WO2000073738A1 - Dispositif de mesure de forme - Google Patents
Dispositif de mesure de forme Download PDFInfo
- Publication number
- WO2000073738A1 WO2000073738A1 PCT/JP2000/003332 JP0003332W WO0073738A1 WO 2000073738 A1 WO2000073738 A1 WO 2000073738A1 JP 0003332 W JP0003332 W JP 0003332W WO 0073738 A1 WO0073738 A1 WO 0073738A1
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- WO
- WIPO (PCT)
- Prior art keywords
- measurement
- shape
- coordinate system
- head
- mirror
- Prior art date
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2518—Projection by scanning of the object
- G01B11/2522—Projection by scanning of the object the position of the object changing and being recorded
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2509—Color coding
Definitions
- the present invention relates to a shape measuring device for measuring a three-dimensional shape, and more particularly to a shape measuring device suitable for measuring the shape of a foot.
- the size of a shoe is usually expressed by the length from the heel to the fingertip, but the shape of a person's foot varies depending on the individual, such as not only the length but also the height of the upper and the width of the foot.
- it is necessary to measure the three-dimensional shape of the foot but at present, using a measure, the foot length, foot width, and foot position (around the foot) Only the size of a limited area such as is measured.
- an active stereo-type shape measuring device that irradiates spot light or slit light to an object to be measured and restores a three-dimensional shape from a position of an optical image observed on the surface of the object to be measured.
- This shape measuring device scans a spot light or a slit light with a rotating mirror in order to measure the surface shape of an object to be measured.
- Measurement and control (1999 Vol. 38 No. 4 P285-P288) describes a system that measures the shape of a foot using such a shape measuring device.
- one shape measuring device can measure only the shape of the part observed from the device, and cannot measure the shape of the hidden part such as the opposite side.
- a shape measuring device is placed around the foot, and the results of these 12 shape measuring devices are combined on a computer to measure the shape of the entire foot.
- the applicant of the present application has already developed a shape measuring device that performs measurement by holding a compact measuring head in a hand and moving a measuring head around an object to be measured. 2 00 0-393010).
- this shape measuring device the position and orientation of the measurement head are measured by taking images of a plurality of forces attached to the measurement head from above using two cameras.
- An object of the present invention is to provide a shape measuring device that has a compact device configuration and allows a user to measure the shape of an object to be measured without being conscious of the field of view of a camera, thereby improving usability. I do.
- Another object of the present invention is to provide a shape measuring device capable of measuring an appropriate three-dimensional shape with a small number of measuring procedures.
- a first shape measuring device detects a position of a measurement head on a guide rail based on a measurement head moved along a guide rail and a predetermined position on the guide rail.
- the first position detecting means, the second position detecting means for detecting the position of the measurement head on the guide rail in the cold coordinate system, and the measurement on the guide rail based on a predetermined position on the guide rail.
- Means for storing each position of the head in the storage device in association with the position in the corresponding world coordinate system, and at each measurement position on the guide rail, the position of the measurement head is determined by the first position detection means.
- Detect and Measurement means for determining the coordinates of the measurement point on the DUT in the coordinate system of the center of the measurement head using the measurement head, and the center of the measurement head determined at each measurement position on the guide rail. Converts the coordinates of a measurement point on an object to be measured in the coordinate system into coordinates in the world coordinate system based on the position in the world coordinate system corresponding to each measurement position on the guide rail stored in the storage device Means is provided. When the movement of the measurement head is limited to the trajectory on the guide rail in this manner, each position of the measurement head on the guide rail with respect to a predetermined position on the guide rail and the world of the measurement head are measured. The position in the coordinate system is uniquely associated.
- the shape can be obtained.
- the position of the measurement head in the world coordinate system corresponding to the position of the measurement head on the guide rail with respect to the predetermined position on the guide rail is read from the storage device, and the measurement is started.
- the coordinates in the coordinate system of the measurement head center of the measurement point obtained using the head can be transformed into the coordinates in the world coordinate system.
- the shape of the object to be measured can be measured by making the measuring head make one round along the guide rail.
- the measuring head includes, for example, light irradiating means for irradiating a light beam to the object to be measured, and an imaging means for imaging a measurement point on the object to be irradiated with the light beam from the light irradiating means. Is used.
- the measuring head is provided with drive means for moving along the guide rail.
- the second position detecting means for example, a measuring head imaging means for imaging the measuring head from a predetermined position, and a position of the measuring head in the world coordinate system is detected based on an image taken by the measuring head imaging means. What has the means to perform is used.
- the shape of the guide rail is not limited to a simple shape such as a straight line or a circle, but can be any shape. Becomes possible.
- the measuring head imaging means is configured to be detachable from the shape measuring device main body. Is preferred. By doing so, the measuring head imaging means can be detached from the shape measuring device main body when measuring the shape of the object to be measured.
- the measuring head includes a driving means for moving along the guide rail.
- the measuring head can be automatically moved along the guide rail, so that the shape of the object to be measured can be automatically measured.
