JP3944091B2 - 3D image data generation method - Google Patents

Description

【００５３】
さらに、基準物体として円柱が採用されていて、定点として上面または底面の中心点が指定されていれば、サブステップ１の処理によって計算された２つの頂点のうちのいずれか一方の頂点の座標が定点として選択される。また、基準物体として円柱が採用されていて、定点として重心が指定されていれば、前記２つの頂点を結ぶ線の中央位置の座標が定点として計算される。また、基準物体として円錐が採用されていて、定点として頂点または底面の中心点が指定されていれば、サブステップ１の処理によって計算されている頂点および底面の中心点のうちのいずれか一方が定点として選択される。
【００５４】
このようなサブステップ１，２の処理により、少ない量のサブ立体形状データ群に基づき、物体パラメータおよび定点パラメータを用いて定点が計算されるので、計算処理速度を高めることが可能である。
【００５５】
前記ステップＳ２０の処理後、画像処理装置３２は、ステップＳ２２にて座標変換係数（座標変換パラメータ）の計算処理を実行する。この座標変換係数の計算処理は、一つの座標の立体形状データ群を他の座標の立体形状データ群に変換するための変換係数を計算するものである。本実施形態においては、座標Ａ（３次元形状測定装置２０Ａの座標）を基準座標とし、座標Ｂ（３次元形状測定装置２０Ｂの座標）および座標Ｃ（３次元形状測定装置２０Ｃの座標）の各座標値を前記基準座標値に変換する。
【００５６】
このステップＳ２２による座標変換係数の計算処理の説明に先立ち、座標変換について簡単に説明しておく。Ｘ−Ｙ−Ｚ座標からなる第１座標と、同第１座標をＸ軸、Ｙ軸およびＺ軸回りにそれぞれα，β，γだけ回転させるとともに、同第１座標の原点をＸ軸方向、Ｙ軸方向およびＺ軸方向にそれぞれａ，ｂ，ｃだけ移動させた第２座標を想定する。第１座標における一点の座標値を(ｘ,ｙ,ｚ)とし、第２座標における同一点の座標値を(ｘ’,ｙ’,ｚ’)すると、下記数５が成立するとともに、同数５中の行列Ｍは下記数６によって表される。
【００５７】
【数５】

【００５８】
【数６】

【００５９】
前記ステップＳ２２の座標変換係数の計算は、前記数５および数６中の行列値ｇ₁₁,ｇ₁₂,ｇ₁₃,ｇ₂₁,ｇ₂₂,ｇ₂₃,ｇ₃₁,ｇ₃₂,ｇ₃₃および行列値ａ,ｂ,ｃを計算することを意味する。まず、座標Ｂ（３次元形状測定装置２０Ｂの座標）における座標値(ｘ,ｙ,ｚ)を、基準座標である座標Ａ（３次元形状測定装置２０Ａの座標）における座標値(ｘ’,ｙ’,ｚ’)に変換するための座標変換係数を計算する。基準物体としての球体４１，４２，４３の定点（中心）に対応した座標ＡにおけるデータセットＰa1，Ｐa2，Ｐa3を(ｘ_a1,ｙ_a1,ｚ_a1)，(ｘ_a2,ｙ_a2,ｚ_a2)，(ｘ_a3,ｙ_a3,ｚ_a3)とし、同球体４１，４２，４３の定点（中心）に対応した座標ＢにおけるデータセットＰｂ1，Ｐｂ2，Ｐｂ3を(ｘ_b1,ｙ_b1,ｚ_b1)，(ｘ_b2,ｙ_b2,ｚ_b2)，(ｘ_b3,ｙ_b3,ｚ_b3)とすると、下記数７〜９の関係が成立する。
【００６０】
【数７】

