JPH08166210A - Three dimensional position measuring device - Google Patents

Abstract

PURPOSE: To perform three-dimensional position measurement with one camera by providing reflection planes for reflecting object lights emitting from the same position of a substance to be measured in the different direction, reflection planes for reflecting reflection lights from the reflection planes on an image plane, CCD camera, and an image processor. CONSTITUTION: Three first reflection planes 22 respectively reflect object lights 13 emitting from the same position of a substance 12 to be measured in the different direction. Three second reflection planes 24 reflect reflection lights 14 from the reflection planes 22 on an image plane 23 respectively. A CCD camera 26 has three CCDs 25, decomposes images on the image plane 23 into three colors, and converts them into electric signals by respective corresponding CCDs 25. An image processor 28 calculates the position of the substance 12 to be measured based on the electric signals 27 from the camera 26. The object lights 13 emitting from the same position of the substance 12 to be measured in the different direction thus reflect on this image plane by the reflection planes 22, 24, the object lights 13 are decomposed into three colors, red, green, and yellow by the camera 26, and converted into the electric signals by the three CCDs 25.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional position measuring device for measuring a three-dimensional position of an object from a distant position.

[0002]

2. Description of the Related Art As the development of space equipment such as a space station progresses, fluid physical properties under microgravity are becoming more important. As such a fluid property measuring device, for example, a device as shown in FIG. 3 has already been developed to form a liquid column under microgravity and measure the behavior of the liquid column and the flow velocity distribution inside. This device supplies the liquid in the reservoir 4 between the two disks 2 and 3, and forms a liquid column 1 between the disks 2 and 3 by surface tension. Aluminum powder is mixed in the liquid, and the liquid column 1 is moved by the CCD cameras 5 and 6.
Is observed and the flow velocity distribution in the liquid column 1 is measured from the behavior of the aluminum powder by image processing. Incidentally, 7 is an observation window provided on the disk 2, and 8 is a mirror.

However, observation from the side surface of the liquid column 1 (CCD
With the camera 6), an error is likely to occur in the position measurement of the tracer particles (aluminum powder) inside due to the deformation of the liquid column,
There were problems such as a decrease in measurement accuracy due to blind spots, and a difficulty in calibrating the CCD camera on the spot due to mechanical problems. Therefore, the inventors of the present application have proposed a three-dimensional flow velocity distribution measuring device under microgravity, which enables accurate position measurement without observing from the side surface, has a small decrease in measurement accuracy due to blind spots, and is easy to calibrate a CCD camera. Invented and filed (Japanese Patent Application No. 6-276906, unpublished).

[0004]

FIG. 4 is an overall configuration diagram of such a measuring device, which is a transparent first disk 9 rotatably provided around an axis A and a liquid column through the first disk 9. A plurality (preferably 3) of capturing images from one end face
10) camera 10 and an image processing device 11 that measures the flow velocity distribution in the liquid column 1 from the image of the camera 10, and the observed images are processed by the image processing device to determine the three-dimensional position of the tracer particles. It was possible to reconstruct and accurately measure the three-dimensional flow velocity distribution in the liquid column.

That is, in order to perform three-dimensional measurement, conventionally, there is a means for observing the same object using two or three cameras and reconstructing the three-dimensional position of the object based on the image information. It was taken. However, such a conventional means has a problem that the apparatus becomes complicated and large in size because a plurality of cameras are used. Further, since a plurality of cameras are used, it is difficult to adjust their relative positions.

The present invention was devised to solve such problems. That is, an object of the present invention is to provide a three-dimensional position measuring device that can measure three-dimensional position with one camera, has a simple configuration, is small in size, and is easy to adjust.

[0007]

According to the present invention, three first reflection planes for reflecting object light emitted from the same position of the object to be measured in different directions respectively, and reflected light from the first reflection planes are provided. A CCD camera having three second reflecting planes respectively reflecting on the image plane and three CCDs, which decomposes an image on the image plane into three colors and converts the images into electric signals by the corresponding CCDs, and the CCD A three-dimensional position measuring device comprising: an image processing device that calculates the position of an object to be measured based on an electrical signal from a camera.

According to a preferred embodiment of the present invention, the first reflection plane is a selective reflection plane mirror that reflects only light in a specific wavelength region, and the second reflection plane is
It is a plane half mirror. The selective reflection plane mirror is
It reflects only red, green, or blue light. In addition, the CCD camera displays images in red, green, and blue.
It is a 3CCD camera for color separation, and the electric signal is
It is an RGB signal.

Further, it is preferable that a recorder for recording the electric signal is provided.

