JPH09178436A - Three-dimensional measuring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To maintain high reliability of a three-dimensional measuring device and achieve high efficiency and automation of measurement by driving a plurality of light-emitting bodies in regression condition and scanning a focus of an illuminating optical system in synchronization with regression. SOLUTION: A three-dimensional image is caught as a two-dimensional image through an image photographing optical system 11, and picture image information is output by an image photographing means 12. An illuminating means 15 is arranged on a plane of an image which an illumination optical system 13 having an optical axis parallel with an optical axis of the optical system 11 has for the three-dimensional image and has a plurality of light emitting bodies 141 to 14N arranged on an image photographing face of the image photographing means 12. A drive control means 16 drives these light emitting bodies 141 to 14N in the fixed order in regression condition to scan a focus of the optical system 13 in synchronization with the regression. An illumination area detection means 17 takes in an image of the light emitting body which is output by the image photographing means 12 and calculates the number of pixels which represent the image among a plurality of pixels. A position calculation means 18 obtains a focus at which the number calculated by the detection means 17 becomes the minimum number individually among focuses operated by the control means 16 and obtains a position of an object which the optical system 13 has under the focus.

Description

Detailed Description of the Invention

[0001]

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

[0002]

2. Description of the Related Art In the field of automation and monitoring related to surveying, industry, etc., it is required to accurately measure the shape or position of terrain and solids without physically touching them.

FIG. 11 is a diagram showing a configuration example of a conventional three-dimensional measuring device. In the figure, the three-dimensional measuring device includes an electronic camera 100 and a personal computer 110 that are connected in cascade. In the electronic camera 100, the image sensor 1 is arranged on the optical axis of the lens 101 so as to face the lens.
02 is arranged, and a plate-shaped main mirror 1 is provided in the middle of its optical axis.
03 is inclined with respect to the opening of the finder 104, and is pivotally fixed about one end of the finder so as to be rotatable.
Of the surface of the main mirror 103, a sub mirror 105 is erected on the surface facing the image pickup surface of the image pickup device 102, and the lens 101
A linear sensor 106 is arranged on the reflection path formed by the sub-mirror 105 with respect to the optical axis of. Lens 101
Is provided with a focus moving mechanism 107 for changing the position of the focal point of the lens (hereinafter referred to as “lens focal position”) along the optical axis. One output is connected. Image sensor 1
02, the output of the linear sensor 106 is connected to the corresponding input of the control unit 108, and the bus terminal of the control unit 108 is connected to the bus terminal of the memory 109. The second output of the control unit 108 is connected to the external terminal of the personal computer 110.

In the three-dimensional measuring device having such a configuration, a solid to be measured (here, “triangular pyramid” is used for simplicity).
And ), Most of the energy reaches the finder 104 via the lens 101 and the reflecting surface of the main mirror 103, and other energy is transmitted through the main mirror 103 and the reflecting surface of the sub mirror 105. The linear sensor 106 is reached via. As shown in FIG. 12, the linear sensor 106 has a slit-shaped light receiving surface that optically corresponds to the center of the image pickup surface of the image pickup element 102, and detects the light amount at the center in pixel units.

The control unit 108 sets the position of the lens 101 to the position closest to the subject through the focus moving mechanism 107, and based on the light amount detected in pixel units through the linear sensor 106 as described above. While detecting the contrast of these pixels, the position of the lens 101 is sequentially changed to a direction closer to the finder 104 via the focus moving mechanism. Since the contrast detected in this way generally changes according to the position (focus) of the lens 101 as shown in FIG. 13, the control unit 108 controls the lens 101 at the focal point where the contrast becomes maximum. When it arrives, the movement of the lens is stopped via the focus moving mechanism 107.

Further, the control unit 108 flips up the main mirror 103 toward the finder 104 via a movable mechanism (not shown), and the above-mentioned optical image is as shown in FIG.
An image is formed on the image pickup surface of the image pickup element 102. The control unit 108
A column of pixel values indicating the optical image thus formed is acquired from the image sensor 102 and held in the memory 109, the main mirror 103 is returned to its original position, and the held column of pixel values is changed. The image information is converted into a predetermined format and given to the personal computer 110. The personal computer 110 displays the image information on the screen of the display as an image.

Further, as another conventional example associated with such three-dimensional measurement, under an appropriately arranged optical system,
Utilizes that moire fringes that are different from the original pattern formed when two or more regular patterns are superimposed or regular patterns are regularly sampled show an image corresponding to the contour lines of the object. There is Moire topography. Regarding such moire topography, there are a grid irradiation type moire topography, a grid projection type moire topography, a scanning moire method, and the like, depending on its application.

[0008]

However, in the conventional example shown in FIG. 11, the image of the subject is limited to a specific portion of the subject (in FIG. 14, the range of the depth of field on the farthest side from the electronic camera 100). Was projected as a focused two-dimensional image, but because the focus was not recorded, the three-dimensional shape and position of the subject could not be obtained.

Further, in moire topography, it is required to manually set a correspondence relationship on the surface of an object for a plurality of moire fringes obtained according to light sources arranged at a plurality of positions. It could not be applied in the field where real-time performance or high-speed measurement is required. An object of the present invention is to provide a three-dimensional measuring device that maintains high reliability and ensures efficient and automated measurement.

