JPS61120001A - Position coordinate measuring instrument - Google Patents

Abstract

PURPOSE:To measure position coordinates of an object of measurement without specifying an angle which specifies the object of measurement by providing a couple of lenses and optical sensor arrays corresponding to those lenses, determining the coordinates of the image formation object point coordinates of the photosensor arrays, and calculating the coordinates of the object of measurement from those coordinates. CONSTITUTION:An image of the object OJ of measurement is formed on corresponding the optical sensor arrays 20L and 20R through the couple of lenses 10L and 10R having base line length (b). Then, an image forming detection signal which exceeds a threshold value is supplied through a switch 36, an object point determining means 30 determines coordinates SL and SR of image forming object points IL and IR from the maximum value of said signal, and a coordinate determining means 40 performs arithmetic based upon equations I and II on the basis of the coordinates SL and SR, and a coordinate determining means 40 measures coordinates (x, y) of the object OJ from an origin which divides the base line length (b) into distances bL and bR. Consequently, the position coordinates are measured of the object of measurement are measured easily with high precision without specifying angles at which the lenses 10L and 10R are directed to the object OJ to specify the object of measurement. In the equations, (f) is the focal length of the lenses.

Description

[Detailed description of the invention] [Technical field to which the invention pertains]

The present invention uses coordinates, such as x, y rectangular coordinates, or r, indicating the position of the object, in order to determine the current position of an object, such as a workpiece, as the eyes of a robot. The present invention relates to a position coordinate measuring device that can remotely measure θ polar coordinates without touching the target.

[Prior art and its problems]

As mentioned above, as a conventional example that can measure the position of an object without contacting it, there is a distance measuring device whose principle is shown in FIG. 11, for example. In this figure, the object to be adjusted is the pair of FiOJ shown above, and a pair of fixed lenses 1 and 2 having a short focal length f are located at a distance d from the pair.
There are these lenses

, 2 are arranged with their leading axes parallel to each other and separated from each other by a distance d called the baseline length. A pair of lenses 1 and 2! A photosensor array 3.4 in which a large number of photoelectric sensors are arranged in a line is placed on the focal plane on the opposite side from OJ, and light from i0J passes through lens 1.2 on the light receiving surface of the optical sensor array 3.4. Light L1. L2 is the image eye, 12
are imaged as respectively. Target O for easy understanding
When J is at infinity, that is, when the distance fgd is infinite, the center of the image I+, 12 is focused on the reference point where the optical axis of the lens 1.2 intersects with the photosensor array 3.4, but the distance is If fid is finite, image 11. The centers of +2 are shifted from the aforementioned reference point by distances gIsl and s2, respectively. Now this gap 'ft51. If we can measure s2, we can use simple triangle i! ! From the principle of quantity, -f d □ 1-s2 holds true, so the distance El d can be measured from the numerical values d and r unique to '16 ffl, and the deviation 131 and s2. Note that the shifted scenes sl and s2 in the above equation are indicated by the arrow S in the figure.
Note that the direction indicated by is positive, and when the target OJ is at the position shown in the figure, the deviation Nsl is positive and the deviation ls2 is negative.In addition, 1sl-s2 in the above equation is the baseline length. This is the so-called variation between the image 11.12 created by the two lenses 1.2 separated from each other, and if this is Δs -il -s2, then the deviation is 1t.
It is not necessary to measure sL, s2 separately; measuring the distance Nd results in measuring the balax ΔS. The measurement of this quantity .DELTA.S can be obtained by purely electronic circuits, in particular by extremely small integrated circuits, as will be explained later with reference to FIG. This conventional distance measuring device has no moving parts (
Using i&Nihon's highly sensitive optical sensor array, it has the great advantage of being able to perform measurements even in a relatively dark field and at very high speed. However, the measurement item is limited to the distance d, and it is not possible to determine the position coordinates of the object OJ.