- a guide rail having a shape in which the distance from the object to be measured is substantially constant can be used.
- the measurement head moves while keeping the distance to the DUT substantially constant, so that the measurement error depending on the distance between the DUT and the measurement head is uniform. Can be changed.
- a guide rail having an oval shape having a major axis in a direction from the heel of the foot to the toe can be used.
- the measurement head moves while keeping the distance between the foot and the foot substantially constant, so that the measurement error depending on the distance between the foot as the object to be measured and the measurement head is measured. Can be made uniform.
- a guide rail having a shape that tapers from the toe of the foot toward the heel may be used.
- the measurement head moves along the shape of the foot that tapers from the toe to the heel, so that the measurement error dependent on the object to be measured and the measurement head is uniform. Can be changed.
- a second shape measuring apparatus includes a measuring head for measuring a shape of an object to be measured placed on a measuring table, position detecting means for detecting a position of the measuring head, and a measuring head and position detecting means.
- a shape measuring apparatus provided with a calculating means for obtaining a three-dimensional shape of an object to be measured based on an output from the means, wherein a mirror for reflecting the object to be measured is arranged on a measuring table. .
- the position detecting means for example, a means for detecting the position of the measuring head by a stereo method using two cameras is used.
- a light irradiating unit for irradiating a light beam to an object
- imaging means for imaging a real image of the measured object and a virtual image of the measured object reflected on a mirror by imaging a measurement point on the measured object irradiated with the light beam from the light irradiating means. Things are used.
- the mirror a mirror having a light reflecting surface formed on the surface is used.
- the calculating means for example, the center of the measurement head is determined based on the coordinates of the measurement point on the imaging screen of the imaging means and the equation representing the plane representing the light flux emitted from the light irradiating means.
- the first means for obtaining the coordinates of the measurement points in the coordinate system of, the coordinates of each measurement point obtained by the first means are converted into the coordinates of the world coordinate system based on the detection result by the position detection means, Second means for obtaining the three-dimensional shape of the real image of the DUT and the three-dimensional shape of the virtual image of the DUT reflected on the mirror, and third means for obtaining the equations in the world coordinate system representing the light reflecting surface of the mirror A fourth means for obtaining a three-dimensional shape symmetric with respect to the three-dimensional light reflecting surface for the virtual image based on the equation representing the light reflecting surface of the mirror; and Symmetric 3D shape , Which has a fifth means for determining the 3D shape of the object by combining the three-dimensional shape for the real image of the object to be measured is used.
- Means for obtaining the equation representing the light reflecting surface of the mirror include, for example, means for measuring the coordinates of three or more points on the light reflecting surface by the stereo method using two cameras, and the obtained light.
- Means for obtaining an equation representing the light reflecting surface based on the coordinates of three or more points on the reflecting surface is used.
- Means for obtaining an equation representing the light reflecting surface of a mirror include, for example, a method in which an opaque thin plate is placed on the light reflecting surface and an image of the thin plate is taken using a measuring head to specify the flat surface of the thin plate.
- a means for extracting the coordinates of three or more points in the coordinate system of the center of the measurement head, and the obtained coordinates of three or more points in the coordinate system of the center of the measurement head are obtained by the position detection means.
- means for converting to coordinates in the world coordinate system, and based on the obtained coordinates of three or more points in the world coordinate system find the equation representing the plane of the thin plate in the world coordinate system The one provided with the means is used.
- the light beam emitted from the light irradiating means of the measurement head is perpendicular to the light reflecting surface of the mirror. It is preferable to provide guide means for regulating the attitude of the measuring head so that the light is emitted. Preferably, the guide means regulates the moving path of the measuring head. It is preferable to provide drive means for moving the measurement head along the guide means.
- a housing that covers the entire movement path of the measurement head may be provided.
- the housing may include an opening for inserting and removing the device under test.
- a lid made of an elastic member may be provided in the opening of the housing, and a cutout for inserting and removing the object to be measured may be formed in the lid.
- the mirror a mirror composed of a light reflecting plate having a light reflecting surface formed on the surface and a transparent plate formed on the light reflecting plate may be used.
- the calculation means calculates the coordinates of the measurement point on the imaging screen of the imaging means and the light beam emitted from the light irradiation means.
- the first means for obtaining the coordinates of the measurement point in the coordinate system of the center of the measurement head based on the equation representing the plane to be represented, and the imaging means for the measurement point on the virtual image of the DUT reflected on the mirror The coordinate values of the measurement points on the imaging screen after correction taking into account the amount of refraction of the transparent plate of the mirror and the equation of the plane representing the luminous flux emitted from the light irradiating means are calculated as follows.
