-dimensional measurement of the object shape.

Further, an object surface color information detecting means for detecting the surface color information of the object and a color for performing color measurement by making the detected value of the surface color information detecting means correspond to the detected value of the phase difference detecting means. And a measuring means.

[0010]

According to the above-mentioned means, the original pulse signal is emitted from one or a plurality of light sources toward the object, and the reflected pulse signal which is repelled by hitting the object is received by the plurality of optical receiving means. The delay time between the original pulse signal and the reflected pulse signal is detected by a plurality of delay time detecting means, and the three-dimensional distance between the measuring device and the object is calculated from the detected values, and the object is calculated. By performing three-dimensional shape measurement, three-dimensional object information can be measured in a short time or in real time. This makes it possible to measure not only stationary objects but also three-dimensional object information on moving objects.

Further, the surface color information of the object is detected, and the time difference (delay time) between the detected surface color information and the received pulse signal is made to correspond to the 3
Since it is possible to perform color measurement of dimensional shape information and surface color information at the same time and in a form that is completely in agreement with each other at each measurement point, it is possible to recognize a three-dimensional object and to computer graphic the object based on the input data. It is possible to easily generate a video image.

[0012]

Embodiments of the present invention will now be described in detail with reference to the drawings.

In all the drawings for explaining the embodiments, parts having the same function are designated by the same reference numerals, and the repeated description thereof will be omitted.

(Embodiment 1) FIG. 1 is a block diagram showing a schematic configuration of a pulse radar type three-dimensional object measuring apparatus according to Embodiment 1 of the present invention.

In FIG. 1, 101 and 102 are measuring devices, 1 is an object, 1A and 1B are measuring points, 2A and 2B are laser light sources, 3A and 3B are half mirrors, 4A and 4B are condenser lenses, and 5A and 5B. Is a rotating mirror, 6A and 6B are optical receivers, 7A and 7B are delay time detectors, 8 is a computer,
9 is a pulse oscillator. As the optical receivers 6A and 6B, for example, photodiodes, photoelectric tubes, etc. are used. The delay time detectors 6A and 6B are, for example, PL
A known delay time detector using L or the like is used.

One natural way to reduce the measurement time is to make simultaneous measurements at multiple points. FIG. 1 shows the concept of this method for simultaneously measuring a plurality of points, and is basically equivalent to one in which two measuring devices in FIG. 7 are arranged. The measuring device 101 measures the measuring point 1A on the object 1 and the measuring device 1
In 02, the measurement point 1B on the object 1 is measured, and both measurement results are sent to the computer 8 at the same time.

The operation of each of the measuring devices 101 and 102 of the pulse radar type three-dimensional object measuring device according to the first embodiment is as follows. First, an original pulse laser beam corresponding to an output pulse signal of the pulse oscillator 9 (hereinafter referred to as an original pulse signal). ) Laser light sources 2A, 2
Fire from B. This original pulse signal is applied to the half mirror 3
A, 3B, condenser lenses 4A, 4B, rotating mirrors 5A, 5
Fire toward the object 1 to be measured via B,
Reflected pulse laser light (hereinafter referred to as a reflected pulse signal) generated when this hits the measurement points 1A and 1B of the object 1 and is repelled is received by the optical receivers 6A and 6B, and the original pulse signal and the reflected pulse signal are combined. The delay time detectors 7A and 7B for detecting the time difference detect the detected time difference, and the detected value computer 8
To calculate the three-dimensional distance between the measuring device and the object to perform three-dimensional measurement of the object shape.

As can be seen from the above description, the first embodiment
According to the above, the original pulse signals are emitted from the two light sources toward the object 1, and the reflected pulse signals from the measurement points 1A and 1B of the object 1 are received by the plurality of optical receivers 6A and 6B. The time difference between the pulse signal and the reflected pulse signal is detected by the delay time detectors 7A and 7B, and the detected values are input to the computer 8 to determine the three-dimensional distance between the measuring devices 101 and 102 and the object 1. Since the object shape is calculated and three-dimensionally measured, the three-dimensional object information can be measured in a short time or in real time. This makes it possible to measure not only stationary objects but also three-dimensional object information on moving objects.

In the first embodiment, two measuring devices 101 and 102 are arranged in order to measure two points at the same time. However, the same configuration is conceptually applied to the case of three or more devices. I can think. However, this method requires a plurality of all parts including the light source, and moreover, it is necessary to accurately control a plurality of rotating mirrors for measurement. Therefore, it is technically extremely difficult to perform simultaneous measurement of too many points simply by arranging the measuring devices.

