TWI238885B - Method for three-dimension measurement - Google Patents

Abstract

A method for three-dimension measurement using a camera and a frame for calibration is disclosed. The dimension of the frame is known. Referent units are set at the corner or other proper locations of the frame. The object for measurement is located in the frame. The difference of the chromatism of the object and the referent unit must be high. The camera takes a plurality of images from different angles and different distance. The image data is processed by a computer with a specific three-dimension algorithm to acquire the precise three-dimension outline dimension of the object.

Description

1238885

Case No. 93100531 V. Description of the invention (1) [Technical field to which the invention belongs] In particular, it can provide fast fans. The present invention relates to a three-dimensional measurement method for measurement, and a measurement method with a large measurement range. \ Prior art] Quality inspection ^ 疋 Direct view > It affects the quality of the product and the manufacturing yield, and one way is to use a mechanical contact probe, or: In particular, please refer to FIG. 1. In the mechanical contact type, the test object 1 i is usually placed on a measuring platform of a platform worker 30, and if the side B of the probe is still long, There is a great need for object measurement, both in product design, inspection and high-tech industries ^ sigh manufacturing industry, dununnen "" 一 ～ 白 方 — 垔 移 的 准确 ^ ^ 常常 男 μ More φ See the amount, and cut the laser. ^ Then the square 10 is set on the platform 13 ^ A point can be defined as a reference position, and then the probe is moved 'probe 1 〇 will be preceded by a —The position (shown in Fig. 0 is shown in a shifted position) after contacting the object to be measured ii 'will be shown as a solid line in Table 2 (shown as a dashed line). The probe 1 0 will be slightly bent, and the probe 1 i Γ sound will be closed. 'f shows that a measurement has been obtained, and you know that $] Some methods have their accuracy-but the side length of this! is high, and the measurement speed is ⑧, because it must be: rigid machine On-Shame: Meijin platform 13 and make it completely fixed. Set the test object = Yiyi level position, and then make the probe 1 〇 slowly from the first ~: after you must :: position 'if yes Moving the probe too fast may also be damaged upright moved to a loss of ten 10 °, resulting in

1238885 _Case No. 93100531_ Modification of Year and Month_ V. Description of the Invention (2) Please refer to Figure 2 for another way to measure by optical laser scanning. This method is also to measure an object to be measured. 16 is placed on a movable platform 17 and a group of laser sensors 15 is arranged beside the platform 17. The group of laser sensors 15 includes a laser transmitter 1 5 1 and A laser receiver 1 5 3, this measurement method is also to first position the object to be measured 16 on the platform 17, start the group of laser sensors 15 to make the laser transmitter 1 5 1 continue to emit a laser light 1 5 5 is irradiated on the laser receiver 1 5 3 to move the platform 17 and the test object 16 in the direction of the laser sensor 15 of the group. When point C touches the laser light 1 5 5 The DUT 16 will block the light. At this time, the laser receiver 1 5 3 cannot receive the laser light 1 5 5 from the laser transmitter 1 5 1 until the platform 17 and the DUT 1 6 completely passes the laser sensor 15 of the group, that is, when point D passes the laser light 1 5 5, the laser light 1 5 5 will be unobstructed and radiates on the laser receiver 1 5 3, so Platform 1 7 shift Speed and the time when the laser light is blocked 1 5 5 can calculate the side length of C-D, and the price of this measuring equipment is also quite high, and is limited by the entire equipment, so the range of measurement is limited . For this reason, the inventors then tried to propose a three-dimensional measurement method that can be simpler, lower cost equipment, and faster and more convenient measurement speed. Therefore, after careful research, the present invention finally came into being. [Summary of the Invention] Therefore, the main object of the present invention is to provide a three-dimensional measurement method, which can provide a simple, fast, and convenient measurement method with low equipment cost.