【００６１】
【数８】

【００６２】
【数９】

【００６３】
前記数７を変形すると、下記数１０の連立方程式が成立する。
【００６４】
【数１０】

【００６５】
この数１０の連立方程式を解くことにより、行列値ｇ₁₁,ｇ₁₂,ｇ₁₃を計算することができる。また、前記数８および数９に関しても、前記数１０の連立方程式のように変形すれば、行列値ｇ₂₁,ｇ₂₂,ｇ₂₃および行列値ｇ₃₁,ｇ₃₂,ｇ₃₃を計算できる。そして、これらの計算した行列値を前記数７〜９に代入すれば、行列値ａ,ｂ,ｃを計算できる。これにより、座標Ｂにおける座標値(ｘ,ｙ,ｚ)を、基準座標である座標Ａにおける座標値(ｘ’,ｙ’,ｚ’)に変換するための座標変換係数が計算される。
【００６６】
次に、座標Ｃ（３次元形状測定装置２０Ｃの座標）における座標値(ｘ,ｙ,ｚ)を、基準座標である座標Ａ（３次元形状測定装置２０Ａの座標）における座標値(ｘ’,ｙ’,ｚ’)に変換するための座標変換係数を計算する。この場合、基準物体としての球体４１，４２，４３の定点（中心）に対応した座標ＢにおけるデータセットＰｂ1，Ｐｂ2，Ｐｂ3をそれぞれ表す前記座標値(ｘ_b1,ｙ_b1,ｚ_b1)，(ｘ_b2,ｙ_b2,ｚ_b2)，(ｘ_b3,ｙ_b3,ｚ_b3)に代えて、同球体４１，４２，４３の定点（中心）に対応した座標ＣにおけるデータセットＰc1，Ｐc2，Ｐc3をそれぞれ表す座標値(ｘ_c1,ｙ_c1,ｚ_c1)，(ｘ_c2,ｙ_c2,ｚ_c2)，(ｘ_c3,ｙ_c3,ｚ_c3)を用いて、前記数７〜１０を用いた計算と同様な計算により、座標Ｃにおける座標値(ｘ,ｙ,ｚ)を、基準座標である座標Ａにおける座標値(ｘ’,ｙ’,ｚ’)に変換するための座標変換係数が計算される。そして、ステップＳ２４にてこの座標変換係数演算プログラムの実行が終了される。
【００６７】
この座標変換係数演算プログラムの実行後、ユーザは、球体４１，４２，４３を基台１０上から取り除いて、同基台１０上に測定対象物５０を配置する。そして、入力装置３３を操作して測定対象物５０の立体表示を指示する。これに応答して、画像処理装置３２は、図２の合成立体形状表示プログラムの実行をステップＳ３０にて開始して、ステップＳ３２にて測定対象物５０の３次元立体形状を表す測定情報の入力を待つ。一方、３次元形状測定装置２０Ａ，２０Ｂ，２０Ｃは、コントローラ３１によって制御され、測定対象物５０の３次元立体表面形状の測定を開始する。そして、３次元形状測定装置２０Ａ，２０Ｂ，２０Ｃが測定対象物５０の測定を終了すると、測定結果を表す情報を画像処理装置３２にそれぞれ出力する。
【００６８】
画像処理装置３２は、ステップＳ３２にて、上記ステップＳ１４の処理と同様にして画像処理装置３２からの測定情報を入力する。そして、ステップＳ３４にて、上記ステップＳ１６の処理と同様にして、３次元形状測定装置２０Ａ，２０Ｂ，２０Ｃごとに、各測定情報に基づいて測定対象物５０に関する３組の立体形状データ群Ｄa，Ｄb，Ｄcを得る。この３組の立体形状データ群Ｄa，Ｄb，Ｄcも座標Ａ、Ｂ，Ｃに対して独立したＸ,Ｙ,Ｚ座標値で表されたもので、立体形状データ群Ｄa，Ｄb，Ｄcを構成する各データセットは、(ｘ_a,ｙ_a,ｚ_a)，(ｘ_b,ｙ_b,ｚ_b) ，(ｘ_c,ｙ_c,ｚ_c)で表される。
【００６９】
次に、ステップＳ３６にて、前記座標変換係数演算プログラムの実行によって計算した座標変換係数（すなわち、２組の行列値ｇ₁₁,ｇ₁₂,ｇ₁₃,ｇ₂₁,ｇ₂₂,ｇ₂₃,ｇ₃₁,ｇ₃₂,ｇ₃₃,ａ,ｂ,ｃ）を用いて、ＢおよびＣ座標の立体形状データ群Ｄb，ＤcをＡ座標の立体形状データ群Ｄb’，Ｄc’にそれぞれ変換する。この場合、上述した数５の演算の実行によって変換は行われる。
【００７０】
そして、ステップＳ３８にて、３次元形状測定装置２０Ａで測定されたＡ座標の立体形状データ群Ｄaと、３次元形状測定装置２０Ｂ，２０Ｃでそれぞれ測定されるとともにＡ座標に変換された立体形状データ群Ｄb’，Ｄc’を一組の立体形状データ群に合成する。この合成においては、全て立体形状データ群Ｄa，Ｄb’，Ｄc’が同一座標Ａ上の座標値で表されているので、３次元形状測定装置２０Ａ，２０Ｂ，２０Ｃのそれぞれによって測定されない測定対象物５０の部分（３次元形状測定装置２０Ａ，２０Ｂ，２０Ｃに対して裏側に位置する測定対象物５０の外表面）を表す立体形状データ群Ｄa，Ｄb’，Ｄc’が互いに補われ、一組のデータ群とされる。
【００７１】
次に、画像処理装置３２は、ステップＳ４０にて、前記合成された立体形状データ群を用いて表示装置３４を制御して、測定対象物５０を表示装置３４にて立体表示させる。その後、ステップＳ４２にて合成立体形状表示プログラムの実行を終了する。この測定対象物５０の立体表示においては、ユーザは入力装置３３を操作することにより測定対象物５０の表示方向を指示することができ、コントローラ３１および画像処理装置３２は表示装置３２にて表示される測定対象物５０の表示方向を変更する。これにより、測定対象物５０を任意の方向から見た画像を表示させることができる。
【００７２】
また、新たな測定対象物５０を基台１０上に置いて、前述のように測定対象物５０の表示を指示すれば、前記図３の合成立体形状表示プログラムの実行により、前記場合と同一の座標変換係数を用いて新たな測定対象物５０を任意の方向から見た画像を表示装置３２に表示させることができる。したがって、基準物体としての球体４１，４２，４３を用いて基台１０上の測定対象空間に関する座標変換係数を一度だけ計算しておけば、測定対象物５０を次々に換えて表示装置３２にて立体表示させることが可能である。
【００７３】
上記作動説明からも理解できるとおり、上記実施形態によれば、座標変換係数演算プログラムの実行により、球体４１，４２，４３によって特定される定点が設定され、同定点を用いて３次元形状測定装置２０Ａ，２０Ｂ，２０Ｃ間の座標変換係数（座標変換パラメータ）が計算される。そして、合成立体形状表示プログラムの実行により、前記座標変換係数を用いて測定対象物５０の複数組の立体形状データ群が基準座標によって表現される立体形状データ群にそれぞれ変換されて、同変換された複数組の立体形状データ群が合成される。
【００７４】
したがって、上記実施形態によれば、作業者は基準物体として球体４１，４２，４３および測定対象物５０の立体形状を測定する操作を行うのみで、測定対象物５０の３次元画像を任意の方向から見て表示可能な３次元画像データが自動的に生成されるので、３次元画像データを作成する作業効率が良好となる。また、大きさを有さない定点を指定できるので、高精度な座標変換パラメータが得られ、ひいては測定対象物５０を任意の方向から見て表示可能な３次元画像データの精度が良好になる。さらに、物体パラメータおよび定点パラメータを指定することで、自動的に生成される任意の形状の基準物体における定点を表す３次元データセットを計算できるので、作業者は定点を設定する物体の形状を任意に定めることができる。
【００７５】
以上、本発明の一実施形態について説明したが、本発明の実施にあたっては、上記実施形態に限定されるものではなく、本発明の目的を逸脱しない限りにおいて種々の変形も可能である。
【００７６】
例えば、上記実施形態においては、球体４１，４２，４３を基準物体として用いて３次元形状測定装置２０Ａ、２０Ｂ，２０Ｃに関する座標変換係数を計算した後、基台１０上の測定対象物５０を次々に置き換えて同対象物５０の立体形状を次々に測定するようにした。しかし、本発明を、生産ライン、検査ラインなどの各種ライン上を次々に移動する物体の立体形状を次々に測定するようにした立体形状測定にも適用できる。この場合、３次元形状測定装置２０Ａ、２０Ｂ，２０Ｃをライン上の測定対象空間に向けて配置した後、同測定対象空間であるライン上に基準物体としての球体４１，４２，４３を置いて座標変換係数を計算し、その後にライン上を移動して来て測定対象空間内に入った測定対象物を３次元形状測定装置２０Ａ、２０Ｂ，２０Ｃにより測定し、この測定結果を前記計算した座標変換係数を用いて座標変換するようにするとよい。
【００７７】
また、上記実施形態では、基準物体（球体４１，４２，４３）の３次元立体形状の測定に基づいて座標変換係数を計算した後、基台１０上に測定対象物５０を置いて、測定対象物５０の３次元立体形状を測定するようにした。しかし、これに代えて、基台１０上に基準物体と測定対象物５０とを同時に置くことが可能であれば、基台１０上に基準物体と測定対象物５０とを同時に置いたまま、基準物体および測定対象物５０の３次元立体形状を測定するようにしてもよい。この場合、画像処理装置３２は図２の座標変換係数演算プログラムをステップＳ２２まで行い、その後に図３の合成立体形状表示プログラムのステップＳ３６以降の処理を実行するようにすればよい。
【００７８】
また、上記実施形態では、定点を測定対象物５０とは異なる基準物体としての球体４１，４２，４３により特定するようにしたが、測定対象物５０の一部に認識し易い形状がある場合には、基準物体を用いることなく、測定対象物５０の特定部分に定点を定義するようにするとよい。例えば、測定対象物５０に球状の部分が存在すれば、同球状部分を物体パラメータによって特定し、同球状部分の中心を定点として定めて、上記実施例と同様な処理をすればよい。この場合も、画像処理装置３２は、図２の座標変換プログラムをステップＳ２２まで行い、その後に図３の合成立体形状表示プログラムのステップＳ３６以降の処理を行うようにすればよい。
【００７９】
また、このような基準物体としての球体４１，４２，４３および測定対象物５０の特定部分による定点の指定においては、球状部分でなくても、円形形状の中心、直方体形状の一辺の一端など、認識し易い形状の中の一点を定点指定用パラメータによって指定すればよい。また、この形状に加えて、種々の色彩の施されたものにあっては、形状の特定に色彩の要素を加えてもよい。さらに、複数の物体間の距離、複数の物体の配置関係などにより、定点を特定するようにしてもよい。これらの場合、定点を特定する物体を探索するために物体パラメータによって定義されるブロック内特徴値としては、円形形状の場合には円の外形線の曲率、直方体の場合には所定長さの直線部分、色彩を付加する場合には特定の色、複数物体による場合には所定長さの距離などを採用するとよい。
【００８０】
また、定点を特定するための物体パラメータと定点パラメータのうち、定点パラメータに関しては、物体パラメータにより指定される定点を予め定めて記憶しておくようにしてもよい。例えば、物体パラメータによって指定される物体が球体および円形状であれば中心点、同物体が直方体であれば最も短い辺の一端などのように、形状と定点との関係を表す予め定めたデータをテーブルなどに記憶しておき、物体パラメータにより指定される形状に対応させてテーブル内の定点を表す定点パラメータを利用するようにすればよい。
【００８１】
また、上記実施形態においては、３台の３次元形状測定装置２０Ａ、２０Ｂ、２０Ｃを設置するともに、座標変換係数の演算において３つの定点を設定した。しかし、３次元形状測定装置の設置台数に関しては４台以上であってもよい。この場合、４台以上の３次元形状測定装置によって測定した４組以上の測定結果のうちで利用し易い３組の測定結果のみを利用してもよいし、立体形状データ群の計算の際に、余分な組（４組目以上の組）の測定結果を最終的な立体形状データ群の補正に利用してもよい。また、定点の数に関しても４つ以上あってもよい。この場合、４つ以上の定点のうちの利用し易い３つの定点に基づいて座標変換係数を計算してもよいし、座標変換係数の計算の際に、余分な（４つ目以上）の定点に関するデータを最終的な座標変換係数の補正に利用してもよい。
【００８２】
さらに、上記実施形態においては、３台の３次元形状測定装置２０Ａ、２０Ｂ、２０Ｃを設置し、３次元形状測定装置２０Ａ、２０Ｂ、２０Ｃが、それぞれ基準物体（球体４１，４２，４３）および測定対象物５０の３次元立体表面形状を測定するようにした。しかし、これに代えて、１台の３次元形状測定装置の位置を移動させて、複数の位置で基準物体および測定対象物５０をそれぞれ測定するようにしてもよい。この場合、基準物体の測定により座標変換係数を計算した後、測定対象物５０の３次元立体形状を測定する際には、測定位置を予め設定しておき、常に同じ測定位置で測定を行うようにする。また、この場合も、測定定対象物５０内に認識し易い物体または物体の一部が存在して、同物体または物体の一部内に特定の点を定めることが可能であれば、前述のように、基準物体を用いることなく、この特定の点を定点として定め、同定点を物体パラメータおよび定点パラメータを用いて検出するようにしてもよい。
【図面の簡単な説明】
【図１】 本発明の３次元画像データ生成方法に利用される３次元画像装置の概略図である。
【図２】 図１の画像処理装置によって実行される座標変換係数演算プログラムのフローチャートである。
【図３】 図１の画像処理装置によって実行される合成立体形状表示プログラムのフローチャートである。
【符号の説明】
１０…基台、２０Ａ，２０Ｂ，２０Ｃ…３次元形状測定装置、３１…コントローラ、３２…画像処理装置、３３…入力装置、３４…表示装置、４１〜４３…球体。[0001]
BACKGROUND OF THE INVENTION
The present invention uses a three-dimensional solid surface shape of an object measured at a plurality of different positions by one or a plurality of three-dimensional shape measuring apparatuses, and uses a three-dimensional image of the object located in the measurement target space from an arbitrary direction. The present invention relates to a three-dimensional image data generation method for generating three-dimensional image data that can be viewed and displayed.
[0002]
[Prior art]
Conventionally, by measuring a three-dimensional shape of a target object at a plurality of different positions by using a plurality of three-dimensional shape measuring apparatuses arranged at different positions or a three-dimensional shape measuring apparatus to which the measurement position is moved, A three-dimensional three-dimensional shape measuring method is well known in which three-dimensional shape data is synthesized so that the three-dimensional shape of a target object can be viewed and displayed from an arbitrary direction. In this measurement method, in order to synthesize three-dimensional shape data with high accuracy, a reference object having feature points is arranged in the measurement target space before measuring the three-dimensional shape of the measurement target. Then, the three-dimensional solid shape of the reference object is measured, the coordinate value of the feature point is detected for each measurement position from the solid shape data obtained by the measurement, and each measurement position is detected using the detected coordinate value. A coordinate conversion parameter for converting the three-dimensional shape data into reference coordinates is calculated, and the three-dimensional shape data at each measurement position is converted into reference coordinates using this coordinate conversion parameter (see Patent Document 1). .
[0003]
In addition, before measuring the three-dimensional shape of the measurement object, a reference object having a simple shape is placed in the measurement object space, the three-dimensional solid shape is measured, and the reference shape is previously obtained using the three-dimensional shape data. Calculate the coordinate value of the fixed point set in the object for each measurement position, and use this calculated coordinate value to calculate the coordinate conversion parameters for converting the solid shape data at each measurement position to the reference coordinates, Conversion of the three-dimensional shape data at each measurement position into reference coordinates is also performed using this coordinate conversion parameter (see Patent Document 2).
[0004]
[Patent Document 1]
JP-A-9-53914
[Patent Document 2]
JP 2002-328014 A
[0005]
[Problems to be solved by the invention]
However, in the method described in Patent Document 1, since the fixed point has a certain size, the fixed point coordinate value cannot be accurately obtained as a point, and noise is included in each piece of solid shape data. Therefore, the coordinate value of the feature point detected based on the data includes noise, and there is a problem that the coordinate conversion parameter cannot be calculated with high accuracy.
[0006]
Further, in the method described in Patent Document 2, it is necessary to set three or more fixed points in order to calculate the coordinate conversion parameter. Therefore, when one fixed point is set for one reference object, the position of the reference object is determined. Must be measured at least three times with different. In addition, when three fixed points are set for one reference object, or when three reference objects having one fixed point are arranged, the operator designates three-dimensional shape data used to calculate the coordinates of each fixed point. Since it is necessary, there is a problem that work efficiency is deteriorated. Furthermore, only a fixed shape can be used as the reference object. If the reference object is damaged or lost, there is a problem that an alternative cannot be prepared at an early stage. In addition, when the measurement object is fixed, it is necessary to place and measure the reference object in the measurement area of the object of the measurement object, but a reference object having a shape suitable for the shape of the measurement object is required. There is also a problem that it cannot be selected.
[0007]
SUMMARY OF THE INVENTION
The present invention has been made in order to cope with the above-described problem, and an object of the present invention is to obtain a coordinate transformation parameter for synthesizing solid shape data at a plurality of measurement positions with high work efficiency and high accuracy. The object is to provide a method for generating image data. Another object of the present invention is to provide a three-dimensional image data generation method capable of selecting an object having various shapes as a reference object for setting a fixed point.
[0008]
In order to achieve the above object, a feature of the present invention is that one or a plurality of three-dimensional shape measuring devices measure a three-dimensional solid surface shape of an object existing in a measurement target space at a plurality of different positions, and the same object. A three-dimensional shape data group generating step for generating a plurality of sets of three-dimensional shape data groups representing the three-dimensional surface shape of the object, and a part of the object or a part of the object defined by the object parameter for each of the three-dimensional shape data groups Sub solid shape data group extraction step for extracting a sub solid shape data group corresponding to each of the solid shape data groups, and each sub solid shape data group extracted for each of the solid shape data groups. Multiple sets of three-dimensional data sets representing fixed points specified by fixed point parameters, which are fixed points specified by a part of the object or a part of the same object, for each sub solid shape data group Using the fixed point data set generation step to be generated and the generated plural sets of three-dimensional data sets, each of the plural sets of three-dimensional shape data groups is converted into a three-dimensional shape data group represented by one reference coordinate. A coordinate conversion parameter calculation step for calculating a coordinate conversion parameter; and the plurality of sets of three-dimensional shape data groups are converted into three-dimensional shape data groups represented by the reference coordinates using the coordinate conversion parameters, and the conversion is performed. And a synthesis step of synthesizing a plurality of sets of three-dimensional shape data groups.