(Embodiment 2) FIG. 2 is a block diagram showing a schematic configuration of a pulse radar type three-dimensional object measuring apparatus according to a second embodiment of the present invention. Reference numeral 21 denotes a single unit capable of irradiating the entire object 1. Laser light source, 22A and 22B are pinholes, 23
Is a light shielding plate.

As shown in FIG. 2, the pulse radar type three-dimensional object measuring apparatus according to the second embodiment uses a single laser light source 21, and includes half mirrors 3A and 3B and a condenser lens 4.
A, 4B and multi-point simultaneous measurement without using the rotating mirrors 5A, 5B are performed, and an original pulse signal from a single laser light source 21 is applied to the entire object 1, and the original pulse signal of the object 1 is emitted. The optical receivers 6A and 6B receive the reflected pulse signals generated by repelling the measurement points 1A and 1B, and determine the time difference (delay time) between the original pulse signal and the received pulse signal (reflected pulse signal) by the delay time. Detectors 7A, 7
Three-dimensional measurement of the object shape is performed by detecting the object shape in B and inputting the detected value into the computer 8 to calculate the three-dimensional distance between the measuring device and the object.

In this method, the half mirrors 3A, 3B,
Since the condenser lenses 4A and 4B and the rotating mirrors 5A and 5B are not used, it is only possible to measure the measurement points 1A and 1B shown in FIG.

Therefore, in order to measure other points without using a rotating mirror, to measure all other points on the object, in the method of the second embodiment shown in FIG. The number of holes 22A and 22B is not limited to two,
A large number of pinholes may be formed on one surface, and the number of optical receivers 6A, 6B ... And delay time detectors 7A, 7B.

As can be seen from the above description, the second embodiment
According to the above, the original pulse signal is applied to the entire object 1 from one light source, and the reflected pulse signals from the measurement points 1A, 1B ... Of the object 1 are received by the plurality of optical receivers 6A, 6B. Then, the time difference between the original pulse signal and the reflected pulse signal is detected by the delay time detectors 7A, 7B ...
By inputting those detected values into the computer 8 and calculating the three-dimensional distance between the measuring device and the object 1 to perform the three-dimensional measurement of the object shape, the rotating mirror is not used during the measurement. Object information can be measured in a shorter time or in real time. This makes it possible to measure not only stationary objects but also three-dimensional object information on moving objects.

In reality, the same effect can be obtained more elegantly by using one optical lens instead of using many pinholes. The configuration of the pulse radar type three-dimensional object measuring device of the present invention based on this idea is shown in the following third embodiment.

(Third Embodiment) FIG. 3 is a block diagram showing a schematic configuration of a pulse radar type three-dimensional object measuring apparatus according to a third embodiment of the present invention, and FIG. 4 is an optical receiving section and a delay time detecting section of FIG. 5 is an enlarged view of FIG. 5, and FIG. 5 is a block diagram showing a detailed configuration of the optical receiver and the delay time detector of FIG.

In FIGS. 3 to 5, 31 is a single laser light source capable of irradiating the entire object 1, 32 is a half mirror, 33 is an optical lens, 34 is an optical receiving section composed of a plurality of optical receivers, and 34 A is shown. , 34B ... is an optical receiver, 34A
₁ , 34B ₁ ... are optical sensors, 34A ₂ , 34B ₂ ...
Is an amplifier, 35 is a delay time detection unit including a plurality of delay time detectors, 35A, 35B ...
5A ₁ , 35B ₁ ... Are output buffers, 36 is a computer, and 37 is a light shielding plate. The optical sensor 34A ₁ ,
A photodiode or a phototube is used as 34B ₁ .

The optical receiver 34 and the delay time detector 35
Is a plurality of optical receivers 34, as shown in FIG.
A, 34B ... and delay time detectors 35A, 35B.
.. and arranged on a grid of M rows and N columns (however, it is not always necessary to arrange them on the grid,
In principle, the same function can be achieved no matter how they are arranged). Each of the M × N arrays passes through the optical lens 33 and the M × N measurement points 1A, 1 on the object 1 are measured.
B ... is simultaneously measured.