[0010]

[Means for Solving the Problems] FIG.
7 is a principle block diagram of the invention described in 7. FIG. The invention described in claim 1 is an image pickup optical system 11 for optically capturing a three-dimensional object.
And an image pickup means 12 which captures a stereoscopic image as a two-dimensional image through the image pickup optical system 11 and outputs image information indicating the image.
And an illumination optical system 13 having an optical axis parallel to the optical axis of the imaging optical system 11, and a plurality of illumination optical systems 13 arranged on an image plane of the illumination optical system 13 with respect to a solid body and arranged on an imaging surface of the imaging means 12. Illuminating means 15 having a plurality of light emitters 14 _{1 to} 14 _N individually corresponding to pixels and a plurality of light emitters 14 _{1 to} 14 _N are recursively driven in a predetermined order, and in synchronization with the regression. Drive control means 16 for scanning the focus of the illumination optical system 13,
Of the plurality of light emitters 14 _{1 to} 14 _N , the image of the light emitter which is driven by the drive control means 16 and which is shown by the image information output by the image pickup means 12 is taken in, and the image is selected from the plurality of pixels. Among the focal points scanned by the drive control unit 16, the number counted by the illumination region detection unit 17 is calculated for each of the illumination region detection unit 17 that counts the number of pixels shown and the plurality of light emitters 14 _{1 to} 14 _N. Position calculating means 18 for individually obtaining the minimum focus and for obtaining the position of the object point of the illumination optical system 13 under the focus is provided.

FIG. 2 is a block diagram showing the principle of the invention described in claims 2, 4 to 7. The invention according to claim 2 is an imaging optical system 11 that optically captures a solid, and an imaging optical system 11
A stereoscopic image is captured as a two-dimensional image via the image pickup device 12 that outputs image information indicating the image, and an illumination optical system 21 whose optical axis intersects the image pickup optical system 11 and is coupled to the optical system.
And an illuminating means 23 having a plurality of light emitters 22 _{1 to} 22 _N, which are arranged in an image plane of the illumination optical system 21 with respect to a solid and individually correspond to a plurality of pixels arranged on the image pickup surface of the image pickup means 12. Drive control means 24 for recursively driving the plurality of light emitters 22 _{1 to} 22 _N in a predetermined order and scanning the focus of the illumination optical system 23 in synchronization with the return, and the plurality of light emitters 22. _{Of 1 to} 22 _N , the image of the illuminant which is driven by the drive control means 24 and which is output by the image pickup means 12 and which is indicated by the image information is taken in, and the number of pixels showing the image among the plurality of pixels is counted. Illumination area detecting means 25
Then, for each of the plurality of light emitters 22 _{1 to} 22 _N , the focus of which the number counted by the illumination area detection means 25 is the smallest among the focus scanned by the drive control means 24 is individually obtained, and the focus Position calculation means 26 for obtaining the position of the object point of the illumination optical system 21 is provided below.

FIG. 3 is a principle block diagram of the invention described in claims 3 to 7. In the invention according to claim 3, a plurality of pixels and a plurality of light emission individually corresponding to these pixels are provided on the imaging optical system 11 that optically captures a solid, and the image plane that the imaging optical system 11 has with respect to the solid. An illumination image pickup element 31 in which a body is arranged, an image pickup means 32 that captures a stereoscopic image as a two-dimensional image through the image pickup optical system 11 and the illumination image pickup element 31, and outputs image information indicating the image. Drive control means 33 for recursively driving the illuminants in a predetermined order and changing the focus of the imaging optical system 11 in synchronization with the regression, and drive control means among the plurality of illuminants. Illumination region detection means 34 that captures the image of the light-emitting body that is driven by 33 and that is output by the image pickup means 32 and that is shown in the image information, and counts the number of pixels showing that image among a plurality of pixels.
For each of the plurality of light emitters, of the focal points scanned by the drive control means 33, the focal point where the number counted by the illumination area detection means 34 is the smallest is individually obtained, and the imaging optical system is operated under the focal points. The position calculation means 35 for calculating the position of the object point of the object 11 is provided.

According to a fourth aspect of the present invention, in the three-dimensional measuring apparatus according to any one of the first to third aspects, the light emitted from the plurality of light emitters is constantly applied to a solid. It has a wavelength different from the above-mentioned illumination light by at least the resolution of the wavelength region of the image pickup means.

According to a fifth aspect of the present invention, in the three-dimensional measuring apparatus according to any one of the first to third aspects, the drive control means includes a plurality of light emitters individually.
The illumination area detecting means includes means for intermittently driving based on a known bit string, and means for identifying a pixel showing an image based on the correlation between the luminance of the pixel and the known bit string.

According to a sixth aspect of the present invention, in the three-dimensional measuring apparatus according to the fifth aspect, the known bit string is a code having a steep autocorrelation characteristic and a gentle cross-correlation characteristic. Characterize. According to a seventh aspect of the present invention, in the three-dimensional measuring device according to any one of the first to sixth aspects, the distance measuring unit 41 that measures the relative distance of the solid and the three-dimensional measurement is started. It is characterized by including a coarse focus adjusting means 43 for setting the position of the image pickup optical system at a position where the image pickup surface of the image pickup means is in focus with respect to the position of the relative distance measured by the distance measuring means 41.