[0009]
In this case, each three-dimensional shape data group includes, for example, a set of a large number of data sets each representing the position of each divided area obtained by dividing the surface of the object into minute areas in three dimensions. Further, it is preferable that three or more fixed points are determined for each three-dimensional shape data group generated based on each measurement result at a plurality of measurement positions. In order to measure each three-dimensional shape at a plurality of measurement positions, three or more three-dimensional shape measuring devices are arranged at different positions, or one three-dimensional shape measuring device is moved to three or more different positions. It is good to make it.
[0010]
In the feature of the present invention configured as described above, a part of an object existing in the measurement target space or an object parameter representing a part of the object is determined according to a specific shape and size of the object. If a fixed point parameter representing a fixed point in a part of the object or a part of the object is determined, a three-dimensional solid of the object measured at a plurality of different positions by the sub solid shape data group extraction step and the fixed point data set generation step Using a plurality of sets of three-dimensional shape data groups representing the surface shape, a three-dimensional data set representing a fixed point in the measurement target space is automatically generated for each of the three-dimensional shape data groups. Then, coordinate conversion parameters for converting each of the plurality of sets of three-dimensional shape data groups into a three-dimensional shape data group represented by one reference coordinate using the plurality of sets of three-dimensional data sets by the coordinate conversion parameter calculation step. A plurality of sets of three-dimensional shape data that are automatically calculated and converted into a plurality of sets of three-dimensional shape data groups represented by reference coordinates by using the coordinate conversion parameters in the synthesis step. Groups are automatically synthesized.
[0011]
Therefore, according to the feature of the present invention, an operator can display a three-dimensional image of an object located in the measurement target space from any direction only by performing an operation of measuring the three-dimensional shape of the measurement target. Since the three-dimensional image data is automatically generated, the work efficiency for creating the three-dimensional image data is improved. In addition, a fixed point having no size can be specified, and the coordinate value of the fixed point is calculated using a large number of three-dimensional shape data, so that highly accurate coordinate conversion parameters can be obtained, and as a result, the measurement object can be viewed from an arbitrary direction. The accuracy of the three-dimensional image data that can be displayed is improved. Furthermore, by specifying an object parameter and a fixed point parameter, a three-dimensional data set representing a fixed point in an object of an arbitrary shape can be calculated, so that an operator can set a fixed point or a partial shape of the object Can be determined arbitrarily.
[0012]
Another feature of the present invention is that a reference object is arranged in a measurement target space, and one or a plurality of three-dimensional shape measuring devices measure the three-dimensional surface shape of the reference object at a plurality of different positions. A reference solid shape data group generation step for generating a plurality of sets of reference solid shape data groups representing the three-dimensional surface shape of the reference object, and for each reference solid shape data group, a reference object represented by an object parameter or A sub solid shape data group extracting step for extracting a sub solid shape data group corresponding to a part of the reference object from each reference solid shape data group, and each sub solid shape extracted for each reference solid shape data group Using a data group, a plurality of three-dimensional data sets representing fixed points specified by fixed point parameters, which are fixed points specified by the reference object or a part of the reference object, A fixed point data set generation step for each sub-three-dimensional shape data group, and each measurement at a plurality of different positions by the one or a plurality of three-dimensional shape measuring devices using the plurality of generated three-dimensional data sets. A coordinate conversion parameter calculation step for calculating coordinate conversion parameters for respectively converting a plurality of sets of three-dimensional shape data groups respectively generated based on the three-dimensional shape data group represented by one reference coordinate; A plurality of sets of three-dimensional shape measuring apparatuses that measure the three-dimensional surface shape of the measurement object arranged in the measurement object space at a plurality of different positions and represent the three-dimensional surface shape of the measurement object. The measurement three-dimensional shape data group generation step for generating the three-dimensional shape data group, and the plurality of sets of measurement using the calculated coordinate transformation parameter. And respectively converting the three-dimensional shape data group measured three-dimensional shape data group represented by the reference coordinates is to include a synthesizing step for synthesizing the converted plural sets of measured three-dimensional shape data group.
[0013]
In this case, for example, the reference object may be a sphere and the fixed point may be the center of the sphere. Also in this case, each three-dimensional shape data group includes, for example, a set of a large number of data sets each representing three-dimensionally each divided area position obtained by dividing the surface of the object into minute areas. Further, it is preferable that three or more fixed points are determined for each three-dimensional shape data group generated based on each measurement result at a plurality of measurement positions. In order to measure each three-dimensional shape at a plurality of measurement positions, three or more three-dimensional shape measuring devices are arranged at different positions, or one three-dimensional shape measuring device is moved to three or more different positions. It is good to make it.
[0014]
According to this, an object parameter that represents a reference object or a part of the reference object is determined according to a specific shape, size, etc., and a parameter that represents a fixed point within the reference object or a part of the reference object is determined. If this is the case, the coordinate transformation parameter in each measurement value is determined using the reference object by the processing of the reference three-dimensional shape data group generation step, the fixed point data set generation step, and the coordinate conversion parameter calculation step. Calculated automatically with high accuracy. Then, in the measurement three-dimensional shape data group generation step and the synthesis step, three-dimensional image data in which the measurement object is viewed from an arbitrary direction is generated using the calculated coordinate conversion parameter.
[0015]
Therefore, according to another feature of the present invention, when it is difficult to set a fixed point on a measurement object and when it is difficult to perform measurement by adding an object capable of setting a fixed point to the measurement object If the reference object is placed in the measurement object space before measurement, the coordinate transformation parameter with high accuracy can be automatically obtained as in the case of the feature of the present invention. The working efficiency of creating the three-dimensional image data of the measurement object is improved, and highly accurate three-dimensional image data can be obtained. Furthermore, by specifying the object parameter and the fixed point parameter, it is possible to calculate a three-dimensional data set representing a fixed point in a reference object having an arbitrary shape that is automatically generated. Can be determined.
[0016]
In another aspect of the present invention, after the processing of the reference solid shape data group generation step, fixed point data set generation step and coordinate conversion parameter calculation step, the measurement solid shape data group generation step and the synthesis step are repeatedly executed, It is preferable to generate 3D image data that can be displayed by viewing a 3D image of the measurement object from an arbitrary direction. According to this, after calculating the coordinate conversion parameter using the reference object, it is possible to display a stereoscopic image obtained by viewing a large number of measurement objects from arbitrary directions by changing the measurement objects one after another. In particular, it is optimal when grasping the outer shape of various objects passing through the measurement target space, and can automatically grasp the shape of the object passing through the measurement target space with good workability.
[0017]
Furthermore, as another feature of the present invention, the object parameter and the fixed point parameter may be arbitrarily input using an input device. According to this, it becomes possible to freely select a part of a fixed point or a part of the object, thereby expanding the applicability to various applications.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing a basic configuration of a three-dimensional image apparatus used in the three-dimensional image data generation method of the present invention.
[0019]
The three-dimensional image apparatus includes three three-dimensional shape measuring apparatuses 20A, 20B, and 20C that are arranged at different positions and are directed to the measurement target space formed on the base 10. These three-dimensional shape measuring apparatuses 20A, 20B, and 20C measure a three-dimensional solid surface shape of an object placed on the base 10, and output measurement information representing the measurement result.
[0020]
As these three-dimensional shape measuring devices 20A, 20B, and 20C, any three-dimensional shape measuring device may be used as long as it measures a three-dimensional surface shape of an object and outputs a signal representing the measured three-dimensional surface shape. Can also be used. In the present embodiment, a brief description will be given of measuring a three-dimensional surface shape of an object according to a triangulation method using laser light.
[0021]