, the device must be tilted as necessary so that the optical axis of L2 faces the target OJ. We have proposed a distance measuring device that can measure the distance #lId from the front of the device to a target OJ located at an angle θ, the principle of which is shown in the figure. In this distance measuring device shown in FIG. 12, the lens LL. A line inclined by an angle θ from the optical axis of L2 is the optical sensor array 3.
．． The points that intersect with 4 are the reference points, and the images 11 and 12 are
If the amount of deviation from the center of the reference point is s l + s 2 , the following equation holds true. -f d Seki □ (sl-s2)cosθ In this case as well, there is no need to measure the deviation amount 5Ls2 separately (, if you measure the parallax Δ5=sl-s2, the distance @
d is obtained as before. Moreover, if the angle θ and the distance ll1d are known, the polar coordinates d and θ of the target OJ can be obtained, so it may be thought that the position coordinates of the target OJ can be measured, but in reality it is not so skillful. In other words, it is necessary to set the angle θ on the distance measuring device side, and only then can the distance Md to the target OJ in the direction of the set angle θ be measured. The position coordinates of the pair 111OJ in the front are not naturally obtained from this. The conventional devices explained in FIGS. 11 and 12 above are all of the so-called passive type, but there are other distance measuring devices of the active type. However, most of them emit pulsed light or sound waves, detect the reflected waves from the measurement target, and measure the distance based on the time from the time of emission to the time of detection of the reflected waves. The method using light originally has poor directivity and is not suitable for measuring the coordinates of an object.The method using light may have the same function as explained in Fig. 12, but it is difficult to measure the angle θ. The position coordinates must still be set by the user, and the position coordinates cannot be easily obtained by this method. [Object of the Invention] Based on the current state of the prior art as described above, the purpose of the present invention is to A secondary object of the present invention is to obtain a position coordinate measuring device capable of remotely measuring the position of an object in front of the device (without specifying an angle for determining the position). [Advantageous Points of the Invention] In order to achieve the above-mentioned purpose, the present invention utilizes the conventional devices that are arranged apart from each other by a baseline length to measure position coordinates. a pair of optical means for receiving light from an object and forming an image of the pattern shown by the object; a pair of photoelectric type photosensor array means that emit a video signal train, which receives the video signal train emitted by the photosensor array means, and determines a measurement target point for position coordinate measurement from a pattern indicated by the video signal train. and a target point determining means for determining the coordinates of the measurement target point on the optical sensor array for at least one optical sensor array side, and a target point determining means for determining the coordinates of the measurement target point on the optical sensor array side; A coordinate determining means for determining the positional coordinates of the measurement target based on the target point coordinates determined for the optical sensor array side and the amount of mutual deviation on the pattern indicated by the video signal sequences from both optical sensor arrays,
This makes it possible to measure the positional coordinates of the object to be measured within the measurement plane including the optical axis of the optical means. The principle of the above-described structure of the present invention will be explained below with reference to FIGS. 1 to 5. First, FIG. 1 is a diagram showing the basic structure of the apparatus of the present invention corresponding to FIGS. 11 and 12 described above, in which light from the object of measurement OJ is transmitted through a pair of optical means 109, for example, small left and right lenses 10L, 10. Left and right photosensor arrays 20L, 20+? received by lI and placed a short focal length gllf behind them. Above are left and right images IL and IR
imaged as. Position coordinates x, y of target OJ
The origin 0 of the coordinate axis is, for example, the left and right lenses 1 as shown in the figure.
It is within the baseline length between 0L and 10R, the X coordinate axis is in the direction of the baseline length, and the Y coordinate is the left and right lens IOL. It is assumed that the measurement plane includes the optical axis of 10R and is perpendicular to the X coordinate axis, and the coordinate origin 0 is located at distances bL and bR from the centers of the left and right lenses IOL and IOR, respectively. moreover,
Image IL, IR center and left and right lens IOL, 10
11 optical axes are located on the left and right optical sensor arrays 20L and 2, respectively.