(Operation) In the three-dimensional measuring apparatus according to the first aspect of the present invention, the drive control means 16 includes the illumination means 1
The plurality of illuminants 14 _{1 to} 14 _N constituting 5 are recursively driven in a predetermined order, and the focus of the illumination optical system 13 is scanned in synchronization with the recurrence. The light emitted from each of the light-emitting bodies driven in this way is irradiated on the surface of the three-dimensional body because the light-emitting body is located in the image plane of the illumination optical system 13 with respect to the above-mentioned three-dimensional body. It also reflects and reaches the image pickup surface of the image pickup means 12 via the image pickup optical system 11. The image capturing means 12 captures a region where such light reaches on the image capturing surface as a two-dimensional image, and outputs image information indicating the image.

The illumination area detecting means 17 counts the number of pixels forming such an image for each light-emitting body driven by the drive control means 16 as described above. The position calculation means 18 determines, among the focal points scanned by the drive control means 16, each of the plurality of light emitters 14 _{1 to} 14 _N ,
The focus that minimizes the number of pixels counted by the illumination area detection unit 17 is individually obtained, and the position of the object point of the illumination optical system 13 is obtained under the focus.

The positions of these object points are the areas of the above-mentioned three-dimensional surface focused on the individual focal points of the illumination optical system 13 set by the drive control means 16 and the illumination means 1.
Since it corresponds to the relative position with respect to the light emitting surface of 5, the position and shape of the solid body are automatically measured in three dimensions in a non-contact manner without setting a combination of corresponding points through human hands unlike the conventional example. .

In the three-dimensional measuring apparatus according to the second aspect of the present invention, the optical axis of the illumination optical system 21 intersects the optical axis of the image pickup optical system 11 and these optical systems are optically coupled. Except for the above, the basic configuration is the same as that of the three-dimensional measuring apparatus according to claim 1. That is, regarding the light individually emitted by the plurality of light emitters 22 _{1 to} 22 _N under the drive performed by the drive control unit 24, the illumination optical system 21 and the photographing optical system 1 are on the outward path.
1 and the return path is formed only by the photographing optical system, but these optical paths are common in a specific section sandwiching a reflection point located on the surface of the solid body, and therefore, the return path is defined in claim 1. The hardware configuration is simplified as compared with the three-dimensional measurement device described above, and the three-dimensional measurement is automatically performed in a non-contact manner without being hindered by the undulations of the surface of the solid body.

In the present invention, the individual constituent elements have the same functions as the constituent elements having the same name by constituting the invention described in claim 1 except for the above points, and therefore, these constituent elements will be described here. The description is omitted. In the three-dimensional measuring apparatus according to the third aspect of the present invention, compared with the three-dimensional measuring apparatus according to the first or second aspect, the taking optical system and the illumination optical system constituting them are combined and the taking optical system is combined. 11 and the optical parts of the image pickup means and the illumination means are merged into a single illumination image pickup element 31 and the drive control means 33.
Is different in that the focus of the photographing optical system 11 is changed instead of the illumination optical system.

However, regarding the correspondence relationship between an object point and an image point between each of the plurality of light emitting elements included in the illumination image pickup device 31 and the corresponding three-dimensional surface, in general, the focus of the image pickup optical system 11 is considered. Since it is bidirectionally compatible with each other, the hardware configuration is further simplified as compared with the three-dimensional measuring apparatus according to claim 2, and the three-dimensional measurement is performed without any restriction on accuracy or environment. Measurement is performed.

In the present invention, each component has the same function as each component having the same name in the invention described in claims 1 and 2 except for the above points, and therefore, here, These explanations are omitted. In the three-dimensional measuring apparatus according to the invention described in claim 4, since the light emitted from the plurality of light emitters has a wavelength different from the illumination light that is steadily applied to the three-dimensional object by the resolution of the wavelength region of the imaging means, The solid is certainly a target for three-dimensional measurement when it is illuminated with some light.

In the three-dimensional measuring apparatus according to the fifth aspect of the present invention, the drive control unit intermittently drives the plurality of light emitters based on a known bit string, and the illumination area detecting unit detects the bit string and the pixel. Pixels representing an image of the area individually illuminated by these illuminants are identified by correlation with brightness. Therefore, even if there is no difference in wavelength between the light emitted from the light-emitting body and the illumination light that is radiated to the solid body steadily or the image pickup means is indistinguishable from the light source, it is possible to obtain a highly accurate tertiary image under the illumination light. The original measurement is performed.

In the three-dimensional measuring apparatus according to the sixth aspect of the present invention, the known bit string according to the fifth aspect is provided with a code having a steep autocorrelation characteristic and a gentle cross-correlation characteristic. Therefore, an optical noise source or a scattering source intervenes in the optical path of the light emitted from the plurality of light emitters to the solid, and the brightness of the light is higher than the brightness of the illumination light that is constantly applied to the solid. Even if it is extremely small,
Three-dimensional measurement is performed with high accuracy based on the above-mentioned correlation characteristics.

In the three-dimensional measuring apparatus according to the invention described in claim 7, in the three-dimensional measuring apparatus according to any one of claims 1 to 6, the distance measuring means 41 measures the relative distance of the three-dimensional object, and the coarse focus adjusting means 43. When the three-dimensional measurement is started, the position of the image pickup optical system is set at a position where the image pickup surface of the image pickup means is in focus with respect to the position of the relative distance. Therefore, even in an environment in which the position of the solid is unknown or fluctuates, the three-dimensional measurement of the solid is reliably performed.

