KR950009356B1 - Shape measuring method and device - Google Patents

Abstract

The object shape measuring device comprises more than one laser markers obliquely placed to be able to irradiate laser beam to the object to-be measured in a predetermined inclination angle; a camera unit placed around the object to-be measured in a vertical direction, for converting the position change of the laser beam reflected from its surface into an image data; an image input unit for converting the image data inputted from the camera unit into digital data; a central operating system for processing the digital image data according to the program stored at a memory and setting it as an initial value for a parameter; an operating unit for applying all commands to the central operating system and an I/O unit for outputting the operating result of the central operating system according to the input command.

Description

Method and device for measuring shape of object

1 is a block diagram showing a configuration of an apparatus of the present invention.

2 is a basic principle diagram for measuring the shape of a three-dimensional object by the apparatus of the present invention.

3 is a principle diagram of shape height measurement of an object by the apparatus of the present invention.

4 is a flow chart showing a control process related to the present invention.

FIG. 5 is a flow chart showing the embodiment of the driving mode of FIG.

6 is a flow chart showing the refinement of the adjustment mode of FIG.

7 is a schematic side view showing another embodiment related to the main part of the apparatus of the present invention.

* Explanation of symbols for main parts of the drawings

101: lens unit 102: second power supply

103: third power supply 104: operation panel

105: input / output device 106: image input device

107: laser marker 108: camera body

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an object shape measuring device. In particular, a surface shape of an object is measured by receiving reflected laser light from an irradiated laser beam at a predetermined inclination angle to a surface of a 3D object to be processed. It relates to a method and apparatus for measuring the shape of an object to obtain a numerical value related to.

Background Art A technique for inputting image data into a computer called an intelligent machine and processing the input data to reconstruct it into an easy-to-understand image is known.

This technology inputs image data depending on the visual sensor, and the main goal of the computer is to reconstruct the desired image through the pattern recognition and image understanding process through the input image data.

The image data related to the three-dimensional object to be measured is a two-dimensional image, but since it includes the feature points of the original three-dimensional object, the parameters related to the shape, such as the height, thickness, width, and length of the object, are calculated therefrom. It is possible.

For example, VOL.7 Summer Journal, 1984, published by the Korean Institute of Electronics Engineers. The paper introduced by No.1 Sung-Hyung Kim and Choi Jong-Soo's "Measurement of Object Shape by Project Image" details the measurement method through stereoscope.

However, this method requires that the camera's position and the object to be measured always maintain a constant angle with respect to the object's rotation axis, and that the object can be measured only if it has a lot of information data in various directions depending on the object's rotation angle. Constraints follow.

As another method, there is a method of detecting laser light by projecting it onto an object to be measured, but this method is only applied to three-dimensional positioning of an object to be measured.

Accordingly, an object of the present invention is to provide a method for measuring a two-dimensional shape of a three-dimensional object capable of obtaining a parameter relating to the two-dimensional shape of the object under laser light.

Another object of the present invention is to provide an apparatus suitable for measuring two-dimensional shape of a three-dimensional object.

As a method of implementing the above object, the present invention will be described in detail with reference to the accompanying drawings, preferred embodiments of the present invention.

FIG. 1 is a block diagram showing the configuration of a measuring device implementing the method of the present invention, which includes a laser marker 107 for irradiating a laser light to an object to be measured and a first driving power supply for the laser marker 107. The camera body which receives the first power supply 100 for supplying power and the reflected laser light of an object irradiated to the laser light to the lens unit 101 and converts the converted laser signal into an electrical composite image signal by the charge coupling device (CCD). (108), a second power supply (102) for supplying driving power for the camera body (108), and an image input device for analog / digital converting and outputting a composite image signal sent from the camera body (108). 106, an operation panel 104 for inputting a command required for measuring the shape of the object, an input / output unit 105 for performing commands input through the operation panel 104, and outputting the result thereof, and the image described above. Digital sent from input method 106 Program the image data according to the command input through the operation panel 104, but measure the shape of the object to be measured in the driving mode, align the position of the camera body 108 in the adjustment mode, one A central associating device 109 for setting initial values for parameters such as length, selection, and the like for a pixel of the pixel, a storage device 110 for storing data executed in the central computing device 109, and the above-described central calculation. And a third power source 103 for supplying drive power to the device 109.

In the measuring apparatus of the present invention having the above-described configuration, the laser marker 107 is disposed at an angle with the life surface, and the lens portion 101 is located above the object 204 vertically.