In this three-dimensional shape measuring apparatus, a virtual plane that is substantially perpendicular to the traveling direction of laser light emitted from a laser light source toward an object is assumed, and an X-axis direction and a Y-axis that are orthogonal to each other on the virtual plane. Assume a large number of minute areas divided along the direction. Then, the three-dimensional shape measuring apparatus sequentially irradiates the plurality of minute areas with laser light, sequentially detects the distance to the object surface defined by the minute areas by reflected light from the object as a Z-axis direction distance, Information on X, Y, and Z coordinates representing each divided area position obtained by dividing the surface of the object into minute areas is obtained, and the shape of the object surface facing the three-dimensional shape measuring apparatus is measured.
[0022]
Accordingly, the three-dimensional shape measuring apparatus includes an X-axis direction scanner that changes the direction of the emitted laser light in the X-axis direction, a Y-axis direction scanner that changes the direction of the emitted laser light in the Y-axis direction, and an object surface. And a distance detector for detecting the distance to the object surface by receiving the reflected laser beam reflected by the. The X-axis direction scanner and the Y-axis direction scanner may be any mechanism that can change the optical path of the laser beam emitted from the laser light source independently in the X-axis direction and the Y-axis direction. Rotating around the axis in the direction and the Y-axis direction by an electric motor, or rotating the galvanometer mirror provided in the optical path of the emitted laser light and changing the direction around the axes in the X-axis direction and the Y-axis direction by the electric motor Can be used. As the distance detector, a plurality of imaging lenses such as an imaging lens that condenses the reflected laser light reflected on the object surface and rotates following the optical path of the emitted laser light, and a CCD that receives the condensed laser light are used. It is possible to use a mechanism for detecting the distance to the object surface based on the light receiving position of the reflected laser beam by the line sensor.
[0023]
Therefore, such a three-dimensional shape measuring apparatus uses the reference direction of the laser beam emitted by the X-axis direction scanner as information on the X, Y, and Z coordinates representing the divided area positions obtained by dividing the surface of the object into minute areas. The inclination θx in the X-axis direction with respect to the angle, the inclination θy in the Y-axis direction with respect to the reference direction of the laser beam emitted by the Y-axis direction scanner, and the distance Lz to the object surface by the distance detector are the virtual X-axis direction. And output for each of a large number of minute areas divided along the Y-axis direction. More specifically, the inclinations θx and θy in the X-axis and Y-axis directions are rotation angles from the reference position of the electric motor. Further, the distance Lz to the object surface is the light receiving position of the reflected laser beam in the line sensor.
[0024]
A controller 31 and an image processing device 32 are connected to these three-dimensional shape measuring devices 20A, 20B, and 20C. The controller 31 controls the operation of the three-dimensional shape measuring apparatuses 20A, 20B, and 20C in accordance with instructions from the input device 33 that is a keyboard. Further, the controller 31 controls the operation of the image processing device 32 in accordance with an instruction from the input device 33 and supplies data input by the input device 33 to the image processing device 32.
[0025]
The image processing device 32 is configured by a computer device, and executes information on the three-dimensional images from the three-dimensional shape measuring devices 20A, 20B, and 20C by executing the coordinate transformation coefficient calculation program of FIG. 2 and the combined three-dimensional shape display program of FIG. To generate 3D image data that can be displayed by viewing a 3D image of an object located in the measurement target space from an arbitrary direction. A display device 34 is connected to the image processing device 32. The display device 34 includes a liquid crystal display, a plasma display, a CRT display, and the like, and displays a three-dimensional image of an object located in the measurement target space based on the three-dimensional image data from the image processing device 32.
[0026]
Next, the operation of the three-dimensional image apparatus configured as described above will be described. The user places the spheres 41, 42, 43 as reference objects at appropriate positions on the base 10, and then operates the input device 33 to instruct the calculation of the coordinate conversion coefficient. The spheres 41, 42, and 43 are true spheres prepared in advance, and have different radii and are recognized by the user in advance. The instruction for calculating the coordinate conversion coefficient is transmitted to the image processing apparatus 32 via the controller 31, and the image processing apparatus 32 starts the execution of the coordinate conversion coefficient calculation program of FIG. Wait for the user to input the fixed point specification parameters.
[0027]
The fixed point is within the measurement target section used for converting the coordinates to which the three-dimensional image data respectively generated based on the measurement of the three-dimensional surface shape of the three-dimensional shape measuring apparatuses 20A, 20B, and 20C into common reference coordinates. The fixed point parameter is for specifying a fixed point. Various fixed points can be considered, but in the description of the present embodiment, the center of each of the spheres 41, 42, and 43 is used. Therefore, in order to specify this fixed point, the user sets a parameter representing “sphere”, a parameter representing “radius” for distinguishing the spheres 41, 42, and 43, and “center” for designating a specific point. Enter the parameter that represents. That is, the user inputs three sets of fixed point designating parameters corresponding to the spheres 41, 42, and 43, with the parameters representing the sphere, radius, and center as one set. This fixed point designating parameter includes an object parameter indicating an object or a part of the object including the fixed point (in the above example, “sphere” and “radius”), and one fixed point specified by the object specified by the object parameter. It is classified into the fixed point parameter shown.
[0028]
The three sets of fixed point designating parameters input in this way are input to the image processing device 32 via the controller 31 by the process of step S12. If the previously input fixed point is not changed, or if a fixed fixed point is determined in advance, this fixed point designating parameter input process is omitted. After the processing in step S12, the image processing device 32 waits for input of measurement shape information by the three-dimensional shape measurement devices 20A, 20B, and 20C in step S14.
[0029]
On the other hand, the three-dimensional shape measuring apparatuses 20A, 20B, and 20C are controlled by the controller 31 and start measuring the three-dimensional solid surface shape of the object in the measurement target space when the user instructs the calculation of the coordinate conversion coefficient. . When these measurements are completed, the three-dimensional shape measuring apparatuses 20A, 20B, and 20C output information representing the surface shapes of the spheres 41, 42, and 43 to the image processing apparatus 32, respectively. That is, information (specifically, inclinations θx, θy, and distance Lz) relating to X, Y, and Z coordinates representing the divided area positions obtained by dividing the surfaces of the spheres 41, 42, and 43 into minute areas is output. Therefore, the image processing device 32 inputs the information about the X, Y, and Z coordinates output from the three-dimensional shape measuring devices 20A, 20B, and 20C in the step S14.
[0030]
Next, in step S16, the image processing device 32 determines the object located in the measurement target space based on the input information about the X, Y, and Z coordinates from the three-dimensional shape measurement devices 20A, 20B, and 20C. A three-dimensional shape data group representing a three-dimensional surface shape is calculated for each of the three-dimensional shape measuring apparatuses 20A, 20B, and 20C. That is, each of the divided area positions obtained by dividing the surface of the sphere 41, 42, 43 into minute areas at three kinds of coordinates A, B, C defined by the three-dimensional shape measuring apparatuses 20A, 20B, 20C is 3 respectively. A set of a large number of data sets expressed in dimensions is calculated, and three sets of three-dimensional shape data groups Da, Db, and Dc are obtained. These three sets of three-dimensional shape data groups Da, Db, Dc are represented by coordinate values X, Y, Z at coordinates A, B, C. Specifically, each data set constituting the three-dimensional shape data group Da, Db, Dc is (x _a , y _a , z _a ), (X _b , y _b , z _b ), (X _c , y _c , z _c ) Respectively.
[0031]
Next, in step S18, the three-dimensional shape data groups Da, Db, Dc corresponding to the coordinates A, B, C are respectively included in the minimum space including the spheres 41, 42, 43 having fixed points. The three sub three-dimensional shape data groups are extracted. The sub-three-dimensional shape data group extraction processing includes the following sub-steps 1 to 5, and these sub-steps 1 to 7 are performed for each of the three-dimensional shape data groups Da, Db, and Dc and the spheres 41, 42, and 43. Nine sets of sub-three-dimensional shape data groups Da1, Da2, Da3, Db1, Db2, Db3, Dc1, Dc2, Dc3 are extracted.
[0032]
Substep 1: One plane is defined in the solid shape data group (coordinate data group) parallel to the reference direction of the emitted laser light, and this plane is sequentially moved at equal intervals in the direction perpendicular to the plane. A solid shape data group included in the plane is extracted. In other words, data representing a three-dimensional cut surface when cut along a plane is extracted. When the reference object is a polyhedron such as a rectangular parallelepiped, a polygonal pyramid, a cylinder, or a cone, a sub-step 1 and a sub-step 2 described later are repeated while the plane direction is changed, and a data group is extracted by the number of reference objects. Find the direction of the plane there is. This is to find a plane that is parallel to the bottom surface of the reference object. However, if the bottom surface of the reference object is parallel to the base 10, the above processing is not performed, and the surface of the base 10 is defined as a plane using the solid shape data group of the surface of the base 10. Good.
[0033]
Sub-step 2: For each of the continuous three-dimensional shape data groups included in the plane, a data group that matches the feature of the shape to be recognized obtained from the object parameter is extracted. In the case of this embodiment, since the object parameter designates a sphere, the data group is extracted as a circle. Specifically, the solid shape data group included in the plane is converted into a data group based on the coordinates of the plane, and this data is converted into a circle formula (x-a). ² + (Y−b) ² -D ² = 0, the values of a and b, which are the center coordinates of the circle, are calculated by the method of least squares, the distance between each data in the data group and the coordinates (a, b) is detected, and the value deviation If it is within the discrimination, it is judged that they match. If the reference object is a cylinder or cone, the data group is similarly extracted. If the reference object is a polyhedron such as a rectangular parallelepiped or a polygonal pyramid, the data group is a predetermined angle (for example, a rectangular parallelepiped or a quadrangular pyramid). What is necessary is just to extract the thing which is two straight lines (2 sides) which comprise the angle | corner which makes a right angle if there is.