[0026]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG.
FIG. 8 is a diagram showing an embodiment corresponding to the inventions described in FIGS.
In the figure, components having the same functions and configurations as those shown in FIG. 11 are denoted by the same reference numerals, and description thereof is omitted here.

In this embodiment, an electronic camera 50 is provided in place of the electronic camera 100, and the difference between the two configurations is that the AF sensor module 51 replaces the linear sensor 106.
A memory 52 that replaces the memory 109, and a control unit 108.
And a control unit 53 that replaces the optical axis of the lens 101.
Lens 54 that is parallel to the optical axis of the lens, a focus moving mechanism 55 that changes the focal position of the lens along the optical axis, and the lens 101 with respect to the object plane having the image pickup surface of the image pickup element 102 as the image plane. A light emitting diode array 56 having an emission surface set on the image plane of 54 is provided, and the drive inputs of the light emitting diode array and the focus moving mechanism 55 are connected to the corresponding outputs of the control unit 53, and the main mirror 10 is connected.
3, the finder 104 and the sub mirror 105 are not provided.

FIG. 5 is a diagram showing the structure of the AF sensor module. In the figure, an angle with respect to the surface of an object to be three-dimensionally measured (here, for simplicity, one is fixedly set to 100 degrees, and the other is θ which is variable during the distance measurement process. .) and AF lens 61 _1, 61 ₂ having different optical axis from each other, the line sensor 62 having a light receiving surface perpendicular individually to the optical axis of the AF lens
Together with ₁ and 62 ₂ , a control circuit (not shown) is formed.

FIG. 6 is a diagram showing the structure of the light emitting surface of the light emitting diode array. In the figure, on the light emitting surface of the light emitting diode array 56, a plurality of light emitting diodes 71 _{1 to} 71 _N are arranged in a grid pattern at regular intervals. The correspondence between the present embodiment and the block diagram shown in FIG. 1 is as follows.
The lens 101 and the focus moving mechanism 107 correspond to the image pickup optical system 11, the image pickup element 102 and the control unit 53 correspond to the image pickup means 12, and the lens 54 and the focus moving mechanism 5 are provided.
5 corresponds to the illumination optical system 13, and is a light emitting diode array 5
6 corresponds to the illumination means 15 including the light emitters 14 _{1 to} 14 _N ,
The control unit 53 and the memory 52 correspond to the drive control unit 16 and the illumination area detecting unit 17, the electronic camera 100 shown in FIG. 11 corresponds to the position calculating unit 18, and the AF sensor module 51 and the control unit 53 include the distance measuring unit 41. Corresponding to
The control unit 53 and the focus moving mechanism 107 correspond to the focus coarse adjusting unit 43.

FIG. 7 is an operation flowchart (1) of the embodiment corresponding to the invention described in claims 1, 4 to 7. FIG. 8 is an operation flowchart (2) of the embodiment corresponding to the invention described in claims 1, 4 to 7. Hereinafter, FIGS.
The operation of this embodiment corresponding to the invention described in claims 1 and 7 will be described with reference to FIG.

In the memory 52, a distance register and a measurement register, which will be described later, are formed in advance in addition to the frame register in which the image information of each frame captured by the image sensor 102 is stored. First, the control unit 53 activates the AF sensor module 51 (FIG. 7 (1)). The AF sensor module 51 responds to the activation by the AF lens 61 ₂
Line sensors 62 ₁ , 62 ₂ while varying the crossing angle of the optical axes of
Correlation of the images captured individually by, and if they match, the intersection degree θ at that point and the distance L between the imaging planes of these line sensors are calculated by the formula D = L · tan θ. By performing the calculation, the relative distance D to the surface of the subject is obtained, and the relative distance is given to the control unit 53.

The control unit 53 focuses the focal point of the lens at a position where the lens 101 forms an image plane on the image pickup surface of the image pickup element 102 with respect to the subject located at the point indicated by the relative distance D. It is set via the moving mechanism 107 (FIG. 7 (2)). Further, the control unit 53 causes the light emitting diode array 5 to have an image plane for a virtual object located at a point indicated by a distance larger than the distance D by a predetermined value.
The position of the lens 54 is set at the position formed on the light receiving surface of 6 through the focus moving mechanism 55 (FIG. 7 (3)).

Further, the control unit 53 stores the image information given from the image pickup device 102 in the above frame register in association with the position of the lens 101 (FIG. 7 (4)), and the light emitting diodes 71 _{1 to} 71 _N. Of these, the light emitting diode corresponding to the head under the predetermined scanning order is driven (FIG. 7 (5)). The light emitted from the light emitting diode driven in this manner (hereinafter, the light emitting diode emitting light in this manner is referred to as a “lighting element”) reaches the surface of the subject through the lens 54. Further, the light is reflected by the surface and reaches the image pickup surface of the image pickup element 102 via the lens 101.

Of the pixels arranged on the image pickup surface of the image pickup element 102, the control unit 53 is a pixel that can receive the above-mentioned light (hereinafter, the area of the image pickup surface composed of such a group of pixels is referred to as an “illumination area”). Of the light emitting diodes 71 _{1 to} 71 _N , which are driven as described above at that time and the position of the lens 54, and stored in the measurement register. (Fig. 7 (6)).