In the course of the measurement, the object 204 is moved horizontally toward the laser marker 107 to cause the laser light to be pre-scanned at its surface.

The laser light irradiated from the laser marker 107 is scanned at a predetermined angle onto the surface of the measurement object 204, and the reflected laser light is captured by the lens unit 101 positioned above and vertically refracted. .

The reflected laser light reflected from the surface of the object 204 is captured differently depending on the plane height H of the object 104 when viewed from the camera body 108.

The image data related to the plane height of the object to be measured 204 thus captured is transmitted to the central computing unit 109 via the image input unit 106, and the central computing unit 109 stores the program stored in the storage device 110. The above-described image data is calculated numerically and the result is output.

The height measuring principle of the object to be measured based on the present invention can be explained by the third degree.

When the laser marker 107 is at an angle θ to the horizontal plane and the laser light is irradiated to the object 204, the reflected laser light captured by the camera body 108 causes the height of the object 204 to be measured and the laser marker. The display position is changed according to the arrangement angle θ of 107, which means that the relationship of tan θ to the distance between the reference plane 302 and the laser light projected on the object 204 is measured. It is.

Therefore, the height of the object 204 can be expressed by the following equation.

H = number of pixels x physical length of one pixel x tan θ ............)

Where H is the height of the measured object.

Next, as the reference plane 302 moves the object 204 horizontally, the camera unit 108 of the measuring device 301 continuously captures the reflected laser light, and as a result, changes in the reflected laser light. Can be detected.

The program for calculating and processing the measured image data is operated in the following order.

Initialized in step 4a, step 4b determines whether or not it is in a travel mode, and if so, proceeds to step 4c to execute a program according to travel.

If it is not in the travel mode, the process proceeds to step 4d to determine whether it is the adjustment mode, and if it is the adjustment mode, it proceeds to step 4e to execute the program according to the adjustment. If it is not the adjustment mode, it is determined whether or not it is the stop mode in step 4f. If it is not the stop mode, the program proceeds to step 4g to execute the program according to the stop. Repeat one process.

Such program execution includes mode search in the stems 4b, 4d, and 4f, driving mode for measuring the shape of the object under measurement in step 4c, and camera position in step 4e. Can be arranged into an adjustment mode for aligning and setting the length for one pixel and determining an initial value of each parameter, and a stop mode for completing the processing at the stop by step 4g.

The driving mode described above can be described in detail with reference to FIG. 5.

Image data by the reflected laser light captured in step 5a is input, and in step 5b, the position change amount of the input laser light is extracted, and in step 5c, the object to be measured 204 based on the extracted change amount. Calculate the height of.

Next, step 5d checks whether a command (printing, graph, backup, stop) has been received from the operation panel 104, and returns to the initial step 5a if the command has not been received.

If the command via the operation panel 104 has been received, it is determined in step 5e whether it is a command in printing, and if so, the command is executed in step 5i, otherwise, the process proceeds to step 5f.

In step 5f, it is determined whether it is a graph command, and if so, the command is executed in step 5j, otherwise, the processing proceeds to step 5g.

In step 5g, it is determined whether it is a backup command, and if so, the command is executed in step 5k, otherwise, the process proceeds to step 5h.

In step 5h, it is determined whether it is a stop command, and if so, the command is executed in step 5i, otherwise, the flow returns to step 5d.

And the above-described adjustment mode can be described in detail with reference to FIG.

In step 6a, it is determined whether the adjustment step is a camera, and if so, the camera is set in step 6d; otherwise, the process goes to the next step 6b.

In step 6b, it is determined whether the adjustment step is parameter setting, and if so, the parameter is set in step 6e; otherwise, the process goes to the next step 6c.

Step 6c determines whether the adjustment step is stopped, and if so, executes a stop command at step 6f, otherwise returns to step 6a.

The measuring method by the apparatus in the apparatus of this invention comprised as mentioned above is as follows.

Referring to FIG. 2, the laser marker 107 irradiates laser light at an angle θ with a horizontal plane with respect to the object to be measured 204.

The laser light irradiated in this way is captured by the lens unit 101 as the reflected laser light reflected from the surface of the object to be measured 204 to become an image data.

At this time, the image data to be captured appears differently on the plane of the laser light display position depending on the height H of the measurement target 204.

The image data incident on the lens unit 101 is converted into an electrical signal by the charge coupling element of the camera 108 and input to the image input unit 106.

The image input unit 106 converts an electrical signal into an analog signal in digital form and inputs it to the central processing unit 109.