As shown in FIG. 5, the optical receivers 34A, 34B, ... Have optical sensors 34A ₁ , 34B ₁ ,.
... and has been from the amplifier 34A _2, 34B ₂ ···.

Further, the delay time detectors 35A, 35B ...
Are provided with output buffers 35A ₁ , 35B ₁ ...

In the pulse radar type three-dimensional object measuring apparatus of the third embodiment, as shown in FIG. 3, first, an original pulse signal as an optical signal is emitted from a light source 31, and this is emitted by a half mirror 32 and an optical lens 33. The whole of the object 1 is irradiated via. At the same time, the original pulse signal transmission timing signal is applied to all the delay time detectors 35 that constitute the delay time detector 35.
Send to A, 35B ...

The reflected pulse signal from the object 1 is projected as an image of the object 1 onto the respective optical receivers 34A, 34B, ... Of the optical receiver 34 via the optical lens 33 and the half mirror 32. That is, as shown in FIG. 4, the reflected pulse signal from the measurement point 1A on the object 1 is sent to the optical sensor 34A ₁ of the optical receiver 34A, and the reflected pulse signal from the measurement point 1B is sent to the second point.
The light is incident on the optical sensor 34B ₁ of the optical receiver 34B. Reflected pulse signals from other measurement points are similarly made incident on the optical receivers at corresponding positions.

Received pulse signals (reflected pulse signals) detected by the optical sensors 34A ₁ and 34B ₁
Is amplified by amplifiers 34A ₂ and 34B ₂ and sent to delay time detection circuits 35A and 35B. The delay time detection circuits 35A and 35B calculate the time difference (delay time) between the original pulse signal received from the light source 31 and the received pulse signals sent from the amplifiers 34A ₂ and 34B _2, and the result of this calculation is the output buffer. It is sent to the computer 36 via 35A ₁ and 35B ₁ . The same operation is performed simultaneously for all the measurement points and the corresponding light receiving section 34 and delay time detecting section 35.

The time difference information sent from the respective delay time detection circuits 35A and 35B to the computer 36 is the measurement points 1A and 1A corresponding to the time points after the original pulse signal leaves the light source 31.
The light reflected by B and finally corresponds to the time difference until it is detected as a received pulse signal by the optical sensors 34A ₁ and 34B ₁ of the optical receivers 34A and 34B, respectively. Nonetheless, it is information that reflects the distance in the three-dimensional space between the measuring device of FIG. 3 and the measuring points 1A, 1B, ... On the object 1. Therefore, if the geometrical distance of each part of the measuring device of FIG. 3 is accurately obtained, it can be converted into three-dimensional distance information between the light receiving section 34 and the measuring points 1A and 1B in the computer 8. . Such three-dimensional measurement is simultaneously performed on all measurement points 1A, 1B, ... On the object 1.

As described above, the three-dimensional measurement of the object can be performed without using the rotating mirror.

(Embodiment 4) FIG. 6 is a block diagram showing a schematic configuration of a pulse radar type three-dimensional object measuring apparatus according to Embodiment 4 of the present invention.

In FIG. 6, 41 is a second half mirror, 42 is a color image pickup device, and 43 is a color image pickup device 42.
And the computer 36. As the color image pickup device of the color image pickup device 42, for example, a color charge coupled device (CCD) is used, and the color image pickup device 42 has, for example, a CCD configuration capable of obtaining color data of 500 × 500 points. There is.

With this structure, the image of the object 1 is transferred to the color CCD 42 via the second half mirror 41.
And the surface color information of the object 1 is output as color image data (R, G, B) from the color imaging device 42. This output color image data is input to the computer 36, and the detection information of the delay time detection unit 35,
For example, the coordinates (X, Y, Z) values of 500 × 500 points are associated in the computer 36. In this way, the three-dimensional shape information of the object 1 and the surface color information can be measured at the same time and in a form in which the measurement points completely match each other.

The detection information of the delay time detecting section 35, for example, the time difference corresponding to the coordinates (X, Y, Z) of 500 × 500 points and the surface color information are associated from the beginning with an optical system and an optical sensor. It becomes unnecessary if the geometric conditions of are matched. That is, in this case, the corresponding three-dimensional measurement data and color image data are obtained from the beginning.

Further, the three-dimensional measurement and the color measurement are performed separately by the wavelength of light (optical filter) or time-division type (see the time-division object measurement device described in Japanese Patent Application No. 2-309766). Done in.