Page 6 Ϊ238885 χ _ Case No. 93100531 V. Description of Invention (3) Legal person. • In order to achieve the above-mentioned, three-dimensional measurement methods, systems, and an electronic processor that handles calculations, first create a three-dimensional two-dimensional such as a rectangular body and a triangular body; within the correction frame, and within the two and the frame The size of the chromatic aberration of the month is calculated based on the two-dimensional data of the image data of the shooting angle and distance, and the correction purpose of the month can be obtained, including the device, the correction frame, the known circular frame, and the camera input. To the extent that the present invention is accurate, the method can be installed as a frame, the frame, etc., or the corners of the frame may be adapted to make the three-dimensional acquisition of the plurality of electronic devices so that a correction frame can be realized in various forms. The reference object and the image data to be measured are provided at the object to be measured, and the electronic device will further sharpen the outline size. [Implementation method] The purpose, characteristics, and effects of the present invention are understood through the description of G. Do-detailed description as follows = and in conjunction with the attached drawings, for the present invention, please refer to the photographic device 2 1, _, not, this The specific embodiments of the invention include a beat 23: a right frame 22, and an electronic device for the processing of a camera, a traditional camera II, a camera, a digital camera, or a message, but it must be innocent and traditional. The camera and video camera will be described later. The shirt image is digitized, and why the image must be digitized. The frame a 2 is a rectangular body in this embodiment, so it is twelve. Page 7 1238885 Revised month τ ^ 1 ^ 93100531 V. Description of the invention (4) The root body? 9 η 2 2 丄 1 is set to ’are colored balls in each of the rod body 2 2 1 and the rod body? '" Soap piece The temple reference piece in this implementation is the length of the rod between them. The distance 2 2 2 between the two adjacent spheres 2 2 2 can be separately ^ all known information, the colored sphere = not red , Blue, green, yellow ... ^ 3 :: -electricity in the embodiment, and the electrical connection is digital, and the imaging device 21 used in the embodiment needs to be converted by analog to digital Reach the electronic device 23, please refer to the third step, please refer to step 3. 0 in the step 3! 2 the test object 2: the operation flow of the embodiment is that the test object 2 is often placed in the calibration frame 2 ^ placed From-on,: == can be taken to the school: the frame 2 can be used to make sure, then in step 3 2 2 to shoot ^ 2 2 to make the data more accurate position, the test object 2 5 and the correction frame xj according to different angles and the shooting in step 3 03: taken in the same image, to the electronic device 23, the image data completed by the electronic device is transmitted for storage, and then in step 304, the electronic device first Whether the image data has been captured. If more information is needed, the user will be asked to return to step 3 002 and repeat the previous step: this ancient rule; select "No" and the same can be done in step 3. 〇4 choose “Yes” to enter until the food is enough, then proceed based on these data 23: 3 0 5, electronic device inch, and then in step 3 G 6 End this amount "= the actual scale of the object 2 5 How to perform 3D data calculation

Page 8 This electronic device 2 is further described below. 1238885 Case No. 93100531 Rev. V. Explanation of the invention (5) Calculate J and the mathematical principles applied to it. The principle is that the size of each rod body 2 2 1 of the correction frame 2 2 is known and Obtain at least four non-coplanar feature points 5 These feature points are the colored spheres 2 2 2 j described previously and obtain their image position coordinatesP 1 (X 1, y 1: >, P2 (X 2 y 2) ^ P 3 (X 3 y 3 >), P4 (X 4 y 4) and their corresponding known spatial position coordinates are: P 1 (Xl% Y 1, Zι), P2 (χ2, Y 2 ,) P 3 (x3 Y 3, Z3), P4 (x4, Y 4, z4) and let the relationship between the object and the image be a linear perspective projection relationship. J The mathematical relationship is: X = ai 〇 十 2ΐι × 十 £ ΐ2ΐ Ten asZ (I) y = t _ 〇 ten biX ten b2Y ten b3Z) where X y is the image position coordinate y X, YZ is the spatial position coordinate and a 〇, * 3 1 a 2, a 3, b square, b 1 b 2, b 3 is a view projected through linear conversion coefficients. Bring the previously known coordinates of P1, P3, P4 into (1)