Let sL and sR be the distance or amount of deviation between 0R and the reference point that intersects with it, respectively, and let the positive direction be the direction indicated by arrow 3 in the figure opposite to the X seat axis. The following equation is established from the similarity relationship of triangles. sL
-bR+5R-bL 5t-bR+5R-bLsL
-sRΔ5 b-r b-ry " 3 sL -sRA s (however, it is assumed to be Δ5-sL-sR), and it can be seen that by measuring the two deviations 1lsL+sRt-, the locus [X, y can be found. The thickness my is naturally the same as the distance d explained in FIG.
Once you know this, you can make a decision immediately. But za 1! ! x cannot be determined only by the balax ΔS, and the deviation amount sL+
This cannot be determined unless the value of sR is independently known, which is a major difference from the conventional case of determining the distance N. In addition,
The formula for the coordinate X above uses the coordinate origin O as the left and right lens IOL,
One center of IOH. For example, as shown in FIG. 2 18+, when the left lens is aligned with the center of the IOL, it becomes a spacer. That is, in the above formula, b
If L-0 and bR-b are set, -sL ΔS is obtained, which is advantageous in implementing the present invention by using a measuring circuit or the like as a timer. In addition, as shown in Figure 2), the coordinates to be measured are polar coordinates ", θ," for example, the coordinate origin 0 is the center of the left lens IOL, and the angle θ is clockwise from the angle reference axis perpendicular to the baseline length. If it is positive in the rotational direction, it becomes θ-Lg-'(-), which can be similarly determined from the deviation amounts sL and sR. Now, the deviation lsL is the basis for determining the above coordinates. sR is as described above. The intersection of the optical axes of the lenses IOL and IOR and the optical sensor arrays 20L and 20R is used as a reference point, and this reference point is a fixed point of the optical sensor arrays 20L and 20R.However, the center of the images IL and IH is the center of the images IR and IH.
Since L generally has a distribution, one point in the distribution must be determined as the target point for coordinate measurement. The target point determination means 30 in the apparatus of the present invention is provided for this purpose, and as shown in FIG. The optical sensor array 20L is alternately manually inputted to the target point determining means 30 via the optical sensor array 20L.As illustrated in FIG. 1 or FIG. If you have point 1, that is, a local maximum point, you can simply determine this local maximum point as the measurement target point.However, even if you have a clear local maximum point as shown in Figure 5 fa+, the image Signal train I
Since s often has a broadening of the base, it is desirable to reduce the broadening of the video signal sequence by removing the base using an appropriately selected threshold value th.
Note that the optical sensor array is a collection of individual optical sensors, and the value of the target point 3C as an extreme value point is limited to an integer value, but the bift p between each optical sensor can be reduced to about several microns. There are not many accuracy problems in normal measurements, but if higher precision is required, use the fact that each video signal is an analog value to determine the value of the target point sC, which also has values below the decimal point. You can make corrections like this. The principle of this correction is to approximate the waveform near the extreme point of the video signal sequence to a parabola, for example, as shown in FIG. Same figure (
In al), the integer value obtained as the target point is sO, and the maximum value of the video signal is ! (0), the values of the video signals from the left and right optical sensors are respectively IC+1), +(
-1), the corrected value of the target point sC is given by the following equation in the case of almost line approximation. + 1 (+1) - 1 (-1) 2p
21(0)-1(+1)-1(-1) Such a correction is particularly effective when the waveform of the video signal sequence near the extreme point is gentle. As illustrated in Fig. 5), the video signal sequence Is is clear I
! If there is no j-value point but the edges of the video are clear, cutting at the threshold th will make the video part in the video signal string stand out, and the edges su and sl can be easily detected. , the midpoint between the two ends or a point that internally divides the two at a predetermined ratio can be determined as the target point 3C. Furthermore, as shown in +01 in the same figure, there are cases in which clear extreme points and edges of the video cannot be detected from the video signal train, but even in such cases, the noise in the video signal train is removed using the threshold th. After that, the center of gravity of the distribution of video signal values can be determined as the target point IC. As described above, the target point can be determined by data processing of the video signal sequence, but it is easier and more accurate to determine the target point by attaching a clear t*m such as a point light source such as an LED or a mark to the OJ to be measured. can do. In addition, when the background of the OJ object to be measured is relatively bright or complex, it is advantageous to illuminate the object with infrared light to make it stand out in the field of view. The directivity does not need to be particularly good, and when a silicon-based semiconductor is used for the optical sensor array, it is advantageous to use near-infrared light for illumination because the sensitivity is good in the near-infrared region. It is not necessary to continue the illumination, and it is sufficient to apply it in a pulsed or crashed manner in synchronization with the measurement operation of the device. The amount of deviation sL as the coordinates of
sR is sent to the coordinate determination means 40, for example, a micro combinator, as shown in the first column, and the position of the target OJ is determined based on the above-mentioned formula! ! lIx, y or r, θ are determined. Now, since the position coordinates x, y to be measured or the coordinates x, y in ", θ" can be measured by a conventional distance measuring device, it is possible to configure the device of the present invention using a distance measuring circuit. FIG. 3 is a diagram showing the principle of such a configuration, and in this case, the parallax amount Δ3 from the distance measuring circuit 50 and the deviation amount of one side, for example, the deviation Ji as shown in the figure.
