WO2005103609A1 - 三次元形状測定装置及び三次元形状測定方法 - Google Patents
三次元形状測定装置及び三次元形状測定方法 Download PDFInfo
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- WO2005103609A1 WO2005103609A1 PCT/JP2004/004632 JP2004004632W WO2005103609A1 WO 2005103609 A1 WO2005103609 A1 WO 2005103609A1 JP 2004004632 W JP2004004632 W JP 2004004632W WO 2005103609 A1 WO2005103609 A1 WO 2005103609A1
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- light
- light receiving
- dimensional shape
- measured
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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
Definitions
- the present invention relates to a three-dimensional shape measuring device and a three-dimensional shape measuring method used for measuring a three-dimensional shape of a small object in a non-contact manner, and in particular, a gypsum tooth model Pettas prosthesis used for dental care and the like.
- the present invention relates to a three-dimensional shape measuring apparatus and a three-dimensional shape measuring method suitable for measuring a three-dimensional shape of a small object having an irregular shape and an irregular surface reflectance as described above. Background art
- a three-dimensional shape measuring device As a three-dimensional shape measuring device, a three-dimensional object to be measured is irradiated with laser light, the reflected light is received by a light receiving element, and a laser light source, a laser irradiation point on the object to be measured, and a light receiving element are used. The distance from the laser light source or light-receiving element to the laser irradiation point on the DUT is calculated from the triangle formed by There is a triangulation method in which a three-dimensional shape of an object to be measured is measured by giving a coordinate value in a coordinate space.
- the three-dimensional shape measuring device disclosed in the publication irradiates a laser beam to the object to be measured, receives the reflected light with a line sensor, and based on the light receiving position, the distance to the object to be measured and the shape of the object to be measured.
- the reflected light reflected by the line sensor is received by the photo sensor, and the amount of laser light is corrected based on the amount of light received by the photo sensor, so that the amount of light reflected by the line sensor is always constant. By keeping this, it is intended to measure the DUT having an arbitrary surface reflectance with high accuracy.
- the secondary light from the line sensor is used to correct the light amount of the laser light. Since the reflected light received by the photo sensor is received by the photo sensor, the reflected light received by the photo sensor may be weak and the detection accuracy may be degraded, and the reflected light received by the photo sensor may be weak and the laser beam There is a problem that the detection accuracy may be degraded by ambient light other than the above, and it was an issue to solve such a problem. Disclosure of the invention
- the present invention has been made in view of the above-mentioned conventional problems.
- the three-dimensional shape of an object to be measured even if the object to be measured has an arbitrary surface reflectance, the three-dimensional shape can be enhanced. It is an object of the present invention to provide a three-dimensional shape measuring device and a three-dimensional shape measuring method capable of measuring with high accuracy.
- a three-dimensional shape measuring apparatus includes a laser light source that irradiates a laser beam to an object to be measured, and a light receiving element that receives light reflected by the object to be measured, and outputs a signal based on an output signal of the light receiving element.
- This is a device that measures the three-dimensional shape of the object to be measured based on the obtained positional information.
- the laser light source adjusts the amount of reflected light received by the light receiving element to an appropriate value based on the amount of reflected light received by the light receiving element.
- control means for changing at least one of the intensity of the light irradiation and the light receiving sensitivity of the light receiving element.
- the object to be measured has a flat part and an upright wall part, and the object to be measured is based on a plurality of light receiving elements and position information obtained from output signals of these light receiving elements.
- a three-dimensional shape calculating means for calculating the three-dimensional shape of the object is provided.
- the light receiving elements are arranged on both sides of the laser light source.
- the first reflected light from the flat part of the object to be measured is located on one side of the laser light source.
- the light receiving element that receives much of the light is the main light receiving element, and the light receiving element that is located on the other side of the laser light source and receives much of the primary reflected light from the standing wall of the DUT is the secondary light receiving element.
- selecting means for selecting data of the light receiving element having a larger output and sending it to the three-dimensional shape calculating means. are doing. '
- the three-dimensional shape measuring apparatus is characterized in that the laser light source and the plurality of light receiving elements are located on the same plane.
- the three-dimensional shape measuring apparatus of the present invention comprises: holding means for holding an object to be measured and rotatable about a rotation axis; and a laser beam irradiation direction at a fixed angle about the laser beam axis of the laser beam.
