KR910000185B1 - Method and apparatus for producing three-dimensional shape - Google Patents

Abstract

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Description

Forming method and apparatus for three-dimensional solid shape

1A and 1B are front and side views of a first embodiment of the present invention.

2A and 2B are explanatory diagrams for image measurement of an object in a first embodiment of the present invention.

3 is an explanatory diagram showing an image of an ITV camera (two-dimensional imaging device).

4 is a video signal for the image shown in FIG.

5 is a block diagram showing a data processor for cross-sectional shape calculation in the first embodiment of the present invention.

6A and 6B are front and side views of a second embodiment of the present invention.

7A and 7B are explanatory diagrams for image measurement of an object in a second embodiment of the present invention.

8A, 8B and 8C are explanatory diagrams of photographing states of a one-dimensional line sensing camera (image capturing apparatus) according to a second embodiment of the present invention.

9 is a block diagram showing a data processor for cross-sectional shape calculation in the second embodiment of the present invention.

10A and 10B are front and side views, respectively, of a third embodiment of the present invention.

11 is an explanatory diagram of optical trajectory photographing by a PSD camera in a second embodiment of the present invention.

12 is an explanatory diagram of a shooting screen of a PSD camera utilized in the third embodiment of the present invention.

13 is a block diagram showing the calculation and formation of a three-dimensional solid shape in a third embodiment of the present invention.

14 is an explanatory diagram showing a memory map MAP of a two-dimensional shape in the third embodiment of the present invention.

FIG. 15 is an explanatory diagram of a principle of converting from a two-dimensional shape to a three-dimensional shape in the third embodiment. FIG.

FIG. 16 is a memory map MAP for converting the two-dimensional shape shown in FIG. 14 into a three-dimensional shape.

17 is an explanatory view of the principle of forming a parallel cross section to be used for forming a three-dimensional shape in the third embodiment.

FIG. 18 is a memory map MAP utilized to form the parietal cross section shown in FIG.

19 is a side view of a fourth embodiment related to the present invention.

20 is a screen of an ITV camera (two-dimensional imaging device) utilized in the fourth embodiment.

21 is a video signal of the video plane shown in FIG.

22A and 22B are side and front views of a fifth embodiment related to the present invention.

23 is an image of an ITV camera utilized in the fifth embodiment.

24 is a scanning state of a video signal in the image plane shown in FIG.

FIG. 25 is a block diagram showing a computational measurement processing portion for the cross-sectional shape in the fifth embodiment.

26 is a schematic representation of a machining system for sheet cutting in a fifth embodiment.

27 is a side view showing a sixth embodiment of the present invention.

28A and 28B are front and side views of a seventh embodiment according to the present invention.

29 is an image of an ITV camera used in the seventh embodiment.

30 is a video signal scanning state on the image plane shown in FIG.

31A and 31B are elevation and side views of an eighth embodiment of the present invention.

32 is an image of the ITV camera used in the eighth embodiment.

33 is a scanning state of a video signal on the image plane shown in FIG.

The present invention relates to a method and apparatus for forming a three-dimensional solid shape such as a three-dimensional shape from an object having a three-dimensional solid shape such as a human body.

In order to form an equivalent three-dimensional shape from the object having a conventional three-dimensional shape it was carried out through the work of machine tools, castings, conductive molds and the like.

However, these methods have drawbacks that cannot be duplicated from complex shapes or very irregular three-dimensional objects due to the limitation of specifications of machine tools or castings.

There are also drawbacks that require artistic sensation and a high level of skill when duplicating objects of flexible materials.

February 1981 issue of "AUTOMATION TECHNIQUE" Vol. 13, Nos. 2, pages 45-49, entitled "Duplicating Shapes Using Pattern Technology," which captures a slit optical image of an object with an ITV camera and displays the surface of the object. We created the spatial coordinates of the bright lines shown in to duplicate the object. However, this technique does not represent a specific means for performing the replication of the object.

The present invention provides a method for forming a three-dimensional shape such that the three-dimensional shape of the object can be easily formed with high precision at the same or a certain magnification with respect to the three-dimensional shape of the object, without considering the complexity and flexibility of the shape of the object. It is an object to provide a device.

In order to achieve the above object, the present invention is a laser beam is picked up (PICK-UP) to irradiate a three-dimensional object and provide a two-dimensional position of the image obtained from the object, the optical cut surface by the laser beam (Optical cutting plane) is measured over the whole object.

Then, the stereoscopic image is made based on the optical cut surface.

Other objects and features will be described below with reference to the accompanying drawings.

Figures 1a and 1b show a part of the configuration of the first embodiment, briefly described, model 1 of the simplified human face is used as an object, and the model is given coordinates, the coordinate axes of which are irradiated with the light beam and the optical image. It is used as a reference for the PICK UP device position of (Opitical image).

The coordinates have an origin G in the lower center of model 1, the X axis extends horizontally from the origin G in the elevation of FIG. 1a, the Y axis have a vertical direction from the origin G of the elevation of FIG. 1a, and the Z axis is the side view of FIG. 1b. It is set to extend vertically from the origin of Model 1 at.

As a light irradiation apparatus 2 from a light source such as a laser beam generator, a light beam 2 'having a width Δh, that is, 0.5 mm, is irradiated to the model 1, which is an object. Ray 2 'of width Δh is irradiated onto the model and is scanned with a rotation angle θ through means of a mirror and optical lens system, such as a rotating mirror, with a vertical line drawn along the Z axis.

The preparation of the measurement of the object is completed by taking the light plane formed by the scanning of the light beam as the X-Y axis plane and placing the origin G (Zo) on the lower Z axis of the model. The ITV camera 3 is a two-dimensional image pickup device, which is disposed below the light irradiation device 2 located at a certain distance.

The light beam 2 'of the light irradiation device 2 and the optical axis of the ITV camera 3 form an angle β with the X-Y side passing through the Z axis, and the ITV camera 3 has a viewing angle of α.

The light irradiator 2 and the ITV camera 3 are fixed to the rack 8 which is supported to slide on the support 7.

Rack 8 is secured to ball nut 6 with ball screw shaft 5 screwed in.

The ball screw shaft 5 is connected to a step motor (not shown) which drives the ball nut 6 step by step, and the rack 8 moves up and down according to the height corresponding to the width Δh of the light beam.

In order to irradiate the entire outline of Model 1 as ray 2 '(all outline survey means), and to correspondingly pick up the entire outline by ITV camera 3, which is a two-dimensional image pickup device, in the present embodiment, four light irradiation apparatuses Two and four ITV cameras 3 were configured to surround Model 1.