[0010]

According to the structure of the present invention, one 3CCD is used.
Three-dimensional position measurement is possible only with the camera, the three sets of the first reflection plane and the second reflection plane, and the image processing device. That is, the object light emitted from the same position of the object to be measured in different directions is reflected on the image plane by the three sets of the first reflection plane and the second reflection plane, and the object light is reflected by the 3CCD camera into three colors of red, green and blue. Since it is separated into colors and converted into electric signals by the three CCDs, the role of three CCD cameras can be performed by one 3CCD camera. In addition to the 3CCD camera, since the three-dimensional position can be measured only by adjusting the position of the reflection plane, that is, the plane mirror, the configuration is simple, the size can be reduced, and the adjustment is easy.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described below with reference to the drawings. In the drawings, common parts are designated by the same reference numerals and used. FIG. 1 shows a 3 according to the invention.
It is a whole lineblock diagram of a dimensional position measuring device. In this figure, the three-dimensional position measuring device 20 of the present invention is shown as
Of the first reflection plane 2 and the three first reflection planes 22 that respectively reflect the object light 13 emitted from the same position in different directions.
There are three second reflection planes 24 that reflect the reflected light 14 from the image plane 23 on the image plane 23 and three CCDs 25, respectively. CCD camera 26 for converting into a signal
And an image processing device 28 for calculating the position of the DUT 12 based on the electric signal 27 from the CCD camera 26.
Furthermore, the three-dimensional position measuring device 20 of the present invention uses the electric signal 2
A recorder 29 (for example, a video recorder) for recording 7 is provided. The CCD is a Charge Coupled Devic
Abbreviation of e and refers to an image sensor used in a video camera.

In the embodiment of FIG. 1, the first reflective plane 22
Is a selective reflection plane mirror that reflects only the light of a specific wavelength region, and reflects only the light of any one of red, green, and blue. Such a mirror can be manufactured by adjusting the characteristics of a metal vapor deposition film. Further, in FIG. 1, the second reflecting plane 24 is a plane half mirror.

FIG. 2 is a structural example of a CCD camera which constitutes the present invention. As shown in this figure, the CCD camera 26
Displays the image on the image plane 23 in the dichroic prism 2
6a decomposes into three colors of red, green and blue, and the corresponding CCDs 25 convert the electric signals into electric signals. This electrical signal is preferably a so-called RGB signal.

The image processing device 28 shown in FIG. 1 is, for example, a well-known three-dimensional image processing device, which processes images from three CCDs 25 to view the same position of the object 12 to be measured from different directions. The same processing as in the case is performed, and the three-dimensional position of the measured object 12 and the velocity distribution obtained from this position information can be measured.

With the above-described structure, three-dimensional position measurement can be performed with only one 3CCD camera, three sets of the first reflection plane and the second reflection plane, and the image processing device. That is,
Object light emitted from the same position of the measured object in different directions is reflected on the image plane by three sets of the first reflection plane and the second reflection plane, and the object light is converted into three colors of red, green and blue by the 3CCD camera. Since it is disassembled and converted into an electric signal by three CCDs, the role of three CCD cameras can be performed by one 3CCD camera. In addition to the 3CCD camera,
Since the three-dimensional position can be measured only by adjusting the position of the reflection plane, that is, the plane mirror, the structure is simple, the size can be reduced, and the adjustment is easy.

The present invention is not limited to the above-mentioned structure, and for example, the half mirror may be configured to transmit only the light in the specific wavelength region, or only the CCD camera may be used for red, green, and blue. It may be separated into three colors.
Further, although the means for forming the reflection plane by the mirror is shown, the same structure can be formed by using a prism, for example. That is, the present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be made without departing from the gist of the present invention.

[0017]

As described above, the three-dimensional position measuring device of the present invention is excellent in that it is possible to measure the three-dimensional position with one camera, has a simple structure, is small in size, and is easy to adjust. Have an effect.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a three-dimensional position measuring device according to the present invention.

FIG. 2 is a configuration example of a CCD camera constituting the present invention.

FIG. 3 is a configuration diagram of a conventional device.

FIG. 4 is another configuration diagram of a conventional device.

[Explanation of symbols]

 1 Liquid Column 2, 3 Disc 4 Reservoir 5, 6 CCD Camera 7 Observation Window 8 Mirror 9 First Disc 10 Camera 11 Image Processing Device 12 Object to be Measured 13 Object Light 14 Reflected Light 20 Three-Dimensional Position Measuring Device 22 First Reflection Plane (Selective reflection plane mirror 23 Image plane 24 Second reflection plane (plane half mirror) 25 CCD 26 CCD camera 27 Electric signal (RGB signal) 28 Image processing device 29 Recorder (video recorder)

Claims (5)

[Claims] 1. Three first reflection planes respectively reflecting object light emitted from the same position of the object to be measured in different directions,
CCs having three second reflecting planes that respectively reflect the reflected light from the first reflecting plane onto the image plane and three CCDs, and separating the image on the image plane into three colors to correspond to the respective CCs.
A three-dimensional position measuring device comprising: a CCD camera for converting into an electric signal at D; and an image processing device for calculating the position of an object to be measured based on the electric signal from the CCD camera. 2. The first reflection plane is a selective reflection plane mirror that reflects only light in a specific wavelength region,
The three-dimensional position measuring device according to claim 1, wherein the second reflecting plane is a plane half mirror. 3. The three-dimensional position measuring device according to claim 2, wherein the selective reflection plane mirror reflects only red, green, or blue light. 4. The CCD camera according to claim 1, wherein the CCD camera is a 3CCD camera that decomposes an image into three colors of red, green, and blue, and the electrical signal is an RGB signal. Dimensional position measuring device. 5. The three-dimensional position measuring device according to claim 1, further comprising a recorder for recording the electric signal.