- the third means for obtaining the three-dimensional shape of the real image of the device under test and the three-dimensional shape of the virtual image of the device under test reflected on the mirror the equation in the world coordinate system representing the light reflecting surface of the mirror is Fourth means for obtaining, a fifth means for obtaining a three-dimensional shape symmetrical with respect to the three-dimensional light reflecting surface for the virtual image based on the equation representing the light reflecting surface of the mirror, and three-dimensional light reflection for the virtual image
- the one provided with the sixth means for obtaining the three-dimensional shape of the measured object by synthesizing the three-dimensional shape symmetrical with respect to the plane and the three-dimensional shape of the real image of the measured object is used.
- the equation representing the light reflecting surface of the mirror for example, use two cameras to measure the coordinates of three or more points on the measuring table on which the mirror is mounted using the stereo method And a means for obtaining an equation representing the light reflecting surface based on the coordinates of three or more points on the measurement table obtained.
- FIG. 1 is a perspective view illustrating an appearance of a shape measuring device according to the first embodiment.
- FIG. 2 is a perspective view showing the measurement head.
- FIG. 3 is a front view showing the measuring head.
- FIG. 4 is a plan view showing the measuring head.
- FIG. 5 is an explanatory diagram illustrating the measurement principle.
- FIG. 6 is a flowchart illustrating the processing procedure in the first step.
- FIG. 7 is an explanatory diagram illustrating a method of measuring the position of a measurement point using a measurement head.
- FIG. 8 is a plan view showing another shape of the guide rail.
- FIG. 9 is a perspective view illustrating an appearance of a shape measuring device according to the second embodiment.
- FIG. 10 is an explanatory diagram showing the foot image obtained in the fourth step.
- FIG. 11 is an explanatory diagram showing an image of the foot obtained in the fifth step.
- FIG. 12 is a schematic configuration diagram illustrating another configuration of the shape measuring apparatus.
- FIG. 13 is a schematic configuration diagram illustrating still another configuration of the shape measuring apparatus.
- FIG. 14 is a schematic configuration diagram illustrating still another configuration of the shape measuring apparatus.
- Figure 15 shows how light is refracted by a transparent glass plate when a mirror consisting of a light reflection plate with a light reflection surface formed on the surface and a transparent glass plate formed on the light reflection plate is used.
- FIG. 16 illustrates the correction method when the slit light source and the image plane of the CCD camera are located on the front side of the transparent glass plate, and the DUT is located on the other side of the transparent glass plate.
- FIG. 17 is a schematic diagram for explaining a method of correcting an equation representing a light beam when the object is irradiated.
- FIG. 18 is a schematic diagram for explaining a method of calculating the distance R between the plane of the light beam output from the transparent glass plate and the plane of the original light beam incident on the transparent glass plate.
- FIG. 19 is a schematic diagram for explaining a first method for correcting the coordinates of the measurement point on the image plane S.
- FIG. 20 is a schematic diagram showing a plane Q including the optical axis ( Z axis) and perpendicular to the transparent glass plate.
- FIG. 21 is a schematic diagram showing an intersecting line between a plane Q including the optical axis and perpendicular to the transparent glass plate and the image plane.
- FIG. 22 is a schematic diagram showing an example of a case where an image observed on the image plane is corrected.
- FIG. 23 is a diagram illustrating a second method for correcting the coordinates of a measurement point on the image plane S.
- FIG. 24 is a schematic diagram showing a plane Q that includes the straight line L of FIG. 23 and is perpendicular to the transparent glass plate 400.
- FIG. 25 is a schematic diagram showing an intersection of a plane Q including the straight line L of FIG. 23 and perpendicular to the transparent glass plate and the image plane.
- FIG. 1 shows a schematic configuration of a shape measuring apparatus.
- An oblong guide rail 204 is fixed to the measuring table 201, and a foot 100 as an object to be measured is placed in an area surrounded by the guide rail 204.
- the support 201 is provided with a column 202 which can be attached to and detached from the base 201, and a horizontal bar 203 is mounted on the upper part thereof.
- the shape measuring device consists of a measuring head 10 that can be moved on a guide rail 204 by a measurer, stereo cameras 21 and 22 attached to both ends of a horizontal bar 203, their control, and various calculations. And a control device 30 composed of a personal computer for performing such operations.
- Each of the imaging lenses of the stereo cameras 21 and 22 is provided with a band-pass filter 23 for selectively transmitting the frequency band of light emitted by the marker 14 shown in FIG.
- FIG. 2, FIG. 3, and FIG. 4 show a schematic configuration of the measuring head 10.
- FIG. 2, FIG. 3, and FIG. 4 show a schematic configuration of the measuring head 10.
- the measuring head 10 is a rectangular parallelepiped casing 11 with a front opening, one CCD camera 12 and a slit light source 13 housed in a casing 11, and the top of the casing 11. And a marker 14 composed of six LED light sources 14a to l4f provided in the LED.
- a semiconductor laser is used as the slit light source 13 as the slit light source 13.