- a laser projection system having a scanning means to be changed and a light receiving system including a light receiving element are provided, and a rotation axis of the holding means, a laser beam axis of the laser projection system, and a central axis of the light receiving system are in the same plane. It is characterized by being placed in
- the three-dimensional shape measuring apparatus of the present invention is characterized in that the object to be measured is a dental model for dentistry, and the base of the tooth of the tooth model can be irradiated with laser light. .
- the three-dimensional shape measuring method of the present invention measures the three-dimensional shape of the object by irradiating the object with laser light, receiving reflected light reflected by the object with a plurality of light receiving elements.
- the object to be measured is In addition to scanning the laser beam, it is determined whether the amount of reflected light received by the light receiving element at a plurality of positions on the device under test is too large or too small. If it is determined that the amount of reflected light is too large, the laser beam intensity and If at least one of the light receiving sensitivity characteristics of the light receiving element is lowered, and if the amount of reflected light is determined to be too small, at least one of the laser beam irradiation intensity and the light receiving sensitivity characteristic of the light receiving element is raised, and It is characterized in that laser light is re-scanned with respect to.
- the three-dimensional shape measuring method of the present invention is characterized in that, when irradiating a laser beam to an object to be measured and receiving light reflected by the object to be measured with a light receiving element to measure a three-dimensional shape of the object to be measured,
- the laser beam is scanned by changing the irradiation intensity in multiple steps on the object to be measured, and the optimum value is extracted from the amount of reflected light received by the light-receiving element for each stage at multiple positions on the object to be measured.
- the laser light source irradiates the object to be measured having a flat portion and an upright wall portion with laser light, and the reflected light reflected by the object to be measured is received by a plurality of light receiving elements.
- light-receiving elements are arranged on both sides of the laser light source, and are located on one side of the laser light source and receive much primary reflected light from the flat part of the device under test.
- the output is large when the output signal intensity from the sub-light-receiving element, which is located on the other side of the main light-receiving element and the laser light source and receives much primary reflected light from the vertical wall of the DUT, exceeds a predetermined value. It is characterized in that the data of the light receiving element is selected.
- the three-dimensional shape measuring method of the present invention when measuring a three-dimensional object to be measured using a three-dimensional shape measuring device, by irradiating a standard object to be irradiated with laser light by changing the irradiation angle, Prepare a data table that covers the output signal value of the light receiving element that receives the reflected light and the coordinates of the standard DUT corresponding to the irradiation angle, and change the irradiation angle to the measurement object to be measured. hand Irradiate the laser beam, compare the output signal value of the light receiving element at each irradiation angle with the output signal value of the standard DUT, and compare the output signal value of the standard DUT corresponding to the output signal value of the DUT. It is characterized in that the coordinates are interpolated using the output signal value of the measured object to obtain three-dimensional shape data of the measured object.
- FIG. 1 is a schematic diagram illustrating an embodiment of a three-dimensional shape measuring apparatus according to the present invention, in which the object to be measured is irradiated with laser light
- FIG. 2 is a diagram illustrating a measuring process performed by the three-dimensional shape measuring apparatus.
- the flow chart (a) showing the power control process and the flow chart (b) showing the power control process are shown in FIG.
- FIG. 4 is a schematic diagram showing another embodiment of the three-dimensional shape measuring apparatus according to the present invention, in which the object to be measured is irradiated with laser light
- FIG. 5 is a diagram illustrating the three-dimensional shape measuring apparatus shown in FIG.
- FIG. 6 is a flow chart showing another measurement process using FIG. 6, FIG.
- FIG. 6 is a schematic diagram showing the overall configuration of still another embodiment of the three-dimensional shape measuring apparatus of the present invention, and FIG. Layout diagram of the optical system, Fig. 8 shows the three-dimensional shape measurement of Fig. 6.
- FIG. 9 is a schematic diagram for explaining a calculation algorithm for obtaining three-dimensional shape data using the apparatus
- FIG. 9 is a diagram showing a data table for obtaining three-dimensional shape data using the tertiary shape measuring apparatus
- FIG. 10 is a schematic diagram for explaining a test piece for creating the data table of FIG. 9 and a step of obtaining three-dimensional shape data of the device under test
- FIG. 11 is a conventional three-dimensional shape measuring device.
- Fig. 12 shows the state of secondary reflection occurring when measuring the three-dimensional shape of an object under measurement.