sL to the coordinate determining means 40. FIG. 4 illustrates a known circuit example of this distance measuring circuit 50.
Coordinate determining means 40, which in this example is configured as a microcomputer, supplies control pulses to the circuit. A rough explanation of this circuit configuration is as follows. The analog-value video signal strings ISL and ISR from the optical sensor arrays 20L and 20R are converted into digital-value video data strings by analog-digital converters 51L and 51R in the upper part of the figure, respectively, and are sent to shift registers 52L and 52R in the lower part. Each is stored. These video data strings are transferred to a shift register 52 by mutually synchronized shift pulses SPL and SPR from the coordinate determining means 40.
The data is sequentially outputted from L and 52R to the exclusive gate 53, and it is verified whether the data is one loss or no loss, and the one loss data loss between the left and right video data rows is stored in the counter 54. The video data in the shift registers 52L and 52R are circulated, and after one matching test between the left and right video data strings is completed, the data in the left shift register 52L is shifted by one step using a shift pulse SPL, and then the same process is performed. When the matching test between the left and right video data strings is repeated, after each loss test, the comparison circuit 55 compares the count value of the counter 56 below it with the count value of the one-loss test result of each time in the counter 54. , the maximum success/failure of the data between the left and right video columns is always stored in the counter 56, and at the same time, the register 5
Tell 8. A counter 57 above the register 58 stores the parallax amount ΔS corresponding to each coincidence test by counting pulses from the coordinate determination means, and the register 58 stores the parallax amount ΔS corresponding to each coincidence test by counting pulses from the coordinate determining means. Since the count value of is read, the parallax amount Δ3 between the left and right video data rows at the maximum when there is a loss is stored in it. It is output from register 58. As can be seen from the above explanation, the configuration of the distance mm constant circuit 50 itself is somewhat complicated. Although it is complicated, the coordinate determining means of the present invention can be easily constructed by using an existing distance measuring circuit. Embodiments of the Invention Embodiments of the present invention will be described in detail below with reference to FIGS. 6 to 10. FIG. 6 shows the video signal sequence I as previously shown in FIG.
A specific circuit example of a target point determining means suitable for the case where s has a clear extremum point is shown. The photosensor array means 20 in the figure represents one of the left and right photosensor arrays 20L and 20H in FIG.