In this case, these ITV cameras 3 are configured at the same optical magnification at the same distance with respect to the Z axis of the model 1, and the optical image model 1 formed by the respective rays from the light irradiation apparatus 2 is directly compared and examined to measure the image related. It is treated as data.

The geometric position of the light irradiation apparatuses 2 and the ITV cameras 3 with respect to the model 1 will be described with reference to FIGS. 2A and 2B.

In FIG. 2A, the light ray 2 'from the light irradiation apparatus 2 has the rotation angle θ, the visible limit SLM with respect to the Y axis is in the range from 0 to + Ym, and the Y axis position at the origin of the model 1 is Ym / 2. .

The irradiation range required to illuminate the entire outline of Model 1 using one optical illuminator 2 is within 90 degrees about the origin G, ie within the range of YL ₁ to YL _{2 on} the Y-axis.

The ray 2 'irradiated to the model 1 from the ray irradiation device 2 intersects the optical axis 3' of the ITV camera 3, which is a two-dimensional image pickup device on the Z axis, at a fixed angle β, and the projection position on the Z axis at that time is Zi.

When the light 2 'irradiated to the model 1 from the light irradiation device 2 is photographed by the ITV camera 3, the image of the relational cross section of the model 1 is a sickle image composed of a series of light rays, as shown in FIG. Create an image plane containing shapes.

In this image plane, line segment 10 represents an image of a line passing through Zi and parallel to the Y-axis.

Point Pi 'in Figure 3 shows an image of a certain point Pi of the ray irradiated on the surface of Model 1.

In Fig. 2, the length of the parallel line drawn at point Pi, including the optical axis of ITV camera 3 and parallel to the Y-axis, is Δli, and the position of the parallel line drawn at line 10 at point Pi in Fig. 3 is Yi '. Then, the lengths of the line segments Pi and Yi 'are ΔZi.

Where n is the optical power of the ITV camera.

In this case, ΔZi is obtained by the following method.

One image plane of the ITV camera shown in FIG. 3 consists of scan lines (typically 240-500) labeled S ₁ , S ₂ ... S _n ... S _r from the top.

As shown in FIG. 4, the ITV camera generates a starting signal V _BL and generates an initial horizontal scan signal H _BL to make an image plane.

The video signal according to the shadow, that is, the light and dark signals of the image, is scanned along the scan line S ₁ during the previous time ta.

After scanning to S ₁ , the H _BL signal is again generated and the video signal is continuously scanned from S ₂ .

When scanning to Sn senses the image of the light beam 2 ', the light video signal BHS appears exceptionally in the video signal HS.

When the continuous repetition of scanning reaches Sr, scanning of one image plane is completed.

After the scanning of Sr is completed, the light beam is moved by? H to the adjacent position in the Z-direction by the motor operation.

Then, the start signal V _BL for the next image plane is generated and the horizontal scan start signal is generated continuously to start scanning of the new image plane.

5 is a block diagram showing a control circuit for obtaining? Zi using an ITV camera.

In the figure, reference numeral 3 denotes an ITV camera, and reference numeral 31 denotes a separator. The video signal HS and the horizontal scan start signal H _BL and the image plane start signal V _BL in the image of the ray 2 'captured by the ITV camera are inputted. The video signal is separated into H _BL and V _BL . Reference numeral 20 is a counter for calculating the number of horizontal scan start signals H _BL , and is reset to zero when generating the image plane start signal V _BL . Thus, the counter 20 counts the number of horizontal scan start signals H _BL during the delivery time from one image plane start signal V _BL to the next V _BL .

In this way the injection player Si is detected from the value counted by the counter 20.

The detected scanning player Si is multiplied by the scanning line spacing? Q in the amplifier 21 to obtain the length of Si from S ₁ .

This length is subtracted from γ × Δq / 2 (corresponding to the position of the center line of the image plane, the position of line segment 10 in FIG. 3), and the length of the scanning point is calculated from the line segment 10 in the vertical direction.

On the other hand, the oscillator 23 is given to generate an interval pulse having a time and an interval by equally dividing the scan time ta of one scan line by m.

The number of interval pulses is counted by counter 24, which is reset to zero by the horizontal scan start signal.

That is, the counter 24 counts the number of interval pulses on a specific scan line until the horizontal scan start signal H _BL appears on the next scan line, and the counted value is multiplied by the length? Ye which is equally divided by m scan lines.

In this way the horizontal position of any scan line on the image plane of the ITV carrera is calculated from the output signal of amplifier 26.

A digitizing circuit 25 is connected behind the separator 31 to convert the video signal into a logical binary number of bright "1" and dark "0", and only the bright signal portion of the video signal HS is illuminated outside the outside of model 1. Is output from the digitizing circuit in the same manner as indicated by " 1 " and " 0 " in other parts.

With respect to the vertical position of the image, the output signal of the reducer 22 is stored in the memory 28 through the gate circuit 27 when the output of the digitizing circuit 25 is "1".

For the horizontal position of the image, the output signal of the amplifier 26 is stored in the memory 30 when the output of the digitizing circuit 25 is "1".

Thus, in accordance with the block diagram of FIG. 5, the vertical line position? Zi and the horizontal line position? Yi are determined in the scanning line Si of FIG. 3 showing an image on the image plane.

A plurality of △ Zi 'and △ Yi' can be detected on the same scanning line, and they all △ Zi ₁ - will be determined by YiP △ - △ △ Yi and ZiP _1.

The conversion of a beam on an image plane of an ITV camera, that is, a two-dimensional plane including an X-Y side plane, can be made from the following equation.

Where n is the optical magnification of the ITV camera.

The equation can be calculated with a general purpose microcomputer. More precisely, the trajectory of the image at a certain cross section of the object is obtained from the relationship between the image of the ray taken by the ITV camera and the instantaneous scanning line on the scan line, so that the optical cross section corresponding to the cross section is calculated.

Ray 2 'is guided in stages and irradiated throughout model 1.

More specifically, the beam irradiator 2 is fixed to the rack 8 and the rack is fixed to the ball nut as the ball screw shaft 5 so that the rack 8 is stepped as the ball screw shaft 5 is rotated by the motor (not shown). It can move up and down along the Z-axis direction as a light beam of width Δh.

The trajectory of the image is provided between the upper and lower ends of the model 1 in the XY-axis system plane formed by the light rays, through the light rays 2 'of diameter Δh, and the shape data (Xi, Yi) on the XY axis communication surface are Provided for light rays.