- FIG. 4 is an explanatory diagram for explaining an error that occurs when measuring a shape.
- FIG. 1 is a view showing one embodiment of a three-dimensional shape measuring apparatus according to the present invention. This embodiment shows a case of measuring a three-dimensional shape of a plaster-made tooth model, a Pettas prosthesis, and an opposite tooth transfer type for manufacturing and manufacturing a dental prosthesis used for dental care.
- the illustrated three-dimensional shape measuring apparatus 1 is a laser projector (laser light source) that irradiates a laser beam La onto a gypsum tooth model B, which is an object to be measured, having flat portions Bl, B3 and a standing wall portion B2. 2) and two light-receiving sensors (light-receiving elements) 3 that receive the reflected light Ra1 from the surface of the tooth model B through the light-receiving optical lens 4a and output light-receiving position information.
- the three-dimensional shape calculating means 6 for calculating the three-dimensional shape of the tooth model B based on the position information obtained from each output signal of the light receiving sensor 3 is provided, and the laser projector 2 and the two light receiving sensors 3 are the same. It is located in the plane.
- the two light receiving sensors 3 are arranged vertically one above the other with the laser projector 2 in between (located in different quadrants with the laser projector 2 as a boundary), and positioned above the laser projector 2.
- the light receiving sensor 3 that receives much of the primary reflected light from the flat part B 1 of the tooth model B is the main light receiving sensor 3 U and is located below the laser projector 2 and the standing wall part B 2 of the tooth model B
- the light receiving sensor 3 that receives a large amount of primary reflected light from the camera is referred to as a sub light receiving sensor 3D.
- the output is outputted.
- Selection means 5 is provided for selecting the data of the larger light receiving sensor 3U (or 3D) and sending it to the three-dimensional shape calculation means 6.
- the three-dimensional shape measuring apparatus 1 is not shown in the drawings, but the tooth model B is provided with holding means rotatable about a rotation axis which is the vertical direction of holding B, and scanning means for scanning the laser beam La within a certain angle range, and the laser projector 2 and the light receiving In addition to the sensor 3 being located in the same plane, the rotation axis of the holding means and the scanning range of the laser beam La are also located in the same plane.
- the three-dimensional shape measuring apparatus 1 adjusts the laser light L a radiated from the laser projector 2 so that the amount of reflected light received by the light receiving sensor 3 becomes an appropriate value.
- a control means 7 for changing the light irradiation intensity of the light is provided.
- the control means 7 controls the laser beam irradiation intensity, controls the holding means to control the reference position and rotation of the motor as the drive source, and controls the running means to the motor as the drive source. It controls rotation and on / off.
- the three-dimensional shape measuring apparatus 1 when measuring the three-dimensional shape of the tooth model B, scans the rotating tooth model B with the laser beam La at a constant irradiation intensity, It is determined whether the amount of reflected light received by the light receiving sensor 3 is too large or too small for a plurality of positions of the tooth model B. If the amount of reflected light is determined to be too large, the laser beam irradiation intensity is reduced and the amount of reflected light is reduced. If it is determined to be too small, the laser beam irradiation intensity is increased and the tooth model B is re-scanned with the laser beam La.
- step S1 when the measurement is started, the laser stabilization in step S1 and the movement of the tooth model B to the reference position in step S2 are completed.
- step S3 the three-dimensional shape calculation means 6 reads various data.
- step S4 after the selection of the light receiving sensor 3 described later is performed by the selection means 5, in step S5, the laser light L emitted from the laser projector 2 is irradiated by the control means 7 in step S5. Perform power control to change the light irradiation intensity of a.
- step S5 as shown in FIG.
- step S5a it is determined whether or not the amount of reflected light received by the light receiving sensor 3 is within a proper value range, and the amount of reflected light is determined. If it is an appropriate value (Yes), the process proceeds to the coordinate calculation in step S6. If the amount of reflected light is out of the range of the appropriate value (No), laser output control is performed in step S5b.
- step S5c the data obtained by the skipping process, that is, the data obtained with the changed laser beam irradiation intensity is taken as update data, and when this update data is read in step S3, the reflected light amount is out of the proper range.
- the process proceeds to the coordinate calculation in step S6.
- step S7 the three-dimensional shape of the tooth model B is measured while repeating the above-described control of the laser beam irradiation intensity for each rotation of the tooth model B or each time the laser beam La runs, and the measurement is completed. It becomes.