This is an optical sensor array consisting of a CD type or NO5 type image sensor. The video signal string Is from the photosensor array means 20 is synchronized with the clock pulse φ from the coordinate determination means 40 shown at the bottom of the figure, and analog value video signals are sent one by one from the right end of the means. is applied to the threshold circuit 31. The upper clock pulse φ is also applied to a counter 34, and the counter 34 stores the number 1 (1-N) of the video signal outputted by the clock pulse φ as a count value. Shown to the right of the threshold circuit 31 is a sample and hold circuit 32, which consists of a switching transistor 32a, a capacitor 32b, and an operational amplifier 32c connected as a voltage follower. ! When the strobe signal SS is received at the gate of the switching transistor 32a configured as a T, the transistor 32a turns on and stores the value of the video signal from the analog-to-digital converter 31 as the charging voltage of the capacitor 32b. Comparator 3 shown in
Give it to the inverting input of 3. The comparator 33 receives at its non-inverting input the video signal value that is generated each time from the threshold circuit 31 in synchronization with the clock pulse φ, and the video signal value that is received from the sample and hold circuit 32 is the video signal value that is generated each time. The strobe signal SS is generated only when the threshold is exceeded. Therefore, the sample-and-hold circuit 32, which performs a storage operation based on the strobe signal SS, always stores the maximum value of the video signals sequentially output from the photosensor array means. The strobe signal SS is also applied to the register 35 shown below the counter 34, and this register 35 reads the count M of the counter 34 in bit parallel as shown in the figure each time it receives the strobe signal SS. This means that the video signal number having the maximum video signal value in the video signal string Is stored in the hold circuit 32 is always stored. Therefore, after the N video signals in the photosensor array means 20 are output, the coordinate determining means 40 shifts the stored value of the register 35 by 1.
By reading it as lsL or sR, it is possible to obtain the coordinates of the target point 3C determined as the extreme value in the video signal sequence Is. The coordinate determining means 40 is preferably configured as one micro combinator as described above,
+sR ratio) receives the balance amount Δ3 and changes the coordinate X,
7 or r and θ are calculated numerically and then output. FIG. 7 shows a different embodiment of the present invention in which a microcomputer serving as the coordinate determining means 40 is responsible for a considerable part of the functions of the target point determining means 30. In FIG. 7, the video signal sequences ISL and rsR from the N left and right photosensor arrays 20L and 20R, respectively, are as follows:
The electronic switch 36, the input circuit 31 and the ADC circuit 37 are
The image data is converted into a video data string of multi-bit digital values through the converter and then read into the coordinate determining means 40. The coordinate determination means 40 is CPt141. ROM42 and RAM4
3, which receives the above-mentioned video data string and measurement start command MS for determining coordinates through its input port, and receives images from the left and right optical sensor arrays 20L, 2011 through its output port 45. signal train ISL,
It issues clock pulses φL and φg that command the output of the ISR and a switching command S to the electronic switch 36, and also outputs y, r, and θ as the position coordinates as the measurement results. The operation of the embodiment shown in FIG. 7 will be described below with reference to the flows shown in FIGS. 8 to 10. The flow in FIG. 8 is started by the measurement start command MS mentioned above, the flow in the left column of the figure is the flow of reading video data, the flow in the center column is the operation flow as the target point determining means 30, and the flow in the right column is the flow of reading video data. The flow of columns is the operation flow of the coordinate determining means 40. In the first step St, the variable 1 representing the video data number (1 to n) is set to 1, and in step S2, the switching command is specified to 0, and the electronic switch 36 is thereby set to the left optical sensor as shown in the figure. Connected to the array 20L side. In step S3, one clock pulse φL is outputted to the left optical centiarray 2OL, thereby causing the i′#th video data IL(i
) is loaded. Subsequently, in step S4, the switching command S- is designated as l, and thereby the electronic switch 36
is connected to the right optical sensor array 2OR side, and one clock pulse φL is emitted in step S5 to connect the right optical sensor array 20I? The first video data IR from (
+). In step S6, 1 is always added to variable 1, and all video data IL and IR from the left and right optical sensor arrays 20L and 20R are read. In step S7, variable Fuku is determined to be larger than N. Steps 82 to S7 are repeated until the result is reached. After the reading of all the video data IL and IR is completed, the flow enters a flow for determining the target point. This part of the flow in FIG. 8 is a flow for determining the extreme value point of the video data as the target point and determining the deviations lsL and sR, as in the case of Fu. In step S8, a variable ILM representing the maximum data value in each of the left and right video data strings. The value of ILR is set to O, and the variable 1 is set to 1 again in step S9. In step 510, the I#rth left video data IL(1) is compared with the tr variable ILH,
Next step 511 only when the former is greater than the latter
In Steps 512 and 513, the variable ILM @ l # is replaced with the left image data IL(i) of the eye, and the change sL indicating the amount of left shift is set as l.Similarly, in steps 512 and 513, the right image data IR ( 1) is compared with the variable IRM, and if the former is larger, the variables IRM and sR are replaced with IR(1) and l, respectively. In step S14, 1 is added to the variable i, and in the next determination step S15, the flow of step 81G-515 is repeated until the variable i is determined to be greater than N.