[0034]
Sub-step 3: If the reference object is a sphere, cylinder, or cone, the coordinates of the center of the circle if the reference object is a sphere, cylinder, or cone. Calculate as coordinates and extract the coordinates calculated for each plane in a straight line.
[0035]
Sub-step 4: In the three-dimensional shape data group included in the plane extracted in sub-step 2, the distance between the coordinates of the center point or the corner coordinate arranged in a straight line is calculated, and this value is the object parameter and the plane. Those that match the value calculated from the interval are extracted. In the case of the present embodiment, since a radius value is given as an object parameter, if a value twice this (ie, the diameter of a sphere) is D and a plane interval is B, then D> a · B (a The largest value a satisfying the inequality () is an integer) is calculated, and the one with the distance between the coordinates at both ends almost matching the multiplication result a · B of the calculated value a and the interval B is extracted. If the reference object is a polyhedron such as a rectangular parallelepiped, a polygonal pyramid, a cylinder, or a cone, the height given as the object parameter instead of the radius may be set to D of the above inequality, and both ends satisfying the inequality The one having the largest coordinate distance is extracted. In this case, when the linear arrangement of the coordinates of the corners is not orthogonal to the plane, such as a polygonal pyramid, the inter-coordinate distance is a component orthogonal to the plane.
[0036]
Sub-step 5: A space including all of the three-dimensional shape data group is determined from the three-dimensional shape data group included in the plane extracted in sub-step 4, and the three-dimensional shape data group included in the space is extracted. In the case of the present embodiment, a spherical space including the coordinates of both ends of the center points arranged in a straight line and the planar solid shape data group having the largest radius of the circle is set, and the solid shape within the spherical space is set. Extract data groups. Even if the reference object is a polyhedron such as a rectangular parallelepiped, a polygonal pyramid, a cylinder, or a cone, the shape of the object including the coordinates of both ends of the center points or corners arranged in a straight line and the solid shape data group in each plane A suitable space can be set.
[0037]
In the extraction process of the sub three-dimensional shape data group (coordinate data group) in step S18 including such sub-steps 1 to 5, the search area is limited to a plane and the search shape is limited by the process of sub-step 1. did. Then, by processing in sub-steps 2 to 4, a data group that matches the search object (including the object part) specified by the object parameter is changed into a data group that matches the shape on the plane, a data group that matches the three-dimensional shape, Since the data group matching the value is extracted in three stages, the object search can be performed easily and accurately, and the search processing time can be shortened. Then, by the processing of sub-step 5, a space including the solid shape data group of the object is set, and the solid shape data group included in the space is extracted. Can be done.
[0038]
In addition, also in the repetition process of the substeps 1-5 of the said step S18, it can abbreviate | omit suitably about the overlapping process. For example, the extraction of data groups that match the shape of the search object specified by the definition of the plane and the object parameters in sub-steps 1 to 3 suffices to be performed on the three-dimensional shape data groups Da, Db, and Dc, respectively. Since it is not necessary to carry out every 41, 42, 43, it is carried out once for each of the three-dimensional shape data groups Da, Db, Dc.
[0039]
Returning to the description of the program in FIG. 2 again, after the process of step S18, the image processing apparatus 32 executes a fixed point coordinate calculation process in step S20. In the process of step S20, the following sub-steps 1 and 2 are repeatedly executed for the nine sets of sub-solid shape data groups Da1, Da2, Da3, Db1, Db2, Db3, Dc1, Dc2, and Dc3. Thus, data sets Pa1, Pa2, Pa3, Pb1, Pb2, Pb3, Pc1, Pc2, and Pc3 representing nine sets of fixed points are respectively calculated. These nine data sets Pa1, Pa2, Pa3, Pb1, Pb2, Pb3, Pc1, Pc2, and Pc3 are represented by three types of coordinates A, B, and C defined by the three-dimensional shape measuring apparatuses 20A, 20B, and 20C. This is a data set (X, Y, Z coordinate values) representing a fixed point for each of the spheres 41, 42, 43.
[0040]
Sub-step 1: Calculate a coordinate value representing a position (hereinafter referred to as an object position) where the position of the object or part of the object specified by the object parameter can be specified. Specifically, the outline of the object specified by the corresponding object parameter is superimposed on the extracted set of sub-three-dimensional shape data groups, and each point represented by each sub-three-dimensional shape data group and the outline of the object A coordinate value representing an object position at which the total deviation is minimized is calculated using the method of least squares.
[0041]
The processing of this sub-step 1 will be described with a specific example. When a sphere is adopted as a reference object as in the present embodiment, the surface of the sphere is represented by the following formula 1, and the surface of the spheres 41, 42, 43 is related to A point group (each point is represented by a coordinate value x, y, z) should satisfy the following equation (1). In the following formula 1, a, b, and c are unknown numbers representing the center coordinates of the sphere, and d is a constant input as an object parameter representing the radius of the sphere.
[0042]
[Expression 1]
(x-a) ² + (Y−b) ² + (Z-c) ² -D ² = 0
[0043]
Therefore, in the processing of sub-step 1, the nine sub-solid shape data groups Da1, Da2, Da3, Db1, Db2, Db3, Dc1, Dc2, and Dc3 extracted by the processing of step S18 are each sub-solid. For each shape data group, a point group (xi, yi, zi) (i = 1 to n) constituting the same sub three-dimensional shape data group is substituted into the left side of the above equation 1, and the sum of square values of the values is summed. A, b, and c are calculated using the method of least squares. Thereby, in this case, coordinate values x, y, z representing the center position (object position) of the sphere 41 (or spheres 42, 43) are calculated as a, b, c.
[0044]
When a polyhedron such as a rectangular parallelepiped or a polygonal pyramid is adopted as the reference object, the surface of the reference object is represented by the following formula 2, and a point group related to the surface of the reference object (each point is represented by coordinate values x, y, and z). Is to satisfy the following formula for the plane of Equation 2.
[0045]
[Expression 2]
a.x + b.y + c.z + d = 0
[0046]
Also in this case, in the processing of sub-step 1, the nine sets of sub-three-dimensional shape data groups Da1, Da2, Da3, Db1, Db2, Db3, Dc1, Dc2, Dc3, Dc3 extracted by the processing of step S18 are performed. For each sub three-dimensional shape data group, the point group (xi, y i, zi) (i = 1 to n) constituting the sub three-dimensional shape data group is substituted into the left side of the above equation 2, and the value of 2 A, b, c, and d that minimize the sum of the multiplier values are calculated using the method of least squares. Thereafter, using the calculated values a, b, c, d representing the respective planes of the reference object, a straight line intersecting each plane, that is, an expression (value) representing the side is calculated. Further, the coordinate value of each vertex is calculated using an expression (value a, b, c, d) representing the plane and an expression (value) representing the side. The coordinate value of each vertex represents the object position.
[0047]
When a cylinder, a cone, or the like is adopted as the reference object, the upper surface of the cylinder is represented by the above formula 2, and the bottom surface of the cylinder and the cone, and the side surface of the cylinder and the cone (surface when cut horizontally on the bottom surface) Is represented by Equation 3 below. In this case, in the cylinder, d in the following equation 3 is the radius of the top surface and the bottom surface given by the object parameter, and in the case of the cone, it is the radius of the circle at the cutting plane calculated by the radius of the bottom surface, the height of the cone, and the cutting height. is there. However, the values a, b, and d in Equation 2 are different from the values a, b, and d in Equation 3 below.
[0048]
[Equation 3]
(x-a) ² + (Y−b) ² -D ² = 0
[0049]
In this case as well, in the processing of this sub-step 1, as in the case described above, the values a, b, c, d of Equation 2 and the values a, b of Equation 3 below are calculated using the least square method. To do. Further, in the calculation process relating to the side surface in this case, the cylinder 3 or the cone is cut along a plane parallel to the bottom surface while shifting the position by a minute interval in the direction perpendicular to the bottom surface, and Equation 3 is applied. After that, the center coordinates of each circle are calculated using the calculated value 3 and the value a and b of the cylinder or the cone, and the calculated value 3 and a and b of the cut surface of the cylinder or the cone. Identify the center line perpendicular to the center of the bottom. In the case of a cylinder, the coordinates of the center of the top and bottom surfaces are calculated as coordinates representing the object position using the center line and the calculated values a, b, c, and d of the above formula 2. . For the cone, the coordinates of the center and vertex of the bottom surface are calculated as coordinates representing the object position.
[0050]
Sub-step 2: Define a fixed point of the object specified by the fixed point parameter. As described above, if the object parameter represents a sphere and the object position is the center of the sphere, the coordinates representing the center position of the sphere have already been calculated as the coordinates representing the position of the reference object by the processing of the sub-step 1. Therefore, the processing in sub-step 2 is substantially unnecessary.
[0051]
In addition, when a polyhedron such as a rectangular parallelepiped or a polygonal pyramid is adopted as the reference object, if any vertex is designated as the fixed point, any of the vertices calculated by the processing of sub-step 1 is selected. The coordinates of these vertices are selected as fixed points. If the reference object is a rectangular parallelepiped and the center of gravity of the rectangular parallelepiped is designated as a fixed point, the coordinates of the eight vertices (xi, yi, zi) (i = 1) calculated by the processing of sub-step 1 are used. ˜8), the coordinates xc, yc, zc of the fixed point are calculated by the following equation 4.
[0052]
[Expression 4]