- the six LED light sources 14a to 14f that compose the energy source 14 are not point-symmetrically arranged to specify the direction of the measurement head 10, but are lined with respect to the center line of the measurement head 10. It has a symmetrical arrangement. Here, five points of LED light sources 1 1b, 1 1c, lid, lie, and 1 1 ⁇ are arranged in a rectangular shape on the upper surface of casing 11 and LED light source 1 1a is located at the center of gravity of those five points. Be placed.
- At least three LED light sources are sufficient as markers, but four or more LED light sources are used. This improves the measurement accuracy of the position and direction of the measurement head 10 in a least square manner.
- the measurement head 10 is attached movably along the guide rail 204 by a support mechanism (not shown). Further, the measurement head 10 includes an encoder 16 for detecting the position of the measurement head 10 with reference to a predetermined position on the guide rail 204. The output of the encoder 16 is input to the control device 30. [A-3] Explanation of measurement principle of shape measurement device
- Fig. 5 shows the measurement principle of the shape measuring device.
- the coordinates of a measurement point A are measured using a measurement head 10 which can be moved on a guide rail 204 by a measurer.
- Measured coordinates are coordinate system of center of measurement head
- This coordinate system moves with the movement of the measurement head 10.
- the shape of the device under test 100 is represented by a fixed coordinate system, and this coordinate system is referred to as a flat coordinate.
- the shape measurement by this shape measuring device is executed by the following processing procedure. First, pre-processing is performed before actual shape measurement.
- First step (pre-processing): The information on each measurement position of the measurement head 10 in the world coordinate system is associated with the output value of the encoder 16 at each measurement position of the measurement head 10. The data is stored in a memory (not shown) mounted on the control device 30.
- the shape measurement processing consisting of the following steps 2 and 3 is performed.
- the shape measurement process can be performed by removing the support 202 that supports the stereo force cameras 21 and 22 from the measurement table 201.
- Second step After removing the supporting column 202 supporting the stereo cameras 21 and 22 from the measuring table 201, use the measuring head 10 to obtain the coordinates of the measuring point on the DUT 100 in the camera coordinate system. .
- FIG. 6 is a flowchart illustrating the processing procedure of the first step.
- the measurement head 10 is arranged at the reference position of the guide tray 204 (step S01), and the output value of the encoder 16 at that position is stored in the memory of the control device 30 (step S02).
- the coordinates of the marker 14 provided on the measurement head 10 in the world coordinate system are measured by the stereo cameras 21 and 22. Since this position measurement method is well known as the stereo method, its description is omitted (step SO3).
- the coordinates of the LED light sources 14a to 14f constituting the marker 14 in the camera coordinate system are described. Are respectively (Xi, yi, zi), and the coordinates in the world coordinate system of each of the LED light sources 14a to 14f measured by the stereo cameras 21 and 22 are respectively (Xi, Y i, Z i).
- i is 1, 2 ' ⁇ 6.
- Each LED light source 14a ⁇ Each coordinate (Xi, yi, zi) in the camera coordinate system of I4 ⁇ is known.
- a rotation matrix R and a translation vector t representing the movement of the measurement head 10 are obtained as a matrix R and a vector t satisfying the following equation (2) (step SO4). Then, the obtained matrix R and vector t are stored in the memory in association with the output value of the encoder 16 previously stored in the memory (step SO5).
- step S06S07 table data in which the output value of the encoder 16 is associated with the rotation matrix R and the translation vector t at that position is generated and stored in the memory of the control device 30.
- FIG. 7 shows a method of measuring the position of the measurement point using the measurement head 10.
- the camera coordinate system has the origin at the optical center of the CCD camera 12, the optical axis direction is the z axis, the horizontal direction of the CCD camera 12 is the X axis, and the vertical direction of the CCD camera 12 is Is a coordinate system with the y axis.
- the image plane S of the CCD camera 12 is located at a focal distance f from the origin. That is, the image plane S is parallel to the X-y plane and z
- the position measurement method itself using the measurement head 10 is a known measurement method called a light section method.
- a predetermined point on a line on the surface of the device under test 100 on which the slit light source 13 irradiates the slit light is defined as a measurement point A.
- the coordinates of this measurement point A in the camera coordinate system are (xy, z), the coordinates of the observation point A 'corresponding to the measurement point A on the image plane S are (xsysf), and a plane representing the slit light
- F in the coordinates (xsysf) of the observation point A ′ is known as the focal length of the CCD camera 12, and (xsys) is obtained from the pixel position of the slit light observed on the image plane.
- the equation of the plane representing the slit light is obtained by calibration of the measurement head 10. Therefore, (x, y, z) can be obtained by solving a simultaneous equation expressed by the following equation (3) where X, y, ⁇ , and ⁇ are unknown.
- This processing is performed by the control device 30 based on the output of the CCD camera 12.
- the third step first, based on the output of the encoder 16, the corresponding rotation matrix R and translation vector t are read from the memory of the control device 30.
- the coordinates of the measurement point on the foot 100 in the camera coordinate system obtained in the third step are converted into the coordinates of the world coordinate system. I do.
- the shape of the foot 100 is obtained as a set of coordinates (X, Y, Z) in the world coordinate system of the measurement points obtained each time.