- the tooth model B is irradiated with the laser beam La, the reflected light is received by the light receiving sensor 3, and the reflected light amount received directly by the light receiving sensor 3 is measured. Since the amount of reflected light received by the light receiving sensor 3 is adjusted to an appropriate value by using the control of laser beam irradiation intensity, the amount of reflected light for control is not reduced in the three light receiving sensors, and It is hardly affected by ambient light other than the laser light La.
- the three-dimensional shape can be measured with high accuracy. Since both the light receiving unit for the above control and the light receiving unit for the measurement are used, the measurement accuracy is improved compared to a conventional device that receives secondary reflected light with a photo sensor and corrects the light amount of the laser light. Therefore, the structure can be simplified.
- the procedure for measuring the three-dimensional shape of the tooth model B by the three-dimensional shape measuring apparatus 1 will be described.
- the strong primary reflected light Ra1 enters the main light receiving sensor 3U and the weak first reflected light Ra1.
- the next reflected light Ra1 'enters the sub-light receiving sensor 3D.
- step S4 in FIG. 2 (a) details of step S4 in FIG. 2 (a) are selected by the selecting means 5 with respect to each coordinate value (step S4a) obtained by both light receiving sensors 3U and 3D.
- steps S4b and S4c a determination as to which coordinate value to use is made in steps S4b and S4c.
- step S4b it is determined whether or not the output voltage (output signal strength) of the sub light receiving sensor 3D is equal to or more than the predetermined value X (V).
- the output voltage of the light receiving sensor 3 U is the specified value Y
- step S4d where the coordinate values of the main light-receiving sensor 3U are adopted, and the three-dimensional shape calculation means In 6, the calculation based on the data from the main light receiving sensor 3U is performed.
- the strong primary reflected light Ra2 enters the auxiliary light receiving sensor 3D and the weak primary reflected light Ra2, The light enters the main light receiving sensor 3U.
- the secondary reflected light Rb2 generated when a part of the strong primary reflected light Ra2 strikes the nearby flat portion B3 also enters the main light receiving sensor 3U.
- the selection means 5 determines in step S4b whether the output voltage of the sub-light receiving sensor 3D is equal to or higher than a predetermined value X (V).
- X a predetermined value
- the process proceeds to step S4e, where the coordinate values of the sub-light receiving sensor 3D are adopted.
- the three-dimensional shape calculating means 6 a calculation is performed based on the data from the sub-light receiving sensor 3D.
- step S4b the output voltage of the sub-light receiving sensor 3D is not remarkably large and a predetermined value X If (V) has not been reached (No), in step S4c, the output voltage of the main light receiving sensor 3U is lower than the predetermined value Y (V) and the output voltage of the sub light receiving sensor 3D becomes predetermined. It is determined whether or not the value is equal to or more than the value Z (V). If this condition is satisfied (Yes), the process proceeds to step S4e, where the coordinate value of the sub-light receiving sensor 3D is changed. The calculation is performed based on the data from the sub-light receiving sensor 3D. '
- the three-dimensional shape measuring apparatus 1 by controlling the laser beam irradiation intensity by the control means 7, even if the three-dimensional shape has an arbitrary surface reflectivity, the three-dimensional shape can be accurately determined.
- the data of the light receiving sensor 3U (or 3D) having the larger output is automatically selected by the selection means 5, that is, the light receiving sensor 3 located at the portion where the secondary reflected light is hard to enter or the light receiving sensor 3U
- the output signal from the light receiving sensor 3 located at a position where the relative light intensity of the primary reflected light is higher is automatically selected and processed, so that the tooth model is Requires the highest measurement accuracy of type B
- the shape measurement near the gin line the portion between the vertical wall B2 and the flat portion B3
- the intensity of the primary reflected light is reduced. Under weak conditions, it is possible to prevent an increase in coordinate noise due to the deterioration of the SN ratio. Therefore, this also improves the shape measurement accuracy.
- the primary reflected light from the beam spot irradiated on the tooth model surface is further reflected at a peripheral portion in the light receiving sensor field of view, and the primary reflected light is
- the secondary reflected light from the peripheral portion overlaps and enters the light receiving sensor, a multiple reflection error may occur.
- a reflection object that causes secondary reflection occurs in the light receiving field.