The central computing device 109 floats the input digital signal on a program stored in the storage device 110 to calculate the height of the measured object 204, and the user inputs and outputs the result calculated by the operation panel 104. It is instructed to output to the instrument 105.

In addition, after the program stored in the storage device 110 is initialized in step 4a, the commands input through the operation panel 104 and the input / output device 105 are circulated to steps 4b, 4d, and 4f. In the driving mode, the shape of the measured object 204 is measured as described in FIG. 5, and in the adjustment mode, the camera is measured as shown in FIG. An initial value for parameters such as the alignment of 108 and the length for one pixel is set.

It also stops the operation of the device in the stop mode.

FIG. 7 is a schematic side view showing another embodiment of the present invention, and FIG. 7A shows two laser markers 107A, 107b and one laser marker 107E facing each other at a predetermined inclination with respect to the measured object. Also, an example is shown in which cameras 108A and 108B are disposed on the upper and lower sides of the object under test, respectively.

According to this embodiment, it becomes effective for measuring the shape of the object under test having a height different from that of the reference plane 302 on the bottom surface.

7B shows an example in which a plurality of laser markers 107C, 107D, and 107E are arranged at a predetermined inclination angle with respect to the object to be measured, and the camera 108B is vertically arranged above, which has a height of one. This prevents the problem of the reflected laser light disappearing in the field of view of the camera in the case of the static measurement object.

That is, it occurs when the reflected laser light reflected from the object under test is reflected at an angle that cannot be caught by the field of view of the camera. This embodiment captures the reflected laser light closest to the deflected reflected laser light in this case and converts it into image data. This eliminates the interruption of data entry.

As described above, according to the present invention, the laser beam is irradiated to a three-dimensional object to be measured at a predetermined inclination angle, and the laser beam reflected from the surface is captured by a camera to perform data processing. It has the advantage that the dimensions related to shapes such as length and height can be measured simply and easily.

Claims (6)

In the object shape measuring device which is capable of measuring the data related to the object under measurement by irradiating light to the object to be measured and receiving the image reflected by the camera and inputting the image data according to the input program. One or more laser markers arranged obliquely to irradiate the laser light at a predetermined inclination angle with respect to the object to be moved horizontally on the ride, and the position of the reflected laser light disposed perpendicularly above the object to be reflected and reflected from the surface thereof A camera unit which receives the change and converts it into electrical image data, and outputs it; an image input unit that digitally converts and outputs image data input through the camera unit; Adjust and stop mode One at the same time with separate data processing A central operation unit that sets initial values as parameters such as length setting for the operation unit, an operation panel that applies mode step-by-step instructions to the central operation unit, and an input / output unit that outputs the operation result of the central operation unit according to the input command. Object shape measuring device, characterized in that. The laser marker of claim 1, wherein the laser marker is disposed to have a predetermined inclination angle at an upper side and a lower side of the object to be measured, and the camera unit is configured to face the vertical direction at an upper and lower side of the object to be measured. Object shape measuring instrument. An object shape measuring method in which an image reflected by irradiating light to an object to be measured is received by a camera, and image data inputted is subjected to a data processing according to a previously input program to measure data related to the object to be measured. Searching for image data transmitted from the camera unit capturing the reflected laser light reflected from the surface of an object for each driving, adjusting, and stopping mode; measuring the shape of the object under measurement in driving mode; and adjusting And a step of aligning the position of the camera unit in the mode, setting a length for one pixel, an initial value of each parameter, and stopping the data processing in the device mode. 4. The driving mode according to claim 3, wherein the driving mode comprises the steps of extracting a change in laser light from the input image data, calculating a dimension such as the height of the object to be measured based on the extracted change amount, and inputting a command key through the operation panel. An object shape measuring method comprising a step of determining whether or not, and a step of performing inputted through a command key. The object shape measuring method according to claim 3, wherein the adjustment mode comprises a step of determining whether the camera setting or parameter setting is performed and a step of setting the camera or parameter according to the determined mode. In the object shape measuring method, the data related to the object to be measured can be measured by receiving an image reflected by irradiating light on the object to be measured with a camera and processing the input image data according to a previously input program. Upper and lower surfaces of the object to be measured are reflected laser light that is irradiated to the upper and lower sides of the object under test with at least one pair of laser markers disposed at opposite angles to reflect image data related to the upper and lower surfaces of the object to be measured. And image data obtained by capturing with a camera unit arranged perpendicularly to the image data, and the central processing unit performs data processing to measure numerical values related to the shape of the object to be measured at a time.