- the position of the measurement head 10 based on the predetermined position on the guide rail 204 and the rotation matrix R and the translation vector t corresponding to the position are described. Since the coordinates in the coordinate system of the center of the measurement head of the measurement point obtained by using the measurement head 10 are converted into the coordinates in the world coordinate system using the table data in which the Stereo cameras 21 and 22 are unnecessary for measurement. For this reason, it has a compact structure, and the user can avoid the camera's field of view and the entanglement of the cord. The shape of the object to be measured can be measured without being conscious.
- the position of the measurement head 10 on the guide rail 204 is measured by the stereo cameras 21 and 22 in the pre-processing, so that the guide line 204 is used.
- the shape of the object is not limited to a simple shape such as a straight line or a circle, but can be formed into an arbitrary curve shape such as an oval shape according to the shape of the object to be measured.
- the guide rail 204 is formed in an elliptical shape, when a human foot is used as the object to be measured 100, the distance between the foot and the foot is substantially equal.
- the measuring head 10 moves while maintaining the constant. As a result, the measurement error depending on the distance between the foot and the measuring head is made uniform, and a certain level of accuracy can be maintained for the entire shape data of the foot obtained by the measurement.
- the measurement data of the toe and the heel are more detailed than the side of the foot. Can be obtained. Deformation due to hallux valgus appears on the toes and octopus deformation appears on the heels. The shape of this part is particularly important when measuring the shape of the foot. If the shape data of the toe part and the heel part can be obtained in detail, highly accurate foot shape measurement can be performed.
- the stereo cameras 21 and 22 are configured to be detachable from the measuring table 201, if the trajectory of the guide rail 204 changes due to the installation or movement of the device, By installing or updating the table data with the stereo cameras 21 and 22 attached, the accuracy can be maintained and higher reliability can be provided.
- the measuring head 10 is manually moved.
- the measuring head 10 may be automatically moved by using a motor. This makes it possible to automatically measure the device under test.
- the outputs of the stereo cameras 21 and 22 are used.
- Information on the position of the measurement head in the world coordinate system, that is, the rotation matrix R and the translation vector t are obtained, but the trajectory of the guide rail 204 with respect to the measurement platform 201 is specified. Then, the rotation matrix R and the translation vector t can be obtained without using the stereo cameras 21 and 22.
- the measurement head 10 may be different from the above-described embodiment as long as it measures the position of the measurement point on the DUT by an active stereo measurement method.
- a spot light source may be used instead of the slit light source 13.
- the marker 14 is not limited to the LED light sources 14a to 14f and may be any marker that can be extracted by a stereo camera.
- a seal having high reflectance may be used instead of the LED light sources 14a to 14f.
- the number of masquerades 14 may be three or more.
- the track of the guide rail 204 was formed into an elliptical shape in order to measure the shape of the foot.
- the present invention is not limited to this. Any shape may be used as long as it has a longitudinal direction in the direction toward it. For example, it may be a shape that divides a circle into four and connects the corners with a curve, or a shape with a constriction like a gourd.
- the trajectory of the guide rail 204 is changed from the toe to the heel as shown in Fig. 8.
- An elliptical shape that tapers toward the end may be used. In this case, since the measurement error depending on the object to be measured and the measurement head is further uniformed, a certain degree of accuracy or more can be maintained for the entire shape data of the foot obtained by the measurement.
- FIG. 9 shows a schematic configuration of the shape measuring apparatus.
- the same components as those in FIG. 1 are denoted by the same reference numerals, and description thereof is omitted.
- a flat mirror 205 is arranged in a region surrounded by the guide rail 204.
- a stainless steel mirror 205 having a light reflecting surface on its surface is used.
- a foot 100 as an object to be measured is placed on the stainless steel mirror 205.
- the measuring head 10 is attached to the guide rail 204 by a support mechanism (not shown), so that the light beam emitted from the slit light source 13 is perpendicular to the stainless mirror 205.
- the attitude of the measurement head 10 is regulated so that it is emitted along the surface.
- the shape measurement by this shape measuring device is executed by the following processing procedure.
- First step (Pre-processing 1): The information on each measurement position of the measurement head 10 in the world coordinate system is associated with the output value of the encoder 16 at each measurement position of the measurement head 10. Then, it is stored in a memory (not shown) mounted on the control device 30.
- this first step is the same as the first step of the first embodiment, (Refer to FIG. 6.) A detailed description thereof will be omitted.
- the stainless steel mirror 205 provided on the measuring table 201 is covered with an opaque thin plate, and the coordinates on the thin plate in the world coordinate system are measured by the stereo method.
- the equation of the plane there are at least three points on the flat plate.
- the stainless steel mirror 205 instead of covering the stainless steel mirror 205 with an opaque thin plate and measuring it, at least three markers are provided on the stainless steel mirror 205 and the positions of the mirrors are measured, and the stainless steel mirror 205 is measured.