L, video data number SL with the maximum value in IR. SR is determined as the target point, and its number is obtained as the coordinates of the target point in the optical sensor arrays 20L, 20R. Step S
After step 15, although not shown in this figure, if necessary, the correction flow for these coordinates SL and SR previously explained in connection with figure 5 fat can be inserted. In the first step of the flow as the coordinate determining means 40, the left and right reference points t! ! Shift by subtracting SLO and SRO from the coordinates sL and sR of the previous left and right target points!
Obtain lsL+sR4. Coordinates of this reference point SLO, SR
O is the lens 10L in FIG. 1, the light of the IOR, and the optical sensor array 20L. The coordinates on the optical sensor array of the intersection with 20R,
In the zero-order step S17, which can have a general value rather than an integer, the parallax amount ΔS is calculated from the shifted views sL and sR, and in the final step 518 and 319, the position is calculated using the formulas shown in the respective frames. The coordinates x, y are calculated and the whole flow ends. Note that P in the formula in the final step 519 is the pitch between the optical sensors in the aforementioned optical sensor array. The flow shown in FIG. 9 corresponds to steps 38 to 51 in FIG.
Corresponding to 5, this is a flow for determining a target point by the means explained in the previous figure 5), and for the sake of simplicity, only one of the flows for the left and right video data strings is shown. ing. In this first step 52G, the video edge su to be detected. A variable 33 indicating the sum of the coordinates of sl and a variable n indicating the number of image edges are set to 0. In the following step 321, the video data number variable 1 is set to 2, and in step 522, it is set to 1.
th video data! (i) and i-1st video data D
It is determined whether the absolute value of the difference between i1) and After the addition, 0.5 is subtracted, and 1 is added to the variable n. The reason for subtracting 0.5 is to assume that the video edge is between the 1st and 1-1st. Addition step S24 of 1 and determination step S2 as before
After detecting the video edge for all N video data via step 5, in step 326, the variable Ss is changed to the variable n
The coordinate S divided by 1) is calculated as the left target point coordinate SL.
Alternatively, the coordinates of the right target point are SR. In this case, if both ends of the video are properly detected, n-2
The threshold tfi shown in Figure 5) should be
If th is inappropriate, the above equation may not hold, so the threshold value can be changed by giving a threshold value change command TS to the threshold value circuit 31 as shown in FIG. Also, depending on the type 1 of the target video pattern and the background, n-2 may not hold even if the threshold value is changed, so in this case, it is recommended to shift to the flow shown in Figure 1θ. can. The flow in FIG. 10 is shown in FIG.
This is to determine the target point using the method shown in
Similar to FIG. 9, only the flow for one of the left and right video data is shown. In the first step S27, the variable 517 representing the sum of the products of the video data number l and the video data I(L) and the variable S+ representing the sum of the video data r(1) are set to 0.