Further, the control unit 53 determines whether or not the lighting element corresponds to the end of the above-mentioned order at that time (FIG. 7 (7)). If the result of the determination is false, Of the light emitting diodes 71 _{1 to} 71 _N , the driving target is switched to the light emitting diode of the subsequent order (FIG. 7 (8)), and the series of processes described above (FIGS. 7 (6) to (8)) are repeated. . Further, when the result of the above-mentioned determination is true, the control unit 53, the position of the lens 101, the image information stored in the frame register in association with the position, the position and the lighting element. And the number stored in the measurement register in association with the
It is sent toward 0 (Fig. 7 (9)).

Further, the control section 53 determines whether or not the position of the lens 101 corresponds to the end of the variable range (FIG. 7 (10), and if the result is false, the focus moving mechanism 55. The position of the lens 54 is changed in the direction of the image sensor 102 by a predetermined interval via the lens (FIG. 7 (11)), and the position of the lens 101 is updated via the focus moving mechanism 107 (see FIG. )) And the series of processes shown in FIGS. 7 (5) to 7 (11) is repeated, but when the result is true, the personal computer 110 is notified of that fact.

On the other hand, the personal computer 110 is
The position of the lens 101 sent by the control unit 53,
The image information associated with the position and the number of pixels associated with the position of the lens 54 and the lighting element are sequentially captured and accumulated (FIG. 8 (1)). Further, when the personal computer 110 recognizes the above-mentioned notification, the personal computer 110 divides the number of these pixels into individually associated sets of lighting elements (FIG. 8 (2)), and sets the minimum value for each of these sets. The associated position of the lens 54 is obtained (FIG. 8 (3)).

Further, the personal computer 110 is
With respect to each possible position of the lens 54, the lens 101 is provided on the image pickup surface of the image pickup element 102 in correspondence with the exit of each lighting element (for the image point of the lens 54, the image point is the object point). Correspondences of the image points to be formed are given in advance, and the correspondences are applied to the positions obtained as described above, thereby obtaining the positions of the surface of the subject individually corresponding to these transfer elements (see FIG. 8 ( Four)).

As described above, according to the present embodiment, the surface area of the subject irradiated with the light emitted from the light emitting diode array is electronically and rapidly scanned in a predetermined order,
Also, three-dimensional measurement can be performed efficiently and reliably. In the present embodiment, the position of the lens 54 is set to a slightly different position along the optical axis of the lens 54 and the optical axis of the lens 101 at the start of the three-dimensional measurement, but the present invention is limited to such a configuration. However, for example, when it is clear that the relative distance D measured by the AF sensor module 51 is measured at the deepest part of the surface of the subject having irregularities, the focal positions of these lenses are determined by both light beams. They may be set equally on the axis.

Further, in the present embodiment, the result of the three-dimensional measurement of the subject is calculated based on the badge processing performed by the personal computer 110, but the present invention is not limited to such a configuration and, for example, the control unit. The configuration may be such that 53 performs such processing as appropriate. FIG. 9 is a diagram showing an embodiment corresponding to the invention described in claims 2, 4 to 7.

In the figure, parts having the same functions and configurations as those shown in FIG. 4 are designated by the same reference numerals, and the description thereof will be omitted here. The difference between the present embodiment and the embodiment shown in FIG. 4 is the control unit 81 instead of the control unit 53.
Is provided, and a half mirror 82 is interposed on the optical axis of the lens sandwiched between the lens 101 and the image pickup surface of the image pickup element 102, and a lens is formed on a branch path of the optical axis formed by such a half mirror. 54 and light emitting diode array 5
6 and 6 are located.

Regarding the correspondence relationship between this embodiment and the block diagram shown in FIG. 2, the lens 101 and the focus moving mechanism 107 correspond to the image pickup optical system 11, and the image pickup element 10 is provided.
2 and the control unit 81 correspond to the imaging unit 12, the half mirror 82, the lens 54 and the focus moving mechanism 55 correspond to the illumination optical system 21, and the light emitting diode array 56 includes the illumination unit 23 including the light emitters 22 _{1 to} 22 _N. Corresponding to the control unit 8
1 and the memory 52 correspond to the drive control means 24 and the illumination area detection means 25, and are connected to the personal computer 110.
Corresponds to the position calculation means 26, and the AF sensor module 5
1 and the control unit 81 correspond to the distance measuring means 41, and the control unit 8
1 and the focus moving mechanism 107 correspond to the focus coarse adjusting means 43.

The operation of this embodiment corresponding to the invention described in claim 2 will be described below. In the present embodiment, the light emitted from the light emitting diode array 56 is applied to the subject through the lens 54, the half mirror 82, and the lens 101. The control unit 81 controls the optical system of the substantial illumination system including the lens 54, the half mirror 82, and the lens 101 in the same manner as in the embodiment corresponding to the invention according to claim 1, and Based on the procedure shown in FIG. 7, the position of the lens 101, the image information stored in the frame register in association with the position, and the number stored in the measurement register in association with the lighting element are stored in the personal computer 110. To send.

Since the procedure of the processing performed by the personal computer 110 is the same as that shown in FIG. 8, its explanation is omitted here. As described above, in the present embodiment, a part of the optical system of the illumination system and the optical system of the imaging system is shared and the hardware configuration is simplified. In the embodiment corresponding to the invention described in claim 1, these optical systems are provided. Since the systems are separated, the cause of unnecessary shadow formation in the illumination area of the subject due to the unevenness of the area and the cause of measurement error are eliminated.