- the light intensity of the primary reflected light R 2 directly reflected toward the light receiving sensor 53 is shown. Is weak, and the intensity of the secondary reflected light R 2 ′, which is generated by hitting the nearby flat portion A 3 of the primary reflected light R 2, is relatively strong. , The light intensity of the primary reflected light R 3 reflected toward the light receiving sensor 53 is strong, and the primary reflected light Of the light R 3, the second-order reflected light R 3, which is reflected toward the light receiving sensor 53 when hitting the standing wall A 2, is different from the case where the laser light L hits the standing wall A 2 of the tooth model A. When compared to the primary reflected light R 3, the secondary reflected light R 3 ′ corresponding to the error becomes significantly smaller.
- the measurement coordinates when this error is included are indicated by phantom lines in FIG. 12, that is, in the vicinity of the prosthesis fitting portion (margin line) of the tooth model A which requires the highest measurement accuracy.
- the measurement accuracy deteriorates, and the prosthesis manufactured based on the measurement coordinate data has poor shape accuracy and does not match the trapezoid to which the prosthesis is attached.
- the S / N ratio of the signal from the light receiving sensor 53 deteriorates and noise is generated. As the number of shapes increases, the accuracy of shape measurement may decrease.
- the measurement accuracy can be further improved as described above.
- the problems of the conventional three-dimensional shape measuring device can be solved.
- FIG. 4 is a view showing another embodiment of the three-dimensional shape measuring apparatus according to the present invention. Note that the same components as those in the previous embodiment are denoted by the same reference numerals, and detailed description is omitted.
- control means 7 controls the light irradiation intensity of the laser beam La
- the three-dimensional shape measuring apparatus 11 of the present embodiment has The control means 7 changes the light receiving sensitivity characteristic of the light receiving sensor 3 based on the amount of reflected light received by the light receiving sensor 3 so that the amount of reflected light received by the light receiving sensor 3 becomes an appropriate value.
- control means 7 controls the holding means of the tooth model B and the running means of the laser beam La.
- the variable gain amplifiers 8a and 8b are provided between the main light receiving sensor 3U and the sub light receiving sensor 3D and the control means 7, respectively.
- the rotating tooth model B is scanned with the laser beam La at a constant irradiation intensity, and the reflected light amount received by the light receiving sensor 3 at a plurality of positions of the tooth model B is too large or too small. Is determined. If it is determined that the amount of reflected light is excessive, the gain of the variable gain amplifiers 8a and 8b is reduced to lower the light receiving sensitivity characteristic of the light receiving sensor 3, and the amount of reflected light is excessively small. When it is determined that the light receiving sensitivity of the light receiving sensor 3 is increased by increasing the amplifier gain of the gain variable amplifiers 8a and 8b, the amount of reflected light received by the light receiving sensor 3 becomes an appropriate value. Then, the tooth model B is re-scanned with the laser beam La.
- the amount of reflected light directly received by the light receiving sensor 3 is used to control the light receiving sensitivity characteristics of the light receiving sensor 3, the amount of reflected light for control does not decrease as in the previous embodiment.
- the material of the tooth model B in this embodiment, gypsum
- its three-dimensional shape can be measured with high accuracy.
- FIG. 5 is a flowchart for explaining another measurement process (measurement method) using the three-dimensional shape measuring apparatus shown in FIG.
- the tooth model B which is the object to be measured, is irradiated with laser light La, and the reflected light is received by the light receiving sensors (the main light receiving sensor 3U and the sub light receiving sensor 3D) 3 so that the tooth model B
- the laser beam La is scanned while changing the irradiation intensity in a plurality of steps of, for example, about 3 to 10, and the light receiving sensor 3 receives light at each of the plurality of positions of the tooth model B at each step. An optimum value is extracted from each reflected light amount.
- the irradiation intensity of the laser beam La is set to one of a plurality of stages (the highest intensity or the lowest intensity).
- the laser beam La is scanned.
- step S12 After reading various data in the three-dimensional shape calculation means 6 in step S12, data comparison and extraction of the optimum value are performed in step S13, and the data in which the amount of reflected light is excessively large or small. Is excluded, and the data in which the amount of reflected light is the optimum value is extracted.
- step S14 the light receiving sensor 3 is selected by the selection means 5 (see FIG. 3), and after the coordinate calculation in step S6, one rotation of the tooth model B is performed in step S7. Measurement is completed.