, and the variable l is set to 1 in step 32B before entering the repeat flow. In step S29, the variable stt
, st by a predetermined value, and through steps S30 and 331, in step S32, the locus 1lls of the target point as the center of gravity of the image is obtained from the ratio of both variables. Figure 9 or 10
Left and right target point coordinates sL + sR obtained from the flow in the figure
is taken over by the coordinate determination means 40 of FIG. 8 and used for coordinate determination. Note that the flows as the target point determining means 30 shown in the center column of FIG. 8, FIGS. 9 and 10 can be used independently of each other, or if one of them is inappropriate You can also automatically enter other flows when necessary. In addition to these flows, a more complex known pattern recognition method may also be used; as long as the area of the image to be measured can be specified in terms of the coordinates on the optical sensor array using the pattern Lu1m, Target points can be determined using an algorithm depending on the purpose. Of course, it is also possible to use a plurality of such alternative flows in parallel to recognize the f8 slope of the position coordinate measurement result as f1. In addition, in the above description of the embodiment, only two-dimensional, e.g., x, y coordinates were explained as position coordinates, but if three-dimensional coordinates, e.g. The three-dimensional order 2[1 can be measured by using two sets of optical means and optical sensor array means, and by making their measurement surfaces, that is, the planes determined by the optical axes of the lenses IOL and IOR, orthogonal to each other. In this case, the target point determining means and the coordinate determining means can input and process video signal sequences from these two sets of optical sensor array means by switching. In any of the above-mentioned embodiments, even if some correction formulas are used, the degree of accuracy obtained depends on the pitch P between the optical sensors in the optical sensor array and the number N of optical sensors. . According to nearly 11 years of advanced optical sensor array technology, it is possible to manufacture sensors with a pitch P as short as 5 microns or slightly less, and the sensor failure can also be reduced to 10 times.
24 or more are obtained. Using such optical sensor technology, it is possible to measure position coordinates with a high accuracy of 1% or less with a relatively small array, which is sufficient for use in applications such as ordinary robot eyes. Furthermore, the electronic circuitry required to implement the device of the present invention is easy to integrate and can be housed together with the optical sensor array in one semiconductor chip. In addition, since the flow for determining the target point described above is relatively simple, the RAM area for storing the program is small, and even the coordinate determination means can be stored in a single chip microcomputer, making it possible to create a compact and inexpensive press. A measuring device can be provided. Effects of the Invention According to the position coordinate measuring device according to the present invention, a pair of fixed optical means and an optical sensor array means provided corresponding to the fixed optical means are used to detect the light from the measurement target on the front side of the device. receives the video signal train No. 18 from the cough light sensor array means and determines the measurement target point for position 1 measurement from the pattern indicated by the video signal train; a target point determining means for determining the coordinates of the measurement target point on the optical sensor array for at least one optical sensor array side; and a target point determining means for determining the coordinates of the measurement target point on the optical sensor array side, and based on the target point coordinates determined for both optical sensor array sides or for one optical sensor. optical It is possible to measure the position coordinates of the object to be measured within the measurement plane including the optical axis of the instrument, so the object can be automatically found and located without the need to point the device toward the object as in the past. Coordinates can be measured remotely. Therefore, the device of the present invention can function as a substitute for humans, such as robots and automatic driving vehicles, which need to confirm the position of objects such as workpieces having a predetermined shape or pattern and take actions accordingly. can. As mentioned above, the accuracy of the position coordinate measurement results by this device can be increased to a considerable level of accuracy if necessary. Furthermore, since microcomputers are often already incorporated in the above-mentioned applications in which the device of the present invention is used, the functions of the target point determining means and coordinate determining means in the configuration of the present invention can be implemented using this existing device. If the microcomputer is in charge of this, the present invention can be carried out without much expense and a great effect can be achieved by simply attaching the necessary number of small optical means corresponding to eyeballs and optical sensor array means to desired parts. I can list them.

[Brief explanation of the drawing]

Figures 1 to 1O relate to the present invention, in which Figure 1 is a diagram of the principle configuration of the position coordinate measuring device according to the present invention, and Figure 2 is an illustration of the coordinate axes of position coordinates measured by the device of the present invention. , FIG. 3 is a principle explanatory diagram as a modification of FIG. 1, FIG. 4 is a block circuit diagram of an example of a distance measuring circuit that can be used in the conventional device and the device of the present invention, and IR5 is an operational mode of the target point determining means. Waveform diagram of video signal train for explaining an example, No. 6
The figure is a circuit diagram of a target point determining means in an embodiment of the present invention, and FIG. 8 are operation flowcharts of the different embodiments, and FIGS. 9 and 10 are flowcharts showing different operation modes of the target point determining means. FIG. 11 and FIG. 12 each show a distance M11 according to different conventional techniques.