It is also possible to integrate the optical receiving unit and the delay time detecting unit or all the components in the above-mentioned Embodiments 2 to 4 into an LSI. This makes it possible to realize a compact measuring device.

Although the present invention has been specifically described based on the embodiments, the present invention is not limited to the above embodiments and can be variously modified without departing from the scope of the invention. Absent. For example, the present invention provides ultrasound,
It goes without saying that the same can be applied to a measurement system using radio waves or the like.

[0043]

As described above, according to the present invention, the original pulse signal is emitted from one or a plurality of light sources toward the object, and the reflected pulse signal which is repelled by hitting the object is received. , Detecting the delay time between each of the original pulse signal and the reflected pulse signal, and calculating the three-dimensional distance between the measuring device and the object from the detected delay times to determine the three-dimensional shape of the object. By performing the measurement, the three-dimensional object information can be measured in a short time or in real time. This makes it possible to measure not only stationary objects but also three-dimensional object information on moving objects.

Further, the surface color information of the object is detected, and the detected surface color information and the time difference (delay time) between the received pulse signal and the detected surface color information are associated with each other.
Since it is possible to perform color measurement of dimensional shape information and surface color information at the same time and in a form that is completely in agreement with each other at each measurement point, it is possible to recognize a three-dimensional object and to computer graphic the object based on the input data. It is possible to easily generate a video image.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of a pulse radar type three-dimensional object measuring device according to a first embodiment of the present invention,

FIG. 2 is a block diagram showing a schematic configuration of a pulse radar type three-dimensional object measuring device according to a second embodiment of the present invention,

FIG. 3 is a block diagram showing a schematic configuration of a pulse radar type three-dimensional object measuring device according to a third embodiment of the present invention,

FIG. 4 is an enlarged view of the optical receiver and the delay time detector of FIG.

5 is a block diagram showing a detailed configuration of the optical receiver and the delay time detector of FIG. 4,

FIG. 6 is a block diagram showing a schematic configuration of a pulse radar type three-dimensional object measuring device according to a fourth embodiment of the present invention,

FIG. 7 is a diagram for explaining problems of a conventional pulse radar type three-dimensional object measuring device that performs three-dimensional measurement of an object shape;

8 is a diagram showing a delay time of a reflected pulse signal with respect to an original pulse signal of the pulse radar type three-dimensional object measuring device shown in FIG.

[Explanation of symbols]

101, 102 ... Measuring device, 1 ... Object, 1A, 1B ... Measuring point, 2A, 2B ... Laser light source, 3A, 3B ... Half mirror, 4A, 4B ... Condensing lens, 5A, 5B ... Rotating mirror, 6A, 6B ... optical receiver, 7A, 7B ... delay time difference detector, 8 ... computer, 9 ... pulse oscillator, 21 ... single laser light source capable of illuminating the entire object, 22A,
22B ... Pinhole, 23 ... Light shielding plate, 31 ... Single laser light source capable of irradiating the entire object, 32 ... Half mirror, 33 ... Optical lens, 34 ... Optical receiving section composed of plural optical receivers, 34A , 34B ... Optical receivers, 34A ₁ , 3
4B ₁ ... Optical sensor, 34A ₂ , 34B ₂ ... Amplifier, 35 is a delay time detecting section composed of a plurality of delay time detectors, 35
A, 35B ... delay time detector, 35A _1, 35B ₁ ... output buffer, 36 ... computer, 37 ... light shielding plate, 41
... second half mirror 42, color imager 43 ...
Interface between color imager and computer.

Claims (2)

[Claims] 1. A light source or a plurality of light sources, a pulse generator for emitting an original pulse signal from the light source toward an object, and a plurality of light receiving means for receiving a reflected pulse signal which is repelled by the object. A plurality of delay time detecting means for detecting a delay time between the original pulse signal and the reflected pulse signal, and a three-dimensional relationship between the measuring device and the object based on detection values of the plurality of delay time detecting means. A three-dimensional object measuring apparatus, comprising: a measuring unit that calculates a distance and three-dimensionally measures an object shape. 2. The object shape three-dimensional object measuring device according to claim 1, wherein an object surface color information detecting means for detecting surface color information of the object, a detection value of the surface color information detecting means and the position. A three-dimensional object measuring apparatus, comprising: a color measuring unit that performs color measurement in correspondence with a detection value of the phase difference detecting unit.