Each shape data (Xi, Yi) obtained for the width Δh of the light beam 2 'is input to the NC laser cutting tool to form a template having the same shape as the shape data from the thin plate having the width Δh.

By forming and superimposing a template continuously, a three-dimensional shape having the same shape as the object is formed.

According to the present embodiment, even if the shape is complex like the face or body of a person and the surface is flexible, the tertiary three-dimensional shape can be easily formed.

In the present embodiment, a thin plate having a width equal to the width of the light beam is utilized to form a template having the same shape as the object, but a thin plate that is reduced or enlarged at a constant ratio with the width of the light beam is used, and the shape data is reduced or enlarged at the same rate. Therefore, the three-dimensional solid shape can be easily reduced or enlarged.

In the present embodiment, four light irradiation apparatuses and four ITV cameras are utilized, but the thin plate 9 can be rotated 90 degrees as shown in Fig. 1B, so that one light irradiation is used to pick up the image by the associated ITV camera. The device can be irradiated with the object.

A second embodiment of the present invention will be described with reference to FIGS. 6-9.

In the first embodiment, a light irradiation apparatus is used as a means for performing scanning within a fixed angle, and an ITV camera used as a two-dimensional image pickup apparatus is used as an image pickup means.

On the other hand, in the second embodiment, the light beam 12 'moves in parallel with the Y-output, and as the image pickup means, the one-dimensional line sensing camera was utilized as the one-dimensional image pickup mechanism.

As shown in Figs. 6A and 6B, reference numeral 12 denotes a light beam irradiation device for irradiating light beam 12 ', which is only parallel scanning, unlike the first embodiment, not scanning within a fixed angle.

The light irradiation apparatus 12 is fixed to the rack 18 which can move in the direction of a Y-axis and a Z-axis.

The light beam 12 'has a width of Δh, and is irradiated from the light irradiation apparatus 12 to the Y-Z side system plane, and the target model 1 is irradiated with light through parallel scanning while the rack 18 is displaced in the Y-axis direction.

The rack 18 can be displaced in the Y-axis direction by moving the ball nut 6 and the ball screw shaft 5 using a step motor (not shown).

This is equivalent to displacement in the Z axis in the first embodiment.

Incidentally, reference numeral 19 denotes the position of the detector on the Y axis.

The one-dimensional line sensing camera 13 is fixed to the rack 18 under the light irradiation apparatus 12, and is parallel to the Z axis so that the optical axis forms an angle of β with respect to the X-Y side, and the detection direction is parallel to the X-Y axis plane.

Also in this embodiment, four sets of racks 18 are arranged to continuously detect the shape of the entire outline of Model 1 around the Z axis, but only one of them will be described.

7A and 7B are elevation and side views of the geometric positions of the light irradiation apparatus 12 and the one-dimensional line sensing camera 13, respectively.

In FIG. 7B, Zi is an intersection point between the optical axis and the Z axis of the line sensing camera 13.

As shown in FIG. 8A, the one-dimensional line sensor camera 13 is composed of one optical lens 50 and one-dimensional line sensor 51, and the one-dimensional line sensor 51 has E microscopic optical sensors 40 (generally, E is composed of one line as shown in FIG. 8B.

Assume Pi as the intersection point of the light 12 'irradiated from the light irradiation device 12 with the surface of Model 1.

And when picking up point Pi by one-dimensional line sensing camera 13, the image Pi 'with one-dimensional line detection on 51 is focused on element e, and image Zi' corresponding to point Zi is E / 2 element. Is focused on.

In FIG. 8a, the angle at the one-dimensional sensor 51 in the direction of this line is assumed to be Δli, connected to the plane containing the optical axis of the light-sensing camera 13 vertically from the point Pi and parallel to the Y-axis. If the length of the element is DELTA q, the following relationship is satisfied.

Where N is the optical magnification of the line sensing camera.

Furthermore, the element number e, which is the element of the one-dimensional line sensor with Pi 'focused, is obtained as follows.

As shown in FIG. 8B, each element of the one-dimensional line sensor 51 provides a charge DELTA q according to the amount of light absorbed (light intensity x absorption time).

Reference numeral 41 in the figure denotes a switch for connecting the charge accumulated in each element together with the charge-potential converter 42.

These switches are opened and closed by the open / close signal CHS from the control circuit 43 for each? T time in turn from the first switch, and only one switch is opened.

FIG. 8C shows the output potential waveform as a result of converting the charge of each sensor element to a potential by a charge-potential converter 42. FIG.

Among the first to Eth elements, the e-th sensing element has a higher output than other elements because the ray image is focused. 9 is a circuit for detecting each element from the one-dimensional stone output. In the figure, reference numeral 44 denotes a counter for counting the number of switching signals. The counter is set to zero by the open / close start signal STB generated from the control circuit 43 immediately before the output primary open / close signal.

The counter counts the number of output switching signals from the control circuit until the next STB signal is supplied.

Thus, the output of counter 44 represents the number of switching switched to date.

The digitizing circuit 45 is for converting the output potential from the charge-potential converter 42 to the values "bright", "0", and "0" on the surface of the model 1 irradiated with light. And the other part is expressed as "O".

The gate circuit 46 is for outputting and storing the output from the counter 44 to the memory 48 when the output from the digitizing circuit 45 is "1" (bright).

As mentioned above, the rack 18 can move in both directions of the Y and Z axes, and the current position in each axis is sensed by two position detectors. Another gate circuit 47 delivers the output of the Y-axis position detector to the memory 49 when the output of the gate circuit 45 is "1" (bright), and synchronizes and stores the output of the counter 44 in the memory 48. This operation is repeated as the pitch of the beam of width Δh while the rack 18 moves from point 0 to Ym in FIG. 7A.

On the other hand, the vertical line drawn on the Z axis in the direction of the X axis at the point Pi is

Using Eq. (3), we obtain

At this time, the Y coordinate of the point Pi coincides with the value of the Y-axis position detector.

The computation of equation (5) is performed by means of electronic circuits, microcomputers, or the like, providing details parallel to the X-Y plane of model 1.

As in the first embodiment, the template is made based on the obtained images, and a three-dimensional shape is created by overlapping the template. This second embodiment, along with the advantages of the first embodiment, has the advantage of reducing the cost of the overall system by using the one-dimensional pre-sensing camera (s).

The third embodiment of the present invention will be described below with reference to FIGS. 10A and 10B showing the constituent parts of the embodiment.

In the figure, reference numeral 2 denotes a laser beam generator for generating a laser beam.

Reference numeral 60 is a rotating mirror for scanning the X-Y side of the model 1 by the laser beam generated near the point R of the X axis.