1. In Figure 0, which is a diagram of the principle configuration of the constant device, 10 + optical means, IOL, IOR: left and right lenses, 2
0: Optical sensor array means, 201. ．． 20R? Left and right optical sensor arrays, 30: Target point determining means, 40: Coordinate determining means, 50: Distance measuring circuit, b: Baseline length, d: Distance to target, r i L, lOL, 109 f) P, point Pressure M, IL. ■R: Target left and right images, +1 video signal sequence, ISL, I
SR: left and right video signal strings, 0: coordinate axis origin, OJ: l constant target, N: number of photosensors in the photosensor array, P: pitch between photosensors, r, θ: position coordinates expressed by W1 coordinates, 3
C: Coordinates of target point, sL, sR: Left and right deviation shell, s
Lo, sRO: Level point coordinates on the left and right optical sensor arrays,
su+sl: Bj! Coordinates of both ends of the image, x, y: π coordinates expressed in orthogonal coordinates, X, Y: i orthogonal coordinate axes. Figure 2 Figure 4 Figure 5 Figure 9

Claims (1)

[Scope of Claims] 1) A pair of optical means disposed apart from each other by a baseline length and receiving light from an object whose positional coordinates are to be measured and forming an image having a pattern shown by the object; , a pair of photoelectric photosensor array means each receiving an image formed by each of the optical means and emitting a video signal train corresponding to the pattern of the image; target point determining means for determining a measurement target point for position coordinate measurement from the pattern indicated by the video signal sequence, and determining the coordinates of the measurement target point on the optical sensor array for at least one optical sensor array side; , based on the coordinates of the target point determined for both optical sensor array sides, or the coordinates of the target point determined for one optical sensor array side, and the amount of mutual deviation in the pattern indicated by the video signal sequences from both optical sensor arrays. A position coordinate measuring device comprising: coordinate determining means for determining the position coordinates of the measuring object based on the above, and measuring the positional coordinates of the measuring object within a measurement plane including the optical axis of the optical means. 2) In the device according to claim 1, the positional coordinates of the measurement target are rectangular coordinates in which one coordinate axis is a line including the base length, and the other coordinate axis is a line in the measurement plane perpendicular to the line. A position coordinate measuring device characterized by: 3) A position coordinate measuring device according to claim 2, wherein the origin of the coordinate axis is selected at the center of one of the pair of optical means. 4) In the apparatus according to claim 1, the positional coordinates of the object to be measured are polar coordinates with the center of one optical means as the coordinate origin and a line in the measurement plane perpendicular to the baseline length direction as the angular reference axis. A position coordinate measuring device characterized by the following. 5) A positional coordinate measuring device according to claim 1, wherein the target point determining means determines a point indicating an extreme value of a signal value in a video signal sequence as a measurement target point. 6) A position coordinate measuring device according to claim 5, characterized in that a point light source for generating an extreme value of a signal value is provided on the measurement object. 7) A position coordinate measuring device according to claim 5, characterized in that a marker for generating an extreme value of a signal value is attached to the object to be measured. 8) In the apparatus according to claim 1, the target point determining means detects both ends of the pattern indicated by the video signal sequence,
A position coordinate measuring device characterized in that a point that internally divides the distance between the two ends at a predetermined ratio is determined as a point to be measured. 9) A positional coordinate measuring device according to claim 1, wherein the target point determining means determines the center of gravity on the signal value of the video signal sequence as the measurement target point. 10) A position coordinate measuring device according to claim 1, characterized in that the object to be measured is illuminated with illumination for making the image pattern of the object to be measured stand out from the background in the video signal sequence. 11) A position coordinate measuring device according to claim 10, characterized in that near-infrared light is used as illumination. 12) The position coordinate measuring device according to claim 10, wherein the illumination is applied in a pulsed manner in synchronization with the measurement of the position coordinates.