[0053]
Further, if a cylinder is adopted as the reference object and the center point of the top surface or the bottom surface is designated as the fixed point, the coordinate of one of the two vertices calculated by the processing of sub-step 1 is Selected as a fixed point. If a cylinder is adopted as the reference object and the center of gravity is designated as a fixed point, the coordinates of the center position of the line connecting the two vertices are calculated as the fixed point. Also, if a cone is adopted as the reference object, and the vertex or bottom center point is designated as the fixed point, one of the vertex and bottom center points calculated by the processing of sub-step 1 is Selected as a fixed point.
[0054]
By such processing of sub-steps 1 and 2, since the fixed point is calculated using the object parameter and the fixed point parameter based on the small amount of the sub three-dimensional shape data group, the calculation processing speed can be increased.
[0055]
After the process of step S20, the image processing device 32 executes a process of calculating coordinate conversion coefficients (coordinate conversion parameters) in step S22. This coordinate conversion coefficient calculation processing calculates a conversion coefficient for converting a solid shape data group of one coordinate to a solid shape data group of another coordinate. In the present embodiment, the coordinate A (the coordinate of the three-dimensional shape measuring apparatus 20A) is used as a reference coordinate, and each of the coordinate B (the coordinate of the three-dimensional shape measuring apparatus 20B) and the coordinate C (the coordinate of the three-dimensional shape measuring apparatus 20C) is used. A coordinate value is converted into the reference coordinate value.
[0056]
Prior to the description of the coordinate conversion coefficient calculation processing in step S22, the coordinate conversion will be briefly described. A first coordinate composed of XYZ coordinates, and the first coordinate are rotated by α, β, γ around the X axis, Y axis, and Z axis, respectively, and the origin of the first coordinate is the X axis direction, Assume a second coordinate moved by a, b, and c in the Y-axis direction and the Z-axis direction, respectively. When the coordinate value of one point in the first coordinate is (x, y, z) and the coordinate value of the same point in the second coordinate is (x ′, y ′, z ′), Number 5 And the same Number 5 The matrix M in the following is In Equation 6 Is represented by
[0057]
[Equation 5]