- the equation of the plane of 05 may be calculated.
- the stereo cameras 21 and 22 are not used. The measurement is carried out by removing from the measuring table 201 force.
- step 5 Since the fourth step is the same as the third step of the first embodiment, a detailed description thereof will be omitted.
- a real image I generated from a measurement point where the light beam from the slit light source 13 is directly applied to the foot 100, (FIG. 0 is shown by a broken line) and a virtual image l (shown by a solid line in FIG. 10) generated from a measurement point where the light beam from the slit light source 13 is irradiated on the foot 100 via the stainless steel mirror 205.
- An image of foot 100 consisting of c is generated [B-2-5] Explanation of step 5
- a real image I, of the foot 100 shown by a broken line in FIG. 10 and a solid line shown in FIG. and the virtual image I 2 feet 1 00 reflected in a stainless mirror one 20 5 indicated by is identified.
- the image obtained in this way is based on the image I 2 ′ generated based on the virtual image I 2 reflected on the stainless steel mirror 205 by the arch of the foot 100.
- the shape of the foot 100 has been reproduced more faithfully.
- the stainless steel mirror 205 is disposed on the upper surface of the measuring table 201, and based on the virtual image reflected on the stainless steel mirror 205 on the real image of the foot 100 as an object to be measured. Because the image generated by It is possible to supplement the image of the concave part such as the arch of the foot, and to generate an appropriate three-dimensional shape of the foot 100.
- the posture of the measurement head 10 is regulated such that the light beam emitted from the slit light source 13 is emitted along a plane perpendicular to the stainless steel mirror 205. Therefore, at the time of measurement, the luminous flux emitted directly from the slit light source 13 to the foot 100 and the luminous flux once reflected by the stainless steel mirror 205 and then applied to the foot 100 are Will overlap. Accordingly, the light beam reflected by the stainless steel mirror 205 does not generate an erroneous image, and the measurement can be performed with high accuracy.
- the stereo cameras 21 and 22 are removed from the measuring table 201 to measure the object to be measured. Therefore, the size of the measurement device can be reduced. Even if the trajectory of the guide rail 204 changes due to the movement of the measuring device, the accuracy can be maintained by installing the stereo cameras 21 and 22 and updating the table data.
- the upper surface of the measuring table 201 is made to be a mirror surface
- the stainless mirror 205 having an exposed light reflecting surface is used, so that the light reflected on the reflecting surface is used.
- the measurement can be performed with high accuracy without causing refraction.
- the measuring head 10 is manually moved by the measurer in the above embodiment, the measuring head 10 is automatically moved along the guide hole 204 using a motor. May be moved. With this configuration, the measurement object can be automatically measured without the measurer touching the measurement head 10. Furthermore, when the measurement head 10 is moved by a motor, the operator does not need to touch the measurement head 10 while placing the DUT and performing the measurement. I'll show you Thus, the entire measurement device can be covered with the housing 206. In this way, disturbance light such as illumination light can be blocked, so that accurate measurement can be performed.
- an opening 207 may be provided at the upper part of the housing 206.
- the opening 207 is closed by an elastic plate 208 made of an elastic member such as rubber, and a structure such that a measured object such as a foot can be inserted through a slit 209 provided in the elastic plate 208.
- disturbance light such as illumination light does not enter from the gap between the opening 207 and the object to be measured, and accurate measurement can be performed.
- the measuring head 10 is moved along the guide rail 204 .
- the measuring head 10 can be freely moved. It may be configured.
- the processing in steps S 03 and S 04 in the first step is performed for each measurement position of the force measurement head 10.
- the stainless steel mirror 205 is not limited to a position parallel to the upper surface of the measuring table 201, but may be an arbitrary one such as a position perpendicular to the upper surface of the measuring table 201 as shown by a broken line in FIG. May be arranged at the position. In this case, if the second step is performed every time the position of the stainless steel mirror 205 is changed, appropriate measurement can be performed regardless of the position of the stainless steel mirror 205. This makes it possible to arbitrarily change the position of the stainless steel mirror 205 in accordance with the size and shape of the object to be measured 100. An appropriate three-dimensional shape can be measured with a small number of measurement procedures.
- the mirror 205 is not limited to a stainless steel mirror, and various members having a high light reflectance may be used.
- information on the position of the measurement head 10 in the world coordinate system that is, the rotation matrix R and the translation vector t are obtained using the outputs of the stereo cameras 21 and 22.
- the rotation matrix R and the translation vector t can be obtained without using the teleo camera 2 1 2 2.
- the head 1 0 to the measurement may D for example may be different from the embodiment described above, Sri Tsu preparative source 1 3 Instead, a spot light source may be used.
- FIG. A mirror 300 composed of a light reflecting plate 301 having a light reflecting surface formed on the surface thereof and a transparent glass plate 302 formed on the light reflecting plate 301, as shown in FIG. Can be used instead of 5.