Therefore, in the present embodiment, the restrictions relating to the shape of the subject are greatly relaxed, and three-dimensional measurement of the subject is performed in the same manner as the embodiment corresponding to the invention described in claim 1. FIG. 10 is a diagram showing an embodiment corresponding to the invention described in claims 3 to 7.

In the figure, parts having the same functions and configurations as those shown in FIG. 4 are designated by the same reference numerals,
Here, the description is omitted. The difference between the present embodiment and the embodiment shown in FIG. 4 is that a control unit 91 is provided instead of the control unit 53, an illumination image pickup device 92 is provided instead of the image pickup device 102, a lens 54, and focus movement. The point is that the mechanism 55 and the light emitting diode array 56 are not provided.

Regarding the correspondence between this embodiment and the block diagram shown in FIG. 3, the lens 101 and the focus moving mechanism 107 correspond to the image pickup optical system 11, and the illumination image pickup element 92 corresponds to the illumination image pickup element 31. The control unit 91 and the illumination image pickup device 92 correspond to the image pickup unit 32, the control unit 91 and the focus moving mechanism 107 correspond to the drive control unit 33, and the control unit 91 and the memory 52 include the illumination area detection unit 3.
4, the personal computer 110 corresponds to the position calculating unit 35, the AF sensor module 51 and the control unit 91 correspond to the distance measuring unit 41, and the control unit 91 and the focus moving mechanism 107 correspond to the coarse focus adjusting unit 43. To do.

The operation of this embodiment will be described below. The illumination image sensor 92 is a half mirror (not shown) that divides an optical path formed along the optical axis of the lens 101 into two branched paths, and an image sensor arranged on one of these branched paths. And a set of light emitting diodes arranged on the other side and optically corresponding to the individual pixels of the image pickup device.

Therefore, the light individually emitted from these light emitting diodes is the half mirror, the lens 101, the corresponding region on the surface of the subject and the lens 10 described above.
It reaches the half mirror through 1, and further reaches the pixel corresponding to the light emitting diode. On the other hand, the control unit 91
Omits the process (FIG. 7 (3)) of setting the position of the lens 54 via the focus moving mechanism 55, and sets or updates the focus position of the lens (FIG. 7 (6), (11)). )) Is performed on the lens 101, the substantially same calculation as that of the embodiment corresponding to the invention described in claim 1 is performed.

That is, according to the present embodiment, the optical system relating to the illumination of the subject and the image pickup of the area targeted for the illumination is integrated, and the number of lenses whose positions are variable is reduced. The procedure of the process to be performed by the control unit 53 is simplified and the responsiveness is improved. Hereinafter, an embodiment corresponding to the invention described in claim 4 will be described with reference to FIG.

In this embodiment, the light emitting diode array 5 is used.
Light emitting diodes 71 _{1 to} 71 arranged on the light emitting surface of
_N is the light that the image sensor 102 can receive,
For example, it emits light having a wavelength different from that of visible light, such as infrared light. That is, when the illumination light that is radiated constantly to the subject that is the target of the three-dimensional measurement does not include such a component in the wavelength region, the light that is emitted from the light-emitting diode array 56 is radiated to the subject. The image of the surface area is clear without being disturbed by the illumination light.
It is imaged by 02.

Therefore, according to this embodiment, the environment and conditions of the three-dimensional measurement due to the position, shape, size, weight, etc. of the subject (for example, time zone, interruption or change of illumination light)
The restriction of is greatly reduced and the accuracy of measurement is improved. In the present embodiment, the invention described in claim 4 is applied to the embodiment shown in FIG. 4, but the present invention is not limited to such a configuration, and for example, the embodiment shown in FIGS. 9 and 10. The same can be applied to the form.

An embodiment corresponding to the invention described in claim 5 will be described below with reference to FIG. In the present embodiment, the control unit 53 for the light emitting diode 71 ₁ -71 _N, and supplies drive power to the continuously over a period of time as in the embodiment of the invention according to claim 1 No driving is performed, and the supply of the driving power is intermittently performed based on a predetermined bit string.

Further, the control unit 53 does not discriminate the image of the surface of the subject illuminated by the illumination light thus start-up-modulated by the steady luminance, and correlates it with the above-mentioned code for each pixel. It is determined by taking. That is, according to this embodiment, regardless of the difference in the wavelength of the illumination light emitted from the light emitting diode array 56 and the illumination light that is radiated to the subject steadily or the ratio of the luminance, In the same manner as the embodiment corresponding to the invention described above, restrictions on the environment and conditions for three-dimensional measurement are significantly reduced, the accuracy of measurement is improved, and the selection of the light emitting diode array 56, the image sensor 102, and other optical elements. The degree of freedom related to

In the present embodiment, the invention described in claim 5 is applied to the embodiment shown in FIG. 4, but the present invention is not limited to such a configuration, and for example, FIGS. 9 and 10 are used. It is similarly applicable to the embodiment shown in FIG.
Further, in the present embodiment, the supply of driving power to the light emitting diodes 71 ₁ -71 _N are intermittently based on the bit sequence described above, the present invention is not limited to such a code, for example, stationary on the subject The light having the same wavelength as that of the illumination light is emitted from these light emitting diodes, the energy of the light is very small, and the relative distance between the object and the three-dimensional measuring apparatus according to the present invention is large, so that SN If the ratio may not be sufficient, the autocorrelation characteristic is steep, the cross-correlation characteristic is gentle, and the light-emitting diode array 56 and the image pickup device 10 are provided.
A PN code or Gold code having a word length short enough to ensure a desired measurement speed under the response characteristic of 2 may be applied.