The laser beam is scanned at an angle _of ψ in the vertical direction (Z axis) covering the whole part of model 1 (Pψ ₁ -Pψ _n) .

를 가지는 광측을 가진다. 모델 1에 조사된 레이저 광선의 영상은 PSD 카메라 61에 의하여 픽업된다.Reference numeral 61 denotes an image pickup device using a two-dimensional light source detector (PSD) as a position detection camera. The line of focus on the XY axis is passed through the origin G with the line segment on the point Q and the X axis and the angle θ. Line segment extending from origin G to point Q

Has a light side with The image of the laser beam irradiated to model 1 is picked up by the PSD camera 61.

로 이어진 수직선의 착점은 S이다. PSD 카메라 61의 초점 Q로부터 X축에 수직으로 그어진 선의 착점은 Qo이다.In FIG. 10A and FIG. 10B, it is assumed that a bright point, that is, a light point at which the scanning angle of the laser beam forms an angle between the X-axis and ψ i (i = 1-n) is P ψ i. Line from light point Pψi

The point of vertical line leading to is S. The point of arrival of the line perpendicular to the X axis from the focal point Q of the PSD camera 61 is Qo.

The image trajectory of the image P'ψ ₁ of the light spot Pψ ₁ is picked up by the PSD camera 61 and appears as shown in FIG.

In other words, the locus is a cross-sectional locus on the X-Z axis plane of the model 1 in FIG. In FIG. 11, points S 'and Po' are the results of picking up points S and Po by the PSD camera, respectively, and lines X ', Y', and Z 'correspond to X, Y, and Z axes, respectively.

와 같고 후자도

와 같으므로 다음 방정식으로부터 구하여진다.In FIG. 11, when calculating the X-axis coordinate Xψi and Z-axis coordinate Zψi of the light spot Pψi, the electrons are line segments.

And the latter

Is obtained from the following equation.

는 PSD 영상면상의 점 G'와 점 Po' 사이의 거리(제11도)이다.Where K is the optical magnification of the PSD camera,

Is the distance (dot 11) between point G 'and point Po' on the PSD image plane.

Where b is the distance between the tavern and the PSD image capture surface,

: PSD 영상면(제11도)상의 점 Po'와 P'ψi사이의 거리이다.

: Distance between points Po 'and P'ψi on the PSD image plane (Fig. 11).

A method of calculating the position of the light spot image P'ψi on the PSD image plane of the PSD camera 61 will be described.

When one light point reaches one point of the PSD image capture plane, that is, point W, photoelectric current is generated at point W.

This photoelectric current flows along the electrodes A1, A2, B1 and B2 constituted at the four ends of the PSD image capturing plane, and the amount of current is inversely proportional to the distance between each electrode and the point W.

As shown in FIG. 12, the abscissa passing through the center point of the image capturing plane is the a-axis, and the ordinate is the b-axis.

The currents flowing through the electrodes A ₁ , A ₂ , B ₁ , and B ₂ are 1A ₁ , 1A ₂ , and 1B ₁ , 1B ₂ , and the position of the point W with respect to the a-axis and the b-axis is obtained from the following equation. Is obtained.

Where 1 ₁ : distance between A ₁ and A ₂

1 ₂ : distance between B ₁ and B ₂

은 a-축과 b-축이 제12도에서 나타난 바와 같이 PSD 카메라 61의 영상촬영면상에서 a-축과 b-축이 결정된 방법과 같이 X축과 Z축의 영상 X'와 Z'에 대응하므로 상기 방정식으로부터 계산된다.Moreover, the position of the point R'ψi

Since the a-axis and the b-axis correspond to the images X 'and Z' of the X-axis and the Z-axis, as shown in FIG. 12, the a-axis and the b-axis are determined on the imaging plane of the PSD camera 61. Is calculated from the above equation.

More specifically, the model 1 is scanned through the rotating mirror 60 from the upper Pψ ₁ to the lower Pψ _n , and the image of the laser beam irradiated to Pψ _n at each point Pψ ₁ is captured by the PSD camera, and the equation (6) (7) (8) (9) is computed to provide X? I, Z? I at each point.

A two-dimensional shape corresponding to the approximate circular portion associated with the XZ side of Model 1 is obtained according to the combination of the coordinates (Xψi, Zψi) of Pψi in the measured Pψ ₁ .

A two-dimensional shape consisting of a series of position coordinates (Xψi, Zψi) of Pψ ₁ to Pψ _n is stored in a memory and used as data for forming a three-dimensional shape to be described later.

Thus, the means for obtaining the two-dimensional shape related to the X-Z side of the model 1 was demonstrated.

However, in order to produce the three-dimensional shape of model 1, the entire two-dimensional shape of model 1 must be obtained, and model 1 rotates. In more detail, the position of Model 1 relative to the XZ side is deformed as shown in FIG. 10A, using a motor 62 fixed by a support device 64 fixed to a fixed object such as a floor. To rotate the turntable 65.

Then, the two-dimensional image photographing by scanning of the laser beam is performed to form a two-dimensional shape related to the new semi-circular cross section of Model 1.

Two-dimensional shapes (Xψi, Zψi) associated with each cross section are stored in the memory to obtain a two-dimensional shape for the whole of Model 1 stored in the memory.

The rotation angle of the turntable 65 is detected by a rotary encoder 63 connected to the motor 62, and the output of the rotary encoder is stored together with the two-dimensional shape corresponding to each part of the model 1. 13 is a block diagram of an electric circuit for obtaining a three-dimensional shape based on the two-dimensional shape obtained above. Next, the configuration will be explained along with the operation of the device.

In the figure, reference numeral 1 denotes a model, reference numeral 2 denotes a laser beam generator, reference numeral 60 denotes a rotating mirror, and reference numeral 61 denotes a PSD camera.

The apparatus for forming the three-dimensional shape of the model 1 controls the light point position calculating circuits 71 and 72 for detecting the position of each light spot captured by the PSD camera 61 and the rotating mirror 60 for scanning the laser beam. Laser beam scanning control circuit 73, motor motor control circuit 74, A / D converter 75, 76, microcomputer 77, memory 78, 79, 80, 81 for controlling the motor 62 to rotate the model at any micro angle. And paper tape perforator 82 for data processing, operation storage and output.

The operation of the configuration device will be described.