[0058]
[Formula 6]

[0059]
The calculation of the coordinate transformation coefficient in the step S22 Number 5 and Equation 6 Matrix value in ₁₁ , g ₁₂ , g ₁₃ , g _{twenty one} , g _{twenty two} , g _{twenty three} , g ₃₁ , g ₃₂ , g ₃₃ And calculating matrix values a, b, c. First, coordinate values (x, y, z) at coordinates B (coordinates of the three-dimensional shape measuring apparatus 20B) are converted into coordinate values (x ′, y) at coordinates A (coordinates of the three-dimensional shape measuring apparatus 20A) as reference coordinates. A coordinate conversion coefficient for conversion into ', z') is calculated. Data sets Pa1, Pa2, and Pa3 at coordinates A corresponding to fixed points (centers) of the spheres 41, 42, and 43 as reference objects are represented by (x _a1 , y _a1 , z _a1 ), (X _a2 , y _a2 , z _a2 ), (X _a3 , y _a3 , z _a3 ), And the data sets Pb1, Pb2, and Pb3 at the coordinates B corresponding to the fixed points (centers) of the spheres 41, 42, and 43 are represented by (x _b1 , y _b1 , z _b1 ), (X _b2 , y _b2 , z _b2 ), (X _b3 , y _b3 , z _b3 ) Number 7-9 The relationship is established.
[0060]
[Expression 7]

[0061]
[Equation 8]

[0062]
[Equation 9]

[0063]
Said Number 7 If you transform Number 10 The simultaneous equations are established.
[0064]
[Expression 10]