- step S11 the irradiation intensity of the laser beam La is changed to the next stage, and the same process is repeated.
- the number of treatments reaches the preset number of irradiation intensity steps, all measurements are terminated.
- the laser beam La is scanned while changing the irradiation intensity in a plurality of steps, and the optimum value is determined from the amount of reflected light received by the light receiving sensor 3 at each step in a plurality of positions on the tooth model B.
- the measurement method to be extracted for example, when the irradiation intensity of the laser beam La is set at a certain stage, even if the reflected light amount becomes excessively large or small, the data is excluded and only the appropriate value is extracted. However, for the part excluding the data, the appropriate value obtained when scanning with another irradiation intensity is added, so that the measurement data for multiple positions of the tooth model B consists of only the optimum value .
- the material of the tooth model B (plaster in this embodiment) has an arbitrary surface reflectance, the three-dimensional shape of the material can be measured with high accuracy. be able to.
- the light receiving sensitivity characteristic of the light receiving sensor 3 that is, the amplifier gain in the variable gain amplifiers 8a and 8b is changed in multiple stages, and the laser beam La is scanned, and the multiple positions of the tooth model B are scanned.
- FIG. 6 is a view showing still another embodiment of the three-dimensional shape measuring apparatus according to the present invention.
- the illustrated three-dimensional shape measuring device 21 is a rotating device serving as a holding means for placing and holding a tooth model (or impression model) 30 and adjacent teeth 34, 35 as an object to be measured.
- a laser light source 29 for irradiating the laser light La to the staple 22, the tooth model 30, and a drive for changing the irradiation direction at a certain angle around the laser light axis 29 b of the laser light La.
- a laser light projecting system 23 including a polygon mirror 31 as a means, and a laser light receiving system 2 including a light receiving optical lens 32 and a light receiving element 33 for condensing the light reflected by the tooth model 30 It has four.
- the three-dimensional shape measuring device 21 uses a touch panel LCD 25 for operating a display for operating the three-dimensional shape measuring device 21, and the shape of the tooth model 30 from the detected values of the light receiving element 33, etc.
- the three-dimensional shape calculating means 26 for calculating, the control means 7 for controlling the entire three-dimensional shape measuring device 21, and the obtained three-dimensional shape data are personalized via a communication line 28 such as a LAN or a telephone line. It has a communication control unit 27 for transmitting to the computer server.
- the control means 7 receives light with the light receiving element 33 as in the embodiment described with reference to FIG. Based on the amount of reflected light, control is performed to change the light irradiation intensity of the laser beam La emitted from the laser light source 29 so that the amount of reflected light received by the light receiving element 33 becomes an appropriate value. Drive control of the rotary table 22 and the polygon mirror 31 is performed.
- the control means 7 can control the light receiving sensitivity characteristic of the light receiving element 33 by providing a variable gain amplifier between the light receiving element 33 and the light receiving element 33 as in the embodiment described with reference to FIG.
- the turntable 22 has a disk shape rotatable around a vertical axis, and has a tooth model 3 ⁇ to be measured and adjacent teeth 34, 35 fixed to the top plate. At the time of measurement, the adjacent teeth 34 and 35 are moved so as not to block the laser optical axis 29b and the light receiving axis.
- the laser projection system 23 includes a laser light source 29 and a polygon mirror (only the mirror surface is shown in FIG. 7) 31.
- the polygon mirror 31 rotates.
- the irradiation direction of the laser beam is moved in accordance with the distance, and a scanning operation is performed.
- the scanning angle 0 is 45 °, and scanning can be performed with a width of 10 ° left and right around this angle.
- the laser receiving system 24 includes an optical lens 32 and a light receiving element 33, receives the light reflected by the tooth model 30, and forms the tooth in a manner described later. Obtain the three-dimensional coordinates of model 30.
- the viewing angle is 11.3 ° X 2
- the line indicated by the dashed line 39 in the figure is the laser 'focus line of the light receiving system
- the hatched area 36 is the high-precision measurement range and the hatching area.
- 37 and 38 are the effective measurement ranges.
- the laser light source 29 and the light receiving element 33 are positioned obliquely with respect to the tooth model 30, and A vertical plane in which the laser beam axis 29 b from the laser light source 29, the center axis 32 a of the optical lens 32 shown in FIGS. 7 and 8, and the rotation axis 22 a of the turntable 22 are the same. Place it inside.