For simplicity, the case where the laser beam is first irradiated at the rotation angle of 0 ° of the model 1 will be described. The rotating mirror 60 irradiates the laser beam from the upper Pψ ₁ of the model ₁ to the lower Pψ _n according to the output of the laser beam scanning control circuit 73. The light spots in Pψ ₁ in Pψ _n are taken by the PSD camera 61, and photoelectric currents IA ₁ , IA ₂ and IB ₁ , IB ₂ are input to the light spot position calculating circuits 71 and 72 at each light point generated by the PSD camera. do.

에 해당하는 아날로그 전위를 제공하고, 광점위치 계산회로 72는 IB₁과 IB₂를 근거로

에 해당하는 아날로그 전위를 제공한다.The light point position calculating circuit 71 is based on IA ₁ and IA ₂ .

Corresponding to the analog potential, the light point position calculation circuit 72 is based on IB ₁ and IB ₂

Provide the analog potential corresponding to

These analog potentials are converted into digital values by the A / D converters 75 and 76 and input to the microcomputer 77.

와

에 해당하는 수치를 이용하여 수행되어서 광점 Pψi의 X 좌표와 Z 좌표 즉 (Xψi, Zψi)가 구하여 진다.The operation of equation (6) (7) is input to microcomputer 77

Wow

The X and Z coordinates (Xψi, Zψi) of the light spot Pψi are obtained by using a numerical value corresponding to.

These values (Xψi, Zψi) and the rotation angle (currently 0 °) of the tentable are detected by the rotary encoder 63 and stored in the memory 78. Thus, the values are each repeated for a period of time (the laser beam is continuous during that time), during which the light spot P moves the light spot P from the top Pψ _i of the model 1 to the bottom Pψ _n by scanning of the laser beam.

When the rotation angle of the turntable 65 is 0 °, the X and Z coordinates of the two-dimensional shape of the approximate semicircle (which can be observed with a PSD camera) related to the X-Z side of Model 1 are stored in the memory 78. Next, by operating the signal from the microcomputer 77 to the motor operating circuit 74, the motor 62

Rotate Tentable 65 at a fixed angle of Δα = 360 ° / m (where m represents a continuous range within the silver laser beam).

This rotation angle Δα is input to the microcomputer 77 by the rotary encoder 63 connected to the motor 62.

After the turntable 65 is rotated so that the model 1 moves by the angle Δα by the motor 62, the two-dimensional value is obtained by obtaining the X and Z coordinates of the two-dimensional shape of the new cross-section related to the XZ side of the model 1. In memory 78.

These values are repeated as model 1 is rotated by a fixed angle Δα. An example of the storage state of the memory 78 will be described with reference to FIG. In this figure, the memory address represents a position from the light point Pψ ₁ to Pψ _n by scanning the laser beam, and the rotation angle, X coordinate, and Z coordinate from the rotary encoder 63 are stored in a commercially available memory address.

The two-dimensional shape obtained by the two-dimensional data value of Model 1 is related to the portion moved by each fixed angle Δα with respect to the center of Model 1, but the accumulation of these two-dimensional shapes is three-dimensional corresponding to Model 1. It does not provide a shape.

Therefore, the data of the X-Z coordinates (Xψi, Zψi) stored in the memory 78 must be converted into data for a two-dimensional shape that is proportional to the cross sections parallel to the cross section at the rotation angle of 0 °. The data is converted with its cross section at a rotation angle of 0 ° coinciding with the X-Y plane.

As shown in FIG. 15, the X coordinates Xψi (jΔα) and Y coordinates Yψi (j) of the light spot Pψi at the rotation angle jΔα (j = 0, 1, 2, 3, ... m). Δα) and Zψi (jΔα) are derived from the following equation.

에 해당되는) 드들의 분류된 자료에 따라 메모리 80에 연속적으로 저장된다.(In memory 78

Are sequentially stored in memory 80 according to the classified data of each module.

Therefore, coordinates Xψi (jΔα) and Zψi (jΔα for each section of KΔy≤Y <(k + 1) Δy corresponding to the cross-sectional shape of Δy in parallel with the XZ axis plane of Model 1 ) Is stored in memory 80. Incidentally, in the above classification, the same section of the Y coordinate, KΔy ≦ Y <(k + 1) Δy, is equal to Xψi (jΔα) of the X coordinate and other Z coordinate Zψi (jΔα).

In this case, the average value of Zψi (jΔα) will be obtained.

This average value is utilized for the X coordinate X? I (jΔα).

The X coordinates, Xψi (jΔα), classified in the interval of the Y coordinate of Δy, together with Zψi (jΔα), are configured from + maximum to −maximum and stored in the memory 81.

Z coordinates Zψi (jΔα) are also arranged in this manner.

Therefore, the X coordinate, Xψi (jΔα) and Z coordinate Zψi (jΔα), which are configured from the + maximum value to the-maximum value, are stored in the memory 81. The contents of the memory 81 are read by the microcomputer 77 and the NC tape 83 is made through the paper tape puncher 82.

The NC tape 83 is inputted to the NC plate cutting device (not shown) by a paper tape reader (not shown). The plate of thickness Δy is cut out from the template matching the cross section parallel to the X-Z side of the model. When the NC plate cutting device cuts a template whose thickness is reduced or enlarged at the same rate as the X and Z coordinates, the template is reduced or enlarged from Model 1 at a constant magnification. Thus, as the obtained template is superimposed, a three-dimensional shape is formed by the fixed reduction ratio or enlargement ratio of Model 1.

In order to facilitate superposition in forming the three-dimensional shape, information such as a plurality of reference holes is input to the NC tape of each associated template having holes.

The three-dimensional shape can be easily formed by overlapping the templates while matching and fixing each hole of the template.

In this embodiment, the case where the NC plate cutting device forms a three-dimensional shape has been described. However, the cross section related to the X-Z axis plane of Model 1 is obtained by cutting a plate and forming a three-dimensional shape, for example, according to the shape produced by connecting the output of the microcomputer 77 and the X-Y drawing machine or recorder.

Next, a fourth embodiment of the present invention will be described with reference to FIG.

As can be understood by comparing FIG. 1A, FIG. 1B and FIG. 19, the fourth embodiment differs from the first embodiment in that the fourth embodiment has a stripe beam 90 'having? H or 0.5mm instead of the laser beam. Striped light irradiation apparatus 90 for generating a was used.

The ITV camera 3 can slide according to the radius R already determined by the guide device 8a in which the ITV camera 3 is installed, and change the angle of the optical axis of the ITV camera like the X-Y axis plane crossing the Z axis. (In addition, this guide device 8a was utilized in the already described embodiment of the present invention.)

The fourth embodiment of the present invention shown in FIG. 19 is identical to the first embodiment shown in FIGS. 1A and 1B except for the above difference. An image picked up by the ITV camera 3 may be described with reference to FIG. 20. Model 1's image looks better because it uses a stripe ray 90 '.