- the light beam emitted from the slit light source 13 in the measurement head 10 enters from the upper surface of the mirror 300 as shown by the arrow L1, passes through the transparent glass plate 302, and passes through the transparent glass plate 302.
- the light is reflected by the light reflecting plate 301.
- the reflected light passes through the transparent glass plate 302 again from the upper surface of the mirror 300 as shown by the arrow L2, and irradiates the object 100 to be measured. Since the luminous flux bends when passing through the transparent glass plate 302, the equation representing the luminous flux when irradiating the device under test 100 is a X + b i.y + cz + d,. It is necessary to correct 0 in consideration of the bending of light.
- the light beam reflected from the device under test 100 enters from the upper surface of the mirror 300, passes through the transparent glass plate 302, and passes through the transparent glass plate 302. Is reflected by This reflected light passes through the transparent glass plate 302 again, is emitted from the upper surface of the mirror 300, and enters the CCD camera 12. Therefore, the image plane S of the CCD camera 1 2
- the coordinates (xs, ys, f) of the coordinates of the measurement point (coordinates at the observation point) (xs, ys, f) above need to be corrected in consideration of the bending of light.
- the thickness of the light reflector 301 in the mirror 300 is extremely thin, and the equation in the world coordinate system representing the upper surface of the light reflector 301 in the mirror 300 is a M X + b M Y + CM
- ⁇ + d M 0
- an equation in the world coordinate system representing the surface of the measuring table 201 on which the mirror 300 is placed is obtained.
- the equation of the surface of the measuring table 201 can be obtained as follows.
- the measuring table 201 is covered with an opaque thin plate, and the coordinates on the flat plate in the world coordinate system are measured by the stereo method. Then, based on the coordinates of the obtained point on the thin plate in the world coordinate system, an equation representing the surface of the measuring table 201 is calculated. In calculating the equation of the plane, it is sufficient that there are at least three points on the thin plate.
- the measuring table 201 instead of covering the measuring table 201 with an opaque thin plate and making measurements, at least three markers are provided on the measuring table 201, and the position of the force is measured, so that the equation of the surface of the measuring table 201 can be calculated. You may make it calculate.
- the luminous flux emitted from the slit light source 13 irradiates the DUT 100 after passing through the transparent glass plate 302 twice. . Therefore, when the light beam emitted from the slit light source 13 is reflected by the mirror 300 and irradiates the device under test 100, the bending characteristic of the light is determined by the thickness of the mirror 300 (more precisely, the thickness of the transparent glass plate 302).
- V be V, as shown by arrows L l and L 3 in Figure 15.
- the bending characteristic is equivalent to the bending characteristic when light is applied to the DUT 100 'on the opposite side of the virtual transparent glass plate through the virtual transparent glass plate having a thickness of 2 v.
- the bending characteristic of the light is determined by the thickness of the mirror 300 (more precisely, the thickness of the transparent glass plate 302).
- V is equivalent to the bending characteristic when light is applied to the CCD camera on the other side of this virtual transparent glass plate through a virtual transparent glass plate with a thickness of 2 V.
- the slit light source 13 and the image plane S of the CCD camera are located in front of the transparent glass plate 400 having a thickness of w, and A correction method in the case where 100 is located on the other side of the transparent glass plate 400 will be described. Then, a description will be added of the difference from the correction method when the mirror 300 is mounted on the measurement table 201 as shown in FIG.
- the distance U between the plane of the light beam output from the transparent glass plate 400 and the plane of the original light beam incident on the transparent glass plate 400 is expressed by the following equation (5) from Fig. 17 .
- a method of correcting (xs, ys) in coordinates (coordinates at an observation point) (Xs, ys, f) of the measurement point on the image plane S of the CCD camera 12 will be described. There are two ways to do this.
- the first method is to measure the light on the image plane S, assuming that the light reflected from the DUT 100 (hereinafter referred to as reflected light) is all incident on the image plane S of the CCD camera 12 vertically. This is a method of correcting (xs, ys) at the point coordinates (xs, ys, f).
- the second method is based on the assumption that the light reflected from the DUT 100 (hereinafter referred to as reflected light) is incident on the CCD camera 12 toward the focal position (camera coordinate origin) of the CCD camera 12, In this method, (xs, ys) at the coordinates (xs, ys, f) of the measurement point on the image plane S is corrected.
- reflected light light reflected from the device under test 100
- the linear equation of the optical axis (z-axis) of the CCD camera 12 in the camera coordinate system is calculated using the rotation R and the translation t of the camera coordinates obtained in the first step.
- Convert to (2) the world coordinate system of the optical axis and the straight line equation of (z-axis), the equation of the transparent glass plate 400 in the world coordinate system (a M 'X + b M ' Y + CM 'Z + d M' 0) and the Based on this, the angle (incident angle) ⁇ 1 between the transparent glass plate 400 and the optical axis (z-axis) of the CCD camera 12 is determined, and ⁇ 2 in FIG. 19 is determined from Snell's law.
