JPS62168007A - Shape recognizing device - Google Patents

Abstract

PURPOSE:To detect three-dimensional position information on an object at a high speed and to recognize its position, shape, etc., by scanning laser spot light in an X-axial and a Y-axial direction through an X-axial vibration mirror and a Y-axial vibration mirror respectively. CONSTITUTION:A laser spot light generator 1 outputs laser spot light 10 to project the Y-axial vibration mirror 2. The vibration mirror 2 scans the spot light 10 in the Y-axial direction of the object 7. The X-axial vibration mirror 4 scans the spot light 10 in the X-axial direction of the object 7 by a driving mechanism 5. A fixed mirror 6, on the other hand, projects the object 7 with the spot light 10 and its reflected laser light 11 is incident on a linear sensor 9 through a lens 8 and a mirror 4. Then, the linear sensor 9 outputs position information 12 on the reflected laser light 11 to a distance information detector 13. The detector 13 calculates distance information from the X-axial scan information, Y-axial scan information, and position information 12 and stores the information in an image memory 14. Then, an image processing part 15 reads the data out of the memory 14 to perform image processing.

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention is suitable for use in industrial robots, etc., and can be used to measure the position and shape of objects such as industrial products without contact using laser light exposure. The present invention relates to a shape recognition device Δ for visually recognizing shapes.

(Prior art) As a shape recognition device that non-contactly recognizes the position and shape of an object by using the optical metal, for example, Japanese Patent Application Laid-Open No. 1986-
In 237306, an object to be detected is irradiated with a modulated laser beam, the reflected light is focused on an optical semiconductor device detector by a condensing lens, and the position of the focal point is detected to detect the object to be detected. Although a device for detecting a position has been disclosed, it is only possible to detect the object position in the laser beam irradiation direction, that is, one-dimensional detection. Also, in Japanese Patent Application Laid-Open No. 60-8.9706,
The principle of one-dimensional position detection is the same as in the above example, but a sensor has been disclosed in which two-dimensional detection is possible by linearly moving part and all of the sensor using a stevening motor or the like. However, the method of moving part of the sensor in parallel with a motor has the problem that measurement is time consuming and time consuming.

Furthermore, for example, in JP-A-60-17305, the principle of one-dimensional position detection is the same as in the above example, but it is repeated by irradiating light obliquely and rotating a part of the sensor by a motor with the full rotation angle ψ. This allows two-dimensional detection by moving the entire light irradiation point. The entire three-dimensional locus of the object to be measured m k , J! To determine this, it is necessary to move part of the sensor in parallel using all motors, which takes time.

(Problems to be Solved by the Invention) An object of the present invention is to provide a shape recognition device that detects three-dimensional position information of an object at high speed and recognizes the position, shape, etc. of the object. Another object of the present invention is to recognize the state and shape of the object's surface when performing position and shape recognition based on the two-dimensional density information of optically reflected waves, by recognizing the position and shape of the object using three-dimensional position information. An object of the present invention is to provide a shape recognition device that eliminates the influence of changes in ambient brightness.

(Means for Solving the Problems) Therefore, the present invention provides an image processing apparatus that includes means for generating a laser spot light, means for scanning the laser spot light in the horizontal direction and the vertical direction of the object plane, A shape recognition device characterized by comprising: a means for receiving a laser reflected wave; a one-dimensional position sensor for obtaining distance information from the laser reflected wave; and a means for obtaining a composite image from the distance information. .

(Example) An example apparatus of the present invention will be described below based on the drawings. In FIG. 1, laser spot 1. /) The light generator 1 outputs the full output of the laser spot light 10 and irradiates it onto the X-axis vibrating mirror 2. The X-axis vibrating mirror is connected to a small movement mechanism 3, and scans the laser spot light 10 in the Y-axis direction of the object. Reference numeral 4 denotes a vibrating mirror in the X-axis direction, which is connected to the drive mechanism 5 and scans the entire target object in the X-axis direction.

irradiate over 1 minute. Reference numeral 11 is laser reflected light, which is incident on a one-dimensional sensor 9 through a lens 8 and the X-axis direction vibration mirror 4 .

The one-dimensional sensor 9 outputs position information 12 of the laser reflected light to a distance information detector 13. The distance information detector 13
Then, the X-axis direction scanning information, the Y-axis direction scanning information, and the position information 12 and distance information are calculated and stored in the image memory 14. Reference numeral 15 denotes an image processing section which reads data from the image memory 14 and performs image processing.

FIG. 2 is a diagram showing the principle of calculating distance information using a laser spot. The distance d1 of the object in the backward direction can be calculated using Equation 1.

(11= dz/lanθ Formula l where θ is X
It is a constant determined by scanning information in the axial direction and the Y-axis direction, and d2 is detected by a one-dimensional sensor.

Figure 3 shows the above-mentioned dzt by determining the optical center of gravity of the laser reflected light using a COD sensor as a one-dimensional sensor.
? This is an example of what we are looking for. 16 is a COD sensor, 17 is a clock and reset generator, 18°20.21 is an integrator, 19 is a multiplier, and 22 is a divider. 23 is a shift clock, 24 is a transfer end reset signal, 25 is a COD
The sensor output 26 is the optical center of gravity specific force. With this circuit, the optical center of gravity output P can be determined using equation 2.

Here, n indicates the number of pixels of the COD sensor, and G(1) indicates the output of the COD sensor of the first pixel. If the light center at the reference position of the object is 'kPo, then the depth direction of the object is a+
=α(p−P□)/lanθ Equation 3 where α is the lens system number.

By scanning the X-axis vibrating mirror and the X-axis vibrating mirror, three-dimensional position information can be obtained for all coordinates of the object.

(Effects of the Invention) As explained above, the present invention provides an X-axis vibrating mirror and an
Each laser spot beam is AXed by an axial vibrating mirror.
The present invention provides a complete shape recognition device that scans in the axial direction and the Y-axis direction to obtain three-dimensional position information at high speed for all coordinates of an object. Furthermore, the present invention provides a shape recognition device that eliminates the effects of changes in the surface of the object and surrounding brightness by fully recognizing the position, shape, etc. of the object using three-dimensional position information.

[Brief explanation of drawings]

Figure 1 is a schematic block diagram showing the course of the embodiment of the shape recognition device of the present invention, and Figure 2 is Figure 1.9 Calculation of distance information using laser spot light of the shape recognition device. FIG. 11 is a schematic block diagram showing an embodiment in which all distance information is calculated by determining the light center of gravity of laser reflected light as Furi → -. 1... Laser spot light generator (means for generating) discharge 2... Y-axis direction vibration mirror (means for scanning in the vertical direction)

Claims (1)

[Claims] In an image processing device, a means for generating a laser spot light, a means for scanning the laser spot light in the horizontal and vertical directions of an object plane, a means for receiving a laser reflected wave, and a means for receiving distance information from the laser reflected wave. A shape recognition device comprising: a one-dimensional position sensor that obtains distance information; and means for obtaining a composite image from the distance information.