- the rotating tooth model 30 is scanned with the laser beam La at a constant irradiation intensity, and it is determined whether the amount of reflected light received by the light receiving element 33 is too large or too small at a plurality of positions of the tooth model 30. I do.
- the intensity of laser light irradiation from the laser light source 29 is reduced, and when it is determined that the amount of reflected light is excessively small, irradiation of laser light from the laser light source 29 is performed.
- the intensity is increased so that the amount of reflected light received by the light receiving element 33 becomes an appropriate value, and the tooth model B is re-scanned with the laser light La.
- the amount of reflected light for control does not decrease with respect to the light receiving element 33 and the surrounding area other than the laser beam La is not reduced. Since it is hardly affected by light, even if the material of the tooth model 30 has an arbitrary surface reflectance, the three-dimensional shape can be measured with high accuracy.
- the rotary table 22 is rotated, and the polygon mirror 31 is rotated or oscillated.
- the laser beam spot from 29 is moved on the tooth model 30 on a line passing through the rotation axis 22 a of the rotary table 22 to run.
- the laser light source 29 is not a continuous light but an intermittent light pulse-modulated in synchronization with a predetermined minute scanning angle.
- the linear equation of the laser beam is obtained from the above-mentioned scanning angle ⁇ and the scanning center coordinate 2.9a.
- the position of the light-receiving surface 3 3a obtained from the two outputs (Ia, 1b) of the light-receiving element 3 3 and the reflected light axis 3 2a passing through the center of the light-receiving system optical lens 32 are reflected by the linear formula.
- the intersection point P (x, y) of the two straight lines can be obtained by solving a system of binary equations. By performing this operation by rotating the rotary table 22 by 360 ° while changing the scanning angle ⁇ , three-dimensional shape data of the entire tooth model 30 can be obtained.
- test piece whose shape (coordinates) is known in advance.
- the test pieces are prepared, and the output signal values (Ia, Ib) of the light receiving element 33 obtained by intermittently scanning the surface of the test piece with the laser beam, and the test pieces are displayed on the test piece.
- the coordinate values (x, y) of the laser beam spot determined geometrically are made to correspond to each other, and a standard coordinate table is created and stored in the three-dimensional shape calculation means 26 (FIG. 6). Then, when measuring the tooth model 30, the data (Ia, Ib, ⁇ ) acquired in the above manner was corrected using the standard coordinate template, and the laser beam was applied to the tooth model 30 whose coordinates were unknown. Find the coordinates of the beam spot.
- a flat test piece as shown in Fig. 10 was used, and as shown in Fig. 9, the scanning angle 0 and the s value (measured value) calculated by the following equation 1 were used.
- the three-dimensional shape measuring apparatus is a tooth model for manufacturing and manufacturing a dental prosthesis used for dental treatment and a three-dimensional shape measuring apparatus of an opposite tooth transfer type.
- a case was shown, it is not limited to this.
- the case where either one of the laser beam irradiation intensity and the light receiving sensitivity characteristic is controlled has been described.
- the details of the three-dimensional shape measuring apparatus according to the present invention are not limited to the above embodiments. Industrial applicability
- the three-dimensional object to be measured is irradiated with laser light, the reflected light is received by the light receiving element, and the amount of reflected light directly received by the light receiving element is reflected by the laser light source.
- Laser beam irradiation intensity ⁇ Used to control the light receiving sensitivity characteristics of the light receiving element so that the amount of reflected light received by the same light receiving element becomes an appropriate value, so that the amount of reflected light for control in the light receiving element does not decrease In addition, it is hardly affected by ambient light other than the laser light, and the three-dimensional shape of the measured object having an arbitrary surface reflectance can be measured with high accuracy.
- the light receiving element also serves as the light receiving part for the above control and the light receiving part for the measurement, for example, compared with the conventional device that receives the secondary reflected light by the photo sensor and corrects the light amount of the laser light, The accuracy can be improved and the structure can be simplified. Further, according to a preferred example of the three-dimensional shape measuring apparatus of the present invention, it is possible to measure a three-dimensional shape with high accuracy by removing the influence of the secondary reflection. For example, a margin line of a plaster-made tooth model In other words, in the measurement of the shape of the abutment tooth at the joint line with the crown, it is possible to obtain a very excellent effect that it is possible to obtain the measurement accuracy required for producing a highly compatible prosthesis.