- a plane Q including the optical axis (z-axis) in the vertical coordinate system and perpendicular to the transparent glass plate 400 is represented. Is transformed into an equation in the camera coordinate system.
- an equation representing a plane Q including the optical axis in the camera coordinate system and perpendicular to the transparent glass plate 400, and an equation representing the image plane S in the camera coordinate system are as follows.
- the equation of the line of intersection between the plane Q including the optical axis and perpendicular to the transparent glass plate 400 and the image plane S is obtained based on the following equation.
- the coordinates ( xs , ys , f) of the observation point corresponding to the measurement point on the image plane S used in the third step are calculated using the correction values (xl, y1). to correct.
- the coordinates (xs ', ys', f) of the observation point corresponding to the measurement point on the image plane S (xs, ys, f) after correction are (xs ', ys', f)
- xs 'and ys' are expressed by the following equations.
- FIG. 22 shows an example in which an image observed at S on the image plane is corrected.
- ⁇ the dashed line shows the image observed on the image plane S
- the solid line shows the image after correction.
- xs' xs + xl,
- reflected light light reflected from the device under test 100
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Length Measuring Devices By Optical Means (AREA)
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/926,601 US6909513B1 (en) | 1999-05-26 | 2000-05-24 | Shape measuring device |
EP00929852A EP1197729A4 (en) | 1999-05-26 | 2000-05-24 | FORM MEASURING DEVICE |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP11/146904 | 1999-05-26 | ||
JP14690499 | 1999-05-26 |
Publications (1)
Publication Number | Publication Date |
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WO2000073738A1 true WO2000073738A1 (fr) | 2000-12-07 |
Family
ID=15418211
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2000/003332 WO2000073738A1 (fr) | 1999-05-26 | 2000-05-24 | Dispositif de mesure de forme |
Country Status (3)
Country | Link |
---|---|
US (1) | US6909513B1 (ja) |
EP (1) | EP1197729A4 (ja) |
WO (1) | WO2000073738A1 (ja) |
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EP1422495A1 (en) * | 2001-07-30 | 2004-05-26 | Topcon Corporation | Surface shape measurement apparatus, surface shape measurement method, surface state graphic apparatus |
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CN1533495A (zh) * | 2001-07-17 | 2004-09-29 | ������������ʽ���� | 形状测定装置 |
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FI117650B (fi) * | 2004-10-27 | 2006-12-29 | Mapvision Ltd Oy | Symmetria-akselin määrittäminen |
US7552494B2 (en) * | 2005-04-28 | 2009-06-30 | Esoles, L.L.C. | Method and apparatus for manufacturing custom orthotic footbeds that accommodate the effects of tibial torsion |
US8294082B2 (en) * | 2007-11-14 | 2012-10-23 | Boulder Innovation Group, Inc. | Probe with a virtual marker |
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US8277459B2 (en) | 2009-09-25 | 2012-10-02 | Tarsus Medical Inc. | Methods and devices for treating a structural bone and joint deformity |
US8652141B2 (en) | 2010-01-21 | 2014-02-18 | Tarsus Medical Inc. | Methods and devices for treating hallux valgus |
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US8567081B2 (en) | 2010-08-31 | 2013-10-29 | Northwest Podiatric Laboratory, Inc. | Apparatus and method for imaging feet |
USRE48771E1 (en) | 2010-08-31 | 2021-10-12 | Northwest Podiatrie Laboratory, Inc. | Apparatus and method for imaging feet |
DE102011000304B4 (de) * | 2011-01-25 | 2016-08-04 | Data M Sheet Metal Solutions Gmbh | Kalibrierung von Laser-Lichtschnittsensoren bei gleichzeitiger Messung |
US20140276094A1 (en) * | 2013-03-15 | 2014-09-18 | Roy Herman Lidtke | Apparatus for optical scanning of the foot for orthosis |
JP6176957B2 (ja) * | 2013-03-18 | 2017-08-09 | 株式会社ミツトヨ | 形状測定装置 |
FR3009168B1 (fr) * | 2013-07-31 | 2015-08-28 | Gabilly | Dispositif d'examen visiometrique du pied |
DE102013111761B4 (de) * | 2013-10-25 | 2018-02-15 | Gerhard Schubert Gmbh | Verfahren und Scanner zum berührungslosen Ermitteln der Position und dreidimensionalen Form von Produkten auf einer laufenden Fläche |
EP2954798B1 (de) * | 2014-06-11 | 2017-04-12 | VITRONIC Dr.-Ing. Stein Bildverarbeitungssysteme GmbH | Messverfahren zur Bestimmung biometrischer Daten menschlicher Füße |
FR3032535B1 (fr) * | 2015-02-05 | 2018-03-09 | Frederic Clodion | Dispositif de prise de mesures et de vues 3d |
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Also Published As
Publication number | Publication date |
---|---|
EP1197729A1 (en) | 2002-04-17 |
EP1197729A4 (en) | 2006-10-18 |
US6909513B1 (en) | 2005-06-21 |
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