The state of the video signal in the ITV camera 3 is as shown in FIG.

As shown in FIG. 20, when the scanning line Sn crosses the sickle-shaped image, a high level video signal is generated as shown in FIG. The optical cross section of a cross section by data capture of a relative optical trajectory performed through calculation of an image signal can be obtained by data processing for capturing cross-sectional shape data, as shown in FIG. 5 in connection with the first embodiment. Can be.

Next, a fifth embodiment of the present invention will be described with reference to FIGS. 22A and 22B showing the side and the front of the apparatus of the present invention.

A feature of the present invention resides in a striped light irradiation apparatus for generating a plurality of striped light rays 90a that are irradiated to shorten the irradiation time of model 1.

The stripe photoirradiation device 90 is composed of a plurality of light sources, a laser beam generator, a single optical system, cylindrical lenses, and a concave mirror, each having a width Δα (that is, 0.5 mm) and a sulfate angle θ in Model 1 ( That is then irradiated with the beams of the stripes _{10) (90a 1 -90a 10)} .

The light stripes (90a ₁ -90a ₁₀₎ are parallel to the vertical lines drawn in the vertical center line (Z axis) of the model 1 from the center of the light source corresponding to each of the center line and is configured to be irradiated with intervals of 30mm.

The ITV camera 3, which is a two-dimensional image pickup device, is located at a predetermined distance from the striped light irradiation apparatus 90, and the optical axis of the camera faces the model 1 and forms a predetermined angle with the striped light beam 90a ₁ x 90a ₁₀ . (For example, the angle of β is made with the striped light beam 90a ₅ )

Moreover, the effective view of the ITV camera 3 is assumed to be α, and the point where the vertical line drawn on the Z axis from the focus of the camera lens intersects the Z axis is G, and the line segment perpendicular to the X and Y axes is the Y axis and the point. G is the origin of each coordinate axis.

The striped light irradiation device 90 and the ITV camera 3 are fixed to the rack 4 which is guided to slide on the guide rod, and the rack 4 is attached to the ball nut 6 which is screwed as the ball screw shaft 5.

The step motor (not shown) is connected to the ball screw shaft 5 and moves the ball nut 6 up and down stepwise by the width Δh of the stripe beam. Thus, stray rays are irradiated to the model step by step.

In order to illuminate the entire outside of Model 1 as striped beam 90a and capture the resulting image, the associated pair of striped beam emitters 90 and ITV cameras 3 should be configured to surround Model 1.

In this case, if the distance from each ITV camera to the Z axis is equal to the centerline of Model 1 and the optical magnification is also the same, the operation to achieve NC data based on the measured data can be simplified. This is because the images corresponding to the streaked rays captured by the image can be directly compared. But this is not an essential requirement.

For example, the measurement data of each camera can be corrected by comparing the data obtained only with the shape of a certain cross section of the object actually measured in advance and the data formed by the imaging of the cross section by each ITV camera 3.

FIG. 23 shows an image in which streaked rays 90a photographed by the ITV camera 3 are irradiated to the model 1. The ITV camera 3 is configured such that the direction of the scanning line is parallel to a plane composed of the X and Z axes, that is, the XZ plane, and the image corresponding to the stripe line 90a irradiated to the model 1 is picked up by the ITV camera 3, and the twenty-third As shown in the figure, ten arched stripe images are generated. The point Pi containing the streaked image in FIG. 23 is an image of the point Pi in FIGS. 22a and 22b, and coincides with any one point of the striped light beam irradiated on the surface of model 1. FIG.

와

의 좌표는 제22a도 및 제22b도에 있는 X축과 Z축에 대응된다. 부수적으로 제23도에서의 S₁-S₁-S_r은 ITV 카메라 3의 주사선을 나타내고, Ka는 밝은(높은)과 어두움(낮음)의 두 값으로 촬영된 신호를 나타내기 위한 한계치를 나타낸다.

Wow

The coordinates of correspond to the X and Z axes in FIGS. 22A and 22B. Incidentally, S ₁ -S ₁ -S _r in FIG. 23 represents a scanning line of the ITV camera 3, and Ka represents a threshold for representing a signal photographed with two values of bright (high) and dark (low).

Means for obtaining the optical cross section from the image picked up by the ITV camera 3 are shown in FIG. 3, whereby the means of the coordinates of the point Pi relative to the X, Y and Z axes are described. As shown in FIG. 23, one image plane of ITV camera 3 is formed by scanning Y image lines from the ITV camera 3 with Y scanning lines (typically 250-500).

These scanning lines are represented by S ₁ , S ₂ , S ₃ ... S ₁ ... S _r from the left according to the scanning order of the video signal. The image of Model 1 is captured by the ITV camera 3 to provide an output signal as shown in FIG.

As shown in Fig. 24, the output signal firstly outputs the image plane start signal V _BL (hereafter referred to as a vertical synchronization signal), and then the first horizontal syringe motion signal (here, horizontal synchronization). Signal) is then outputted on the scan line S ₁ for a predetermined time ta. After the first scan is completed, the second horizontal synchronization signal H _BL is output, and the video signal is scanned on the scan line S ₂ . Thereafter, the scanning of the video signal is repeated to the scanning line S _r in the same manner. Thus, one image plane is completed.

25 is a block diagram of a control circuit for obtaining coordinates (Xi, Yi, Zi) of the light spot Pi corresponding to the X-axis Y-axis and Z-axis using the ITV camera 3.

In FIG. 25, reference numeral 3 is an ITV camera, and reference numeral 109 is a separator. The video signal S corresponding to the image of model 1 is irradiated with a stripe ray 90a and photographed by the ITV camera, and is separated from H _BL and V _BL . The horizontal synchronous signal H _BL and the vertical synchronous signal V _BL are input together. Reference numeral 101 denotes a counter, which has a coefficient input terminal IN connected to the horizontal synchronous signal H _BL from the separator 109 and a return input terminal RESET coupled to the vertical synchronous signal V _BL .

The counter 101 is readjusted to zero by the vertical synchronizing signal V _BL generated before scanning one image plane, and counts the number of horizontal synchronizing signals H _BL generated before scanning is started on each scan line S ₁ -S _r . . The coefficient of counter 101 represents the number of scan lines from which video signals from an ITV camera have been scanned.