Xi = a〇 ten a ιχι ten asY 1 ten a 3Z1

In the formula, we can get: >—( 2) y ι = 1) 〇 ten ten bsY l + bsZi

Page 91238885 Case No. 93100531 Amendment V. Description of the invention (6) X2 = a〇 十 a 1X2 十 a2Ys Ten a 3Z2 y2 = t) 〇T t) lX2 Ten l) 2Y2 + b3Z2 X3 = a〇ten a lXs + asY 3 ten a 3Z3 y 3 = b〇 ten biX: i ten I) 2Y 3 ten b 3Z3 X4 = a〇 + a lXd + asYa ten a 3Z4 y4r = b〇 ~ hl) iX4-hb2Y4 ~ hb 3Z4 The above (1) (2) (3) (4) form is expressed as: > one (3) \ one (4)} one (5) (5) The equation is represented by a matrix [A] [X] = 〔B〕 One ⑹ 〔A〕 1 Xi Yi Ζι 0 0 0 0 0 0 0 0 Χι Υι Zι 1 X2 γ2 Zn2 0 0 0 0 0 0 0 0 0 0 0 1 Χ3 Υ? Zn3 1 X4 Υ4 7α 0 0 0 0 0 0 0 0 0 1 Χ4 Υ4 Ία ΙΪΒ Page 1238885 Case No. 9310ΠΜ1 5. Description of the invention (7)

Fix ^ ~~ f (XX 2) ^ ^ ^ 'k-jk " ° i-0 £ aijkX1YjZk ui: 〇 ^-g (X, Y, 2) ^ ^ n ^ k ~ jk " ° 4bijkX1YJzk 〔X〕 T = 〔B〕 T = —_ 丄 一 2 V " Also because matrix A is 4 * 4 Jx3yq matrix,

〔A〕 -1 〔A〕 〔X〕 = 〔A

X

B, X4 74] ^ can be solved using the following formula: λ-1, [A, ι

The B perspective function coefficient can be obtained. If there are more than four characteristics and four points to be processed, or if the image is taken in the flat or in the picture, you can choose [A] T [A] [X] to solve it. The processing method is: [X] = [ [A] T [A] [^] T [B] Or you can use a non-linear conversion function 1 [A] T [B] Please refer to Figure 5 and the second one. In the calculation flow chart, in step 5 〇_Electronic device 2 3 processes the three-dimensional data meter 0 cube matrix data B 〇d 1 Electronic device 2 3 will first create a value in the 3 arrays set to 丄, which / [X] 〔 Y] [Z], and the magnitude of the moment, and the magnitude of the desired θ X Υ, Z is determined by the measurement resolution of the object to be measured. If the measurement range is mm, you can set the moment drop = m * 1 〇〇mm, the resolution is 〇 · 丄 [1 0 0 0], at [100〇] [1 001 images, if it is selected by G 2-a previously photographed quite normal camera and video camera Of the number of shadows _ Zhixiang, Taizhi 1238885 _ Case No. 93100531_ Year Month Day _ Charm _ V. Description of the invention (8) Obtain digital image data by scanning or image capture card capture, in step This digital image is image processed to obtain four known feature points of the correction frame 2 2 that are not coplanar, and the known spatial coordinates of the image corresponding to the correction frame 2 2. The previous step is performed in step 5 0 4 Into the mathematical formula of the linear perspective projection, find the coefficients a Q, a:, a 2, a 3, bQ, b,, b2, b3 Value.

In step 5 0, the 2D image range of the object to be measured 25 is calculated by using image processing technology in the digital image. If the range is 2D, the 2D image data is set to 1, otherwise it is 0, and in step 5 In 0 6, the measurement space represented by the 3D cube matrix data Body [X] [Y] [Z] is calculated by the perspective function to obtain a two-dimensional image coordinate point, and it is judged whether it is obtained in step 5 0 5 In the range of the two-dimensional image of the object to be measured, if it is not within the range, set Body [X] [Y] [Z] = 0.

Step 5 0 7 determines whether all the image data has been processed. If it has not been processed, you can return to step 5 2 to repeat the above process, and here you can also change the shooting angle of the shooting device 2 1 before step 5 0 8 and Take the image again from the distance, and then go to step 50 2 again. If it has been processed in step 5 07, then go to step 509. In the 3 D cube matrix data B 〇dy [X] [Y] [ZO], if The point that is still 1 is the physical data of the test object 2 5. An example of the C program for the electronic device 23 to calculate the foregoing equation is as follows: for (i-0; i <1000; i ++)