- the measurement accuracy is further improved.
- the means for holding the object to be measured mechanically moves so that the time required for moving the measuring instrument can be greatly reduced.
- the entire shape data can be obtained in time.
- the three-dimensional shape measuring apparatus of the present invention it is possible to obtain the entire shape data in a short time while removing the blind spot of the object to be measured which is generated by the conventional method. Accordingly, it is possible to measure, with high accuracy, a portion of a margin line, which requires particularly high accuracy, at the base of the tooth of the tooth model to be measured.
- a three-dimensional object to be measured is scanned with laser light at a constant irradiation intensity, and the reflected light is received by a light receiving element, and light is received at a plurality of positions of the object to be measured It is determined whether the amount of reflected light received by the element is too large or too small, and based on the result of determination, the laser beam irradiation intensity of the laser light source ⁇ the light receiving sensitivity of the light receiving element is controlled, and the laser Since the light is re-run, the light receiving element does not decrease the amount of reflected light for control and is hardly affected by ambient light other than laser light, and has an arbitrary surface reflectance.
- the three-dimensional shape of the object can be measured with high accuracy. Also, do not continuously scan the device under test with laser light. In addition, since the laser beam irradiation intensity ⁇ ⁇ the light receiving sensitivity characteristics of the light receiving element can be controlled, and subsequently the three-dimensional shape of the DUT can be measured, it can contribute to shortening the measurement time. .
- the object to be measured is scanned with laser light while changing the irradiation intensity in a plurality of steps.
- the three-dimensional shape of the DUT having an arbitrary surface reflectance can be measured with high accuracy.
- the three-dimensional shape measuring method of the present invention it is possible to perform a highly accurate three-dimensional shape measurement that removes the influence of the secondary reflection.
- the shape of the line that is, the joint line with the crown in the abutment tooth
- the coordinates are directly obtained from the electric signal from the light receiving sensor without using the triangulation method and the distance / coordinate conversion method.
- the three-dimensional shape data of the measured object can be obtained by high-speed coordinate calculation.
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
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Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6421581A (en) * | 1987-07-16 | 1989-01-24 | Omron Tateisi Electronics Co | Projector for image processing |
JPH0399207A (ja) * | 1989-09-12 | 1991-04-24 | Matsushita Electric Ind Co Ltd | 実装基板検査装置 |
JPH0526638A (ja) * | 1991-07-23 | 1993-02-02 | Mitsubishi Heavy Ind Ltd | 三次元形状認識装置 |
JPH07248213A (ja) * | 1994-03-11 | 1995-09-26 | Nikon Corp | 三次元形状測定装置 |
JP2000230814A (ja) * | 1999-02-09 | 2000-08-22 | Mitsubishi Heavy Ind Ltd | レーザ光を利用した形状測定方法 |
JP2002357408A (ja) * | 2001-03-25 | 2002-12-13 | Omron Corp | 光学式計測装置 |
JP2003148929A (ja) * | 2001-11-14 | 2003-05-21 | Ihi Aerospace Engineering Co Ltd | 三次元形状測定装置および三次元形状測定方法 |
-
2004
- 2004-03-31 WO PCT/JP2004/004632 patent/WO2005103609A1/ja active Application Filing
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6421581A (en) * | 1987-07-16 | 1989-01-24 | Omron Tateisi Electronics Co | Projector for image processing |
JPH0399207A (ja) * | 1989-09-12 | 1991-04-24 | Matsushita Electric Ind Co Ltd | 実装基板検査装置 |
JPH0526638A (ja) * | 1991-07-23 | 1993-02-02 | Mitsubishi Heavy Ind Ltd | 三次元形状認識装置 |
JPH07248213A (ja) * | 1994-03-11 | 1995-09-26 | Nikon Corp | 三次元形状測定装置 |
JP2000230814A (ja) * | 1999-02-09 | 2000-08-22 | Mitsubishi Heavy Ind Ltd | レーザ光を利用した形状測定方法 |
JP2002357408A (ja) * | 2001-03-25 | 2002-12-13 | Omron Corp | 光学式計測装置 |
JP2003148929A (ja) * | 2001-11-14 | 2003-05-21 | Ihi Aerospace Engineering Co Ltd | 三次元形状測定装置および三次元形状測定方法 |
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