The symbol 102 represents an oscillator, which outputs a pulse continuously at each ta / m period obtained by dividing the time required for scanning one scan line into equal m parts. The pulse generated from the oscillator 102 is counted by the counter, which is readjusted to zero by the horizontal synchronization signal H _BL . These pulses are counted by counter 103 until the horizontal sync signal H _BL for the next scan line is generated. Thus, the scanning point is obtained on the image plane of the ITV camera 3. The number of pulses counted by the counter 103 is stored in the memory 107 via the gate circuit.

The video signal of the ITV camera 3 is separated into the vertical synchronous signal V _BL and the horizontal synchronous signal H _BL in the separator 109, and the brightness is "1" and dark in the numerical circuit 108 using the predetermined signal level Ka (Fig. 23) as a reference value. It is converted into a digital signal of two values of " 0 &quot;. Thus, the bright striped image portion of the outer portion of the model 1 appears as "1" and the other portion as "0".

This digital signal is used for each gate switch control terminal N of the gate circuits 104 and 105 so that the gate circuits 104 and 105 are closed only when the digital signal is "1", and the contents of the counters 101 and 103 are stored in the memories 106 and 107, respectively. .

Thus, when the image of Model 1 is captured, the number of scan lines (contents of counter 101) and the position of scan lines (contents of counter 103) can be stored. It is assumed that the content of the memory 106 is ΔYi and the content of the memory 107 is ΔZi.

Furthermore, in some cases pairs of? Yi 'and? Zi' are given for one scan line.

Both of these? Yi-? Yip and? Zi-? Zip are stored in the memories 106 and 107.

There will be light spots of multiple stripe images on one scan line. Thus, the identifications of ΔYi 'and ΔZi' are made in synchronization with the lighting command of the streaked rays 90a ₁ -90a ₁₀ which are continuously applied from the microcomputer 110 to the striped ray irradiation apparatus 90.

By capturing data of ΔYi and ΔZi, the X and Y coordinates (Xi, Yi) of the point Pi of model 1 can be obtained by the following method referred to in Fig. 22A.

와 선분 Z=ZL의 교차점이고, Xi는 다음식에 의하여 주어진다.As shown in Figures 22a and 22b, the point Pi is a line segment.

And the intersection of the line segment Z = ZL, and Xi is given by the following equation.

: 점 0와 Q사이의 거리here

: Distance between point 0 and Q

L: Distance between Z axis and center line of ITV camera lens

ZL: Distance between striped rays 90a ² and X axis

는 다음과 같이 주어진다.Of formula (14)

Is given by

Where α is the viewing angle of the ITV camera

r: angle between the visible end of the ITV camera and the X-axis

m: sampling time

Yi is given by

Where r is the total number of scan lines on one image plane

Xi: value given by equations (14) and (15)

The operations of equations (14), (15) and (16) are performed by the microcomputer 110, and the results are stored in the memory 111. All X and Y coordinates (Xi, Yi) related to one image plane of ITV Camera 3 are calculated and then the data are stored, as shown in Figure 22a, Rack 4 performs the process as mentioned above. In order to do this, the rack 4 is moved by the step motor (not shown) by the width Δh of the striped light beam. Rack 4 also moves by the width Δh of the accompanying streaks. The above description is for one measuring device including an ITV camera. When measuring the entire outline of Model 1 in three dimensions, the ITV cameras 3 are configured with the associated measurement processing part to obtain ΔYi 'and ΔYi' corresponding to the same distance from the Z axis of Model 1. have.

Data of ΔYi 'and ΔZi' associated with each camera are input to the microcomputer 110 to calculate the corresponding coordinates (Xi, Yi) and the calculation result is stored in the memory 111.

Thus, three-dimensional measurement of the entire outline of model 1 is performed. In addition, the complexity of the ITV cameras is to form a complex image plane and to some extent overlap between adjacent image planes. However, these overlaps can be eliminated by determining the image pickup range of each ITV camera in advance.

For example, when n ITV cameras are configured to surround Model 1 at regular intervals, the image capturing range may be set according to the optical axis of each ITV camera 3 within the range of Z axis and ± 360 / 2n.

Furthermore, in this embodiment all the ITV cameras are displaced to the same level as the Z axis in order to simplify the operation process. Next, the method of replicating or replicating the three-dimensional shape of Model 1 based on the light spots (Zi, Yi) obtained therefrom will be explained. Assuming that the complex scanning line of the ITV camera 3 ₁ -3 _n is 1Si = nSi, the coordinates of the stripe rays 90a ₁ -90a ₁₀ corresponding to the scanning line 1Si stored in the memory 111 are (Xi90a ₁ , Yi90a ₁ ) 1Si- ( Xi90a ₁₀ , Yi90a ₁₀ ) 1Si.

Ten NC (Laser cutting machine 150 ₁ -150 ₁₀₎ for cutting the plate As shown in Fig. 26 in this embodiment constitutes the operating system controlled by the NC command from a microcomputer 110 that is associated with these cutting machine.

After the plate of width Δh is installed, the coordinate commands (Xi90a ₁ , Yi90a ₁ ) 1S _1- (Xi90a ₁₀ , Yi90a ₁₀ ) 1S ₁ in each laser shearing machine (150 ₁ -150 ₁₀ ) cut the plates respectively. Is used to start doing.

Next, the coordinate command _{(Xi90a 1, Yi90a 1) 1S} 2 - (Xi90a 10, Yi90a 10) 1S 2 to laser cutting machines 150 ₁ -150 ₁₀ is utilized to cut each.

These operations are repeated until each coordinate command (Xi90a ₁₀ , Yi90a ₁₀ ) is derived.

After the NC cutting associated with the ITV camera 3 ₁ is completed, the NC cutting based on the coordinate commands (Xi90a ₁ , Yi90a ₁ ) 2S _1- (Xi90a ₁₀ , Yi90a ₁₀ ) 2S ₁ is performed for the ITV camera 3 ₂ . Similar cuts are repeated up to 3 _n ITV cameras.

Thus, a first measuring point template having a width? H having the same shape as the cross-sectional shape of the model associated with each striped light beam surface 90a ₁ -90a ₁₀ is produced.

Subsequently, the process takes place at the second measuring position. By repeating these processes for a predetermined number of measurements, a template corresponding to all cross-sectional shapes associated with the model is given. The superposition of the templates according to the order of measurement can be easily replicated, ie sticking with an adhesive.

In accordance with the present invention, a high speed operating system can be realized, wherein the high speed operating system is configured to irradiate the compound striped light on the Z axis of the model such that the striped light sources are displaced by a short distance and the irradiation time of the striped light is reduced. Can be realized.