Page 121238885 ----- Case No. 93100531 _ 年 Ά_§_ V. Description of the invention (9) for (j = 0; j <10000, J ++) {f〇r (k = 0; k &lt;1000; k ++) {/ * Get the space coordinates (X, Y, z) * / X = i * 0.1; Y :: j wood 0 · 1; Z = k * (K 1; / * Get the image coordinates (x, y) * / x = a0 + aj * X + a2 * Y + a3 * Z; y-b0 + b1 * X + b2 * Y + b3 * Z; / * Determine whether it is within the range of the object to be measured / if (image [x] [y] = 〇) Body [i] [jj ^^ Connected by the spider _ — v r_ ",: measuring valve, and the effect of large measuring range, K new soil can provide shortage, industrial availability The invention is in line with the application for invention * and has the advantages. Although the present invention is based on the -preferred Japanese invention patents. The scope of the implementation of this Meming ·, any study of Asia and Africa to limit the spirit and scope of the prominent, shall be allowed; Fighter members and performers are making changes and retouching without leaving Hongdatian J, that is, Fan Yicai

Page 131238885 _Case No. 93100531_ Year Month Date__ V. Description of the invention (10) The equal changes and modifications made by the invention shall be covered by the scope of the invention patent, and the definition shall be based on the scope of the patent application. Chen Ming first.

Page 14 1238885 _Case No. 93100531_Year Month Day__ Brief Description of Drawings Figure 1 is a schematic diagram of conventional mechanical contact probe measurement. Figure 2 is a schematic diagram of conventional optical laser scanning measurement. FIG. 3 is a reference diagram of a preferred embodiment of the present invention. FIG. 4 is a measurement flowchart of the preferred embodiment of the present invention. FIG. 5 is a calculation flowchart of an electronic device according to a preferred embodiment of the present invention. Brief description of the drawing number: 21 ..... shooting device 22 ..... correction frame 2 2 1 ... rod 222 ···· colored sphere 2 3 ..... electronic device 25. ..... DUT 3 0 1 ... Step 302 ... Step 3 0 3 ... Step 304 ... Step 3 0 5 ... ... step 306 ... step 5 0 1 ... step 502 ... step 5 0 3 ... step 504 ... step 5 0 5 ... step 506 ... step 5 0 7 ... step 508 ... step 5 0 9 ... step

Page 15

Claims (1)

1238885 _Case No. 93100531_year month_l | i_ VI. Patent application scope 1 · A three-dimensional measurement method includes a photographing device, a calibration frame and an electronic device. The dimensions of the frame are known. There are reference pieces at each corner or appropriate place of the frame. The method is: a. Put a test object and the correction frame together, and a reference piece is set at each corner of the correction frame; b. The shooting device shoots at least one piece of image data of the object under test and the correction frame according to different angles and positions; c. transmitting the at least one image data to the electronic device; d, the electronic device obtains the physical data of the object to be measured through three-dimensional data operation. 2 · The three-dimensional measurement method according to item 1 of the scope of patent application, wherein the reference parts are colored spheres. 3 · The three-dimensional measurement method as described in item 1 or 2 of the scope of patent application, wherein the reference parts and the object to be measured have a clear color difference. 4. The three-dimensional measurement method according to item 1 of the scope of patent application, wherein the correction frame is a rectangular frame. 5. The three-dimensional measurement method according to item 1 of the scope of patent application, wherein the correction frame is a triangular frame. 6. The three-dimensional measurement method according to item 1 of the scope of patent application, wherein the correction frame is a circular frame. 7. The three-dimensional measurement method according to item 1 of the scope of patent application, wherein the photographing device is a digital camera. 8 The three-dimensional measurement method according to item 1 of the scope of patent application, wherein the photographing device is a digital camera. Page 161238885 Case No. 93100531 Amendment Date 6. Application for Patent Scope 9 · The three-dimensional measurement method described in item 1 of the scope of patent application, where the shooting device is a traditional camera, and the captured image data is converted Into digital data. 10 · The three-dimensional measurement method described in item 1 of the scope of patent application, wherein the shooting device is a traditional camera, and the captured image data is converted into digital data. 1 1 · The three-dimensional measurement method according to item 1 of the patent application park, wherein the correction frame is composed of a plurality of rod bodies. 1 2 The three-dimensional measurement method according to item 1 of the scope of patent application, wherein the electronic device is a computer. Page 17