Further, in each of the above-described embodiments, the control units 53, 81 and 91 perform the processing while recognizing the positions of the lens 54 and the lens 101, but the present invention is limited to the procedure of such processing. Instead, the focus moving mechanism 55, 107
With respect to, any procedure may be used as long as these lenses can specify the relative position of an object point with respect to each pixel or lighting element arranged on the image pickup surface of the image pickup element 102.

In each of the above-described embodiments, the light emitting diode array 56 emits visible light. However, the present invention is not limited to such a light emitting diode array, and the image pickup device 102 includes the lenses 54 and 101. If it can reliably receive light, for example, an element that emits light of any wavelength such as infrared rays can be similarly applied. Furthermore, in each of the above-described embodiments, the distance between the pixels of the image sensor 102 is equal to the distance between the light emitting diodes 71 _{1 to} 71 _N , and the arrangements of both the image pickup surface and the light exit surface are set to be the same. The invention is not limited to such a configuration, and if the former is smaller than the latter with respect to the interval and the error of the three-dimensional measurement is suppressed to an acceptable level, the positional relationship between the two is not necessarily geometrically similar. May be.

Further, in each of the above-mentioned embodiments, the ratio of the wavelength and the brightness of the light emitted from the image pickup element 102 and the illumination light which is radiated constantly to the subject is not described at all.
If both can be surely distinguished by performing some kind of image processing, there is no restriction on the ratio of these wavelengths and luminance. Therefore, the light emitting diode array 56
With regard to the above, as long as the light emitting elements are arranged in an array at desired intervals and can be individually driven and can emit light with the above-mentioned wavelength and luminance, any element can be substituted.

[0059]

As described above, according to the first aspect of the present invention, the position and shape of the three-dimensional solid are automatically cubical without contact without setting a combination of corresponding points through human hands unlike the conventional example. Measured at the original. Further, in the invention described in claim 2, as compared with the three-dimensional measuring apparatus described in claim 1, the hardware configuration is simplified, and the position of the solid is automatically adjusted without being disturbed by the undulation of the surface of the solid. And shape are measured in three dimensions.

Further, in the invention described in claim 3, as compared with the three-dimensional measuring apparatus according to claim 2, restrictions relating to the accuracy of the three-dimensional measurement and the environment are relaxed, and the hardware configuration is simplified. To be done. Further, in the invention according to claim 4, the three-dimensional measurement of the solid is surely performed even in an environment in which the solid is constantly illuminated with some light.

Further, in the invention described in claim 5, when there is no difference in wavelength between the light emitted from the light-emitting body and the illumination light which is radiated steadily on the three-dimensional object, or when the image pickup means cannot identify it. Also in 3D, the three-dimensional measurement is performed with high accuracy under the illumination light. Further, in the invention according to claim 6, an optical noise source or a scattering source intervenes in the optical path of the light emitted from the plurality of light emitters to the solid body, or the brightness of the light is constantly emitted to the solid body. Even if the brightness of the illuminating light is extremely small, the three-dimensional measurement is performed with high accuracy.

Furthermore, in the invention according to the seventh aspect, the three-dimensional measurement of the solid is surely performed even in an environment where the position of the solid is unknown or fluctuates. That is, since the three-dimensional measurement of the three-dimensional shape and the position of each part of the surface is easily and accurately performed while suppressing an increase in the required number of measurement steps, the three-dimensional measuring device to which these inventions are applied is expensive. The performance ratio and reliability can be obtained, and the application field can be expanded.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the principle of the invention according to claims 1, 4 to 7.

FIG. 2 is a principle block diagram of the invention described in claims 2, 4 to 7.

FIG. 3 is a principle block diagram of the invention described in claims 3 to 7.

FIG. 4 is a diagram showing an embodiment corresponding to the invention described in claims 1, 4 to 7.

FIG. 5 is a diagram showing a configuration of an AF sensor module.

FIG. 6 is a diagram showing a configuration of a light emitting surface of a light emitting diode array.

FIG. 7 is an operation flowchart (1) of the embodiment corresponding to the invention described in claims 1, 4 to 7.

FIG. 8 is an operation flowchart (2) of the embodiment corresponding to the invention described in claims 1, 4 to 7.

FIG. 9 is a diagram showing an embodiment corresponding to the invention described in claims 2, 4 to 7.

FIG. 10 is a diagram showing an embodiment corresponding to the invention described in claims 3 to 7.

FIG. 11 is a diagram showing a configuration example of a conventional three-dimensional measuring device.

FIG. 12 is a diagram showing a correspondence relationship between an image pickup surface and a light receiving surface of a linear sensor.

FIG. 13 is a diagram showing a relationship between contrast and focus.

FIG. 14 is a diagram showing an image captured by an image sensor.