Moreover, the scan lines of the ITV cameras are constructed in one vertical direction, doubling or more in the vertical direction compared to the decomposition in the horizontal direction, where there are twice or more in the vertical direction, like a human figure, The accuracy of the measurement can be improved for a model that extends in the vertical direction, such as a human shape.

Incidentally, to simplify the operating system in this embodiment, all ITV cameras are displaced to be at the same level with respect to the Z axis, but this is not an essential requirement.

For example, the data (Xi, Yi) given by each camera corresponds to the same height by utilizing the measurement result of the height of each ITV camera through an encoder, for example, in a microcomputer.

With the NC cutting system, the width of the plate can be enlarged or reduced by N △ h or △ h / N times, and the data (Xi, Yi) can be multiplied by N times or 1 / N times to enlarge or reduce the shape of the model to any size. Can be. 27 shows a side view of the sixth embodiment of the present invention, in which the ITV camera 3 is fixed and only the laser beam irradiator 2 can move.

When the laser beam irradiator 2 moves, the angle β between the optical axes of the ITV camera 3 and the X-Y axis system plane also changes. Therefore, when forming the optical section, the displacement of angle β should be corrected by the displacement of the laser beam irradiation apparatus.

28A and 28B show an elevation and a side view of a seventh embodiment of the present invention, in which an incandescent lamp 120 is used instead of a laser beam irradiation apparatus.

A cover 121 surrounding model 1 is given, and the light and dark portions 122 and 123 of model 1 are taken by ITV camera 3 to give an image signal as shown in FIG. The processing of the video signal is performed in the same manner as in the first embodiment of the present invention for obtaining the optical cross section. Finally, Figs. 31A and 31B show the side and the front of the eighth embodiment of the present invention, wherein the ITV camera 3 is configured directly on the model 1, that is, on the Z axis.

In this embodiment, the model 1 irradiated by the striped light irradiation apparatus is photographed by the ITV camera 3 to provide an image 130 as shown in FIG.

The video signal corresponding to this video 130 is shown in FIG. 33, and is subjected to the same data processing as in the first embodiment for providing the optical cross section.

Claims (16)

In order to suppress the three-dimensional shape from the object having a three-dimensional solid shape, a parallel ray having a predetermined width is irradiated to the outside of the object as a light irradiation device, and an optical surface formed by the parallel ray at a predetermined angle. A two-dimensional pick-up apparatus having an optical axis intersecting a; picks up an image of the irradiated object and measures the cross-sectional shape of the object related to the image based on the image of the picked-up object; In order to continuously measure the cross-sectional shape, the parallel light and the two-dimensional image pickup device are displaced by the width of the parallel light in the vertical direction, the entire cross-sectional shape of the object is measured, and then each measured from the thin plates of the measured cross-section. Forming a corresponding template, and overlapping the template for a similar three-dimensional solid shape of the object. The three-dimensional solid shape forming method according to claim 1, wherein the parallel ray is irradiated with a laser streaked light. The method of claim 1, wherein the parallel rays are irradiated with a laser beam. In order to obtain a three-dimensional shape from an object having a three-dimensional solid shape, the irradiation apparatus 2 for irradiating the parallel light 2 'from the fixed surface to the object is picked up and the light beam irradiated to the object is picked up. A measurement circuit device for measuring a cross-sectional shape from an image picked up by an image pickup device and an image pickup device and a template from the thin plate by matching the width of the cross-sectional shape corresponding to the width of the thin plate based on the cross-sectional shape. A device for irradiating the light beam in a vertical direction with a device for forming a device and a device for shifting the image pickup device. The device is configured to form a template corresponding to the entire object to form a three-dimensional shape that is the same as or similar to the object. Apparatus for forming a three-dimensional solid shape, characterized in that configured to have. 4. The apparatus for forming a three-dimensional solid shape according to claim 3, wherein the parallel light irradiating device is a laser stray light irradiating device (90). 4. The apparatus for forming a three-dimensional solid shape according to claim 3, wherein the parallel light irradiating device is a laser beam irradiating device. 4. The image pickup device according to claim 3, wherein the image pickup device is an ITV camera (3) which is a two-dimensional image pickup device, and wherein the device for measuring the cross-sectional shape is configured to scan the cross-sectional shape on the ITV camera (3) for a certain scanning time. And a three-dimensional solid shape forming apparatus characterized in that the measurement based on the time to scan any light beam. The method of claim 3, wherein the pick-up device of the object is a one-dimensional pre-sensing camera 13, which is a one-dimensional image pickup device, the device for measuring the cross-sectional shape detects the output enzyme of the one-dimensional detection camera 13 Three-dimensional solid shape forming apparatus characterized in that the device. The image pickup apparatus of the object is a light spot detection (PSD) camera 61 which is a two-dimensional image pickup device, and a device for measuring a cross-sectional shape is a device of the light spot detection (PSD) camera 61. A three-dimensional three-dimensional formation device, characterized in that the device for detecting the amount of charge. 4. The apparatus for forming a three-dimensional solid shape according to claim 3, wherein the parallel ray irradiator irradiates a plurality of rays to the object as a plurality. The apparatus of claim 3, wherein the image pickup apparatus is capable of displacing an image pickup position of the object. 4. The apparatus for forming a three-dimensional solid shape according to claim 3, wherein the image pickup device is fixed. 4. The apparatus for forming a three-dimensional solid shape according to claim 3, wherein the light irradiation device is an incandescent lamp (120). The apparatus for forming a three-dimensional solid shape according to claim 3, wherein the image pickup device is located directly above the object, and is installed at right angles to the light irradiation direction by the light irradiation device. 7. The apparatus for forming a three-dimensional solid shape according to claim 6, wherein the scan line of the scan lines and the period during a certain scan line are calculated from a horizontal scan signal and a start signal. A device for rotating the object at a micro angle to obtain a three-dimensional shape from an object having a three-dimensional solid shape, a light irradiation apparatus for causing a laser beam directed to the object to form a light beam surface, and a preset The position of the light spot picked up by the pick-up apparatus for each micro-angle of the object and the two-dimensional image pickup device for picking up the light spot of the laser beam irradiated to the target object fixed at a distance and an angle, and parallel to the beam plane An apparatus for calculating the cross-sectional shape of an object, an apparatus for forming each template from a thin plate of a certain width based on the cross-sectional shape and having a predetermined size for each of the cross-sectional shape, and a preset for the object. A three-dimensional solid shape forming apparatus, characterized in that it is configured to have a template overlapping device for forming a three-dimensional shape as a magnification. 16. The three-dimensional device according to claim 15, wherein the rotating device has a rotary encoder for detecting a rotation angle.

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