[Explanation of symbols]

 11 Imaging optical system 12,32 Imaging means 13,21 Illumination optical system 14,22 Light emitter 15,23 Illumination means 16,24,33 Drive control means 17,25,34 Illumination area detection means 18,26,35 Position calculation means 31, 92 Illumination imaging device 41 Distance measuring means 43 Focus coarse adjustment means 50, 100 Electronic camera 51 AF sensor module 52, 109 Memory 53, 81, 91, 108 Control section 54, 101 Lens 55, 107 Focus moving mechanism 56 Light emitting diode Array 61 AF lens 62 Line sensor 71 Light emitting diode 82 Half mirror 102 Image sensor 103 Main mirror 104 Finder 105 Sub mirror 106 Linear sensor 110 Personal computer

Claims (7)

[Claims] 1. An image pickup optical system 11 for optically capturing a stereoscopic image.
And an image pickup means 1 for capturing the stereoscopic image as a two-dimensional image through the image pickup optical system 11 and outputting image information indicating the image.
2, an illumination optical system 13 having an optical axis parallel to the optical axis of the image pickup optical system 11, and an illumination optical system 13 arranged on an image plane provided for the solid body, and on an image pickup surface of the image pickup means 12. Illuminating means 15 having a plurality of light emitters 14 _{1 to} 14 _N individually corresponding to a plurality of arranged pixels, and recursively driving the plurality of light emitters 14 _{1 to} 14 _N in a predetermined order, The illumination optical system 1 is synchronized with the return.
Drive control means 16 for scanning the focal point of _No. 3, and a light emitter among the plurality of light emitters 14 _{1 to} 14 _N , which is driven by the drive control means 16 and which is indicated by the image information output by the image pickup means 12. Capture the image of
Of the plurality of pixels, the illumination area detection unit 17 that counts the number of pixels that show the image, and the focus scanned by the drive control unit 16 for each of the plurality of light emitters 14 _{1 to} 14 _N And a position calculating means 18 for individually obtaining a focus having the smallest number counted by the illumination area detecting means 17 and obtaining a position of an object point of the illumination optical system 13 under the focus. A characteristic three-dimensional measuring device. 2. An image pickup optical system 11 for optically capturing a three-dimensional object.
And an image pickup means 1 for capturing the stereoscopic image as a two-dimensional image through the image pickup optical system 11 and outputting image information indicating the image.
2, an illumination optical system 21 whose optical axis intersects with the imaging optical system 11 and is coupled to the optical system, and an illumination optical system 21 arranged on an image plane of the solid, Illuminating means 23 having a plurality of light emitters 22 _{1 to} 22 _N individually corresponding to a plurality of pixels arranged on the imaging surface, and the plurality of light emitters 22 _{1 to} 22 _N recursively in a predetermined order. The illumination optical system 2 that is driven and is synchronized with the return.
Drive control means 24 for scanning the focal point of _No. 3, and a light emitter among the plurality of light emitters 22 _{1 to} 22 _N , which is driven by the drive control means 24 and which is indicated by the image information output by the image pickup means 12. Capture the image of
Among the plurality of pixels, the illumination area detection unit 25 that counts the number of pixels that show the image, and the focus scanned by the drive control unit 24 for each of the plurality of light emitters 22 _{1 to} 22 _N And a position calculating means 26 for individually obtaining a focus having the smallest number counted by the illumination area detecting means 25 and obtaining a position of an object point of the illumination optical system 21 under the focus. A characteristic three-dimensional measuring device. 3. An image pickup optical system 11 for optically capturing a stereoscopic image.
An illumination image pickup device 31 in which a plurality of pixels and a plurality of light emitters individually corresponding to the pixels are arranged in an image plane of the image pickup optical system 11 with respect to the solid; and the image pickup optical system. An image pickup means 32 that captures the three-dimensional image as a two-dimensional image via the image pickup device 11 and the illumination image pickup element 31 and outputs image information indicating the image, and the plurality of light emitters recursively in a predetermined order. Drive control means 33 that drives and varies the focus of the image pickup optical system 11 in synchronism with the return, and scans, and among the plurality of light emitters, the drive control means 33 drives and drives the image pickup means 32. Illumination area detection means 34 that captures the image of the light-emitting body shown in the output image information and counts the number of pixels showing the image among the plurality of pixels, and the drive for each of the plurality of light-emitting bodies. control Stage 3
A position calculation for individually obtaining the focus of which the number counted by the illumination area detecting means 34 is the smallest among the focus scanned by the reference numeral 3, and for obtaining the position of the object point of the imaging optical system 11 under the focus. And a means 35. 4. The three-dimensional measuring apparatus according to claim 1, wherein the light emitted from the plurality of light emitters is illumination light that is steadily applied to a three-dimensional body, and an imaging unit. A three-dimensional measuring apparatus having wavelengths different from each other by a resolution in the wavelength region of the above. 5. The three-dimensional measuring apparatus according to claim 1, wherein the drive control unit intermittently drives each of the plurality of light emitters based on a known bit string. The three-dimensional measuring apparatus including the means includes means for identifying a pixel showing an image based on the correlation between the luminance of the pixel and the known bit string. 6. The three-dimensional measuring apparatus according to claim 5, wherein the known bit string is a code having a steep autocorrelation characteristic and a gentle cross-correlation characteristic. . 7. The three-dimensional measuring device according to claim 1, wherein the distance measuring means 41 measures a relative distance of a solid, and the distance measuring means when starting the three-dimensional measurement. A three-dimensional measuring apparatus comprising: a coarse focus adjusting unit 43 for setting the position of the image pickup optical system at a position where the image pickup surface of the image pickup unit is in focus with respect to the position of the relative distance measured by 41.