[0065]
this Number 10 By solving the simultaneous equations, the matrix value g ₁₁ , g ₁₂ , g ₁₃ Can be calculated. Also, the above Number 8 and Number 9 With respect to Number 10 If it is transformed like the simultaneous equations, the matrix value g _{twenty one} , g _{twenty two} , g _{twenty three} And matrix value g ₃₁ , g ₃₂ , g ₃₃ Can be calculated. And these calculated matrix values are Number 7-9 Matrix values a, b, and c can be calculated. Accordingly, a coordinate conversion coefficient for converting the coordinate value (x, y, z) at the coordinate B into the coordinate value (x ′, y ′, z ′) at the coordinate A, which is the reference coordinate, is calculated.
[0066]
Next, the coordinate values (x, y, z) at the coordinates C (coordinates of the three-dimensional shape measuring apparatus 20C) are converted into the coordinate values (x ′, x) at the coordinates A (coordinates of the three-dimensional shape measuring apparatus 20A) as reference coordinates. A coordinate conversion coefficient for conversion into y ′, z ′) is calculated. In this case, the coordinate values (x) representing the data sets Pb1, Pb2, and Pb3 at the coordinates B corresponding to the fixed points (centers) of the spheres 41, 42, and 43 as reference objects, respectively. _b1 , y _b1 , z _b1 ), (X _b2 , y _b2 , z _b2 ), (X _b3 , y _b3 , z _b3 ) Instead of the coordinate values (x representing the data sets Pc1, Pc2, Pc3 at the coordinates C corresponding to the fixed points (centers) of the spheres 41, 42, 43, respectively. _c1 , y _c1 , z _c1 ), (X _c2 , y _c2 , z _c2 ), (X _c3 , y _c3 , z _c3 ) Number 7-10 The coordinate conversion for converting the coordinate value (x, y, z) at the coordinate C to the coordinate value (x ′, y ′, z ′) at the coordinate A, which is the reference coordinate, by the same calculation as that using A coefficient is calculated. In step S24, the execution of the coordinate conversion coefficient calculation program is terminated.
[0067]
After execution of this coordinate conversion coefficient calculation program, the user removes the spheres 41, 42, and 43 from the base 10 and places the measurement object 50 on the base 10. Then, the input device 33 is operated to instruct the stereoscopic display of the measurement object 50. In response to this, the image processing apparatus 32 starts execution of the composite 3D shape display program of FIG. 2 in step S30, and inputs measurement information representing the 3D shape of the measurement object 50 in step S32. Wait for. On the other hand, the three-dimensional shape measuring apparatuses 20A, 20B, and 20C are controlled by the controller 31 and start measuring the three-dimensional solid surface shape of the measuring object 50. When the three-dimensional shape measuring apparatuses 20A, 20B, and 20C complete the measurement of the measurement object 50, the information representing the measurement result is output to the image processing apparatus 32, respectively.
[0068]
In step S32, the image processing device 32 inputs measurement information from the image processing device 32 in the same manner as the processing in step S14. In step S34, three sets of three-dimensional shape data groups Da relating to the measurement object 50 are obtained for each of the three-dimensional shape measuring apparatuses 20A, 20B, and 20C on the basis of the measurement information in the same manner as in step S16. Db and Dc are obtained. These three sets of three-dimensional shape data groups Da, Db, and Dc are also expressed by X, Y, and Z coordinate values independent of the coordinates A, B, and C, and constitute the three-dimensional shape data groups Da, Db, and Dc. Each data set to (x _a , y _a , z _a ), (X _b , y _b , z _b ), (X _c , y _c , z _c ).
[0069]
Next, in step S36, the coordinate transformation coefficients calculated by executing the coordinate transformation coefficient calculation program (that is, two sets of matrix values g) ₁₁ , g ₁₂ , g ₁₃ , g _{twenty one} , g _{twenty two} , g _{twenty three} , g ₃₁ , g ₃₂ , g ₃₃ , a, b, c), the B and C coordinate three-dimensional shape data groups Db and Dc are converted into A coordinate three-dimensional shape data groups Db ′ and Dc ′, respectively. In this case, Number 5 The conversion is performed by executing the above operation.
[0070]
In step S38, the three-dimensional shape data group Da of the A coordinate measured by the three-dimensional shape measuring apparatus 20A, and the three-dimensional shape data measured by the three-dimensional shape measuring apparatuses 20B and 20C and converted into the A coordinate, respectively. The groups Db ′ and Dc ′ are combined into a set of three-dimensional shape data groups. In this synthesis, since the three-dimensional shape data groups Da, Db ′, Dc ′ are all represented by coordinate values on the same coordinate A, the measurement objects that are not measured by the three-dimensional shape measuring apparatuses 20A, 20B, 20C, respectively. Three-dimensional shape data groups Da, Db ′, Dc ′ representing 50 parts (outer surface of the measuring object 50 located on the back side with respect to the three-dimensional shape measuring apparatuses 20A, 20B, 20C) are complemented to each other, and a set Data group.
[0071]
Next, in step S <b> 40, the image processing device 32 controls the display device 34 using the synthesized three-dimensional shape data group, and causes the display device 34 to stereoscopically display the measurement object 50. Thereafter, the execution of the combined 3D shape display program is terminated in step S42. In the stereoscopic display of the measurement object 50, the user can instruct the display direction of the measurement object 50 by operating the input device 33, and the controller 31 and the image processing device 32 are displayed on the display device 32. The display direction of the measurement object 50 is changed. Thereby, the image which looked at the measuring object 50 from arbitrary directions can be displayed.
[0072]
Further, if a new measurement object 50 is placed on the base 10 and the display of the measurement object 50 is indicated as described above, the execution of the composite three-dimensional shape display program of FIG. An image obtained by viewing the new measurement object 50 from an arbitrary direction can be displayed on the display device 32 using the coordinate conversion coefficient. Therefore, if the coordinate transformation coefficient regarding the measurement target space on the base 10 is calculated only once using the spheres 41, 42, and 43 as the reference objects, the measurement target 50 is changed one after another and the display device 32 changes. Three-dimensional display is possible.
[0073]
As can be understood from the above description of operation, according to the above embodiment, a fixed point specified by the spheres 41, 42, and 43 is set by executing the coordinate conversion coefficient calculation program, and the three-dimensional shape measuring apparatus using the identification point is set. A coordinate conversion coefficient (coordinate conversion parameter) between 20A, 20B, and 20C is calculated. Then, by executing the combined three-dimensional shape display program, a plurality of sets of three-dimensional shape data groups of the measurement object 50 are converted into three-dimensional shape data groups represented by reference coordinates by using the coordinate conversion coefficient, and the conversion is performed. A plurality of sets of three-dimensional shape data groups are synthesized.
[0074]
Therefore, according to the above-described embodiment, the operator only performs an operation of measuring the three-dimensional shapes of the spheres 41, 42, 43 and the measurement object 50 as the reference object, and the three-dimensional image of the measurement object 50 is in an arbitrary direction. Since the three-dimensional image data that can be viewed from the viewpoint is automatically generated, the work efficiency of creating the three-dimensional image data is improved. In addition, since a fixed point having no size can be designated, a highly accurate coordinate conversion parameter can be obtained, and as a result, the accuracy of the three-dimensional image data that can be displayed when the measurement object 50 is viewed from any direction is improved. Furthermore, by specifying the object parameter and the fixed point parameter, it is possible to calculate a three-dimensional data set representing a fixed point in a reference object having an arbitrary shape that is automatically generated. Can be determined.
[0075]
Although one embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the object of the present invention.
[0076]
For example, in the above embodiment, after calculating the coordinate conversion coefficients for the three-dimensional shape measuring apparatuses 20A, 20B, and 20C using the spheres 41, 42, and 43 as reference objects, the measurement objects 50 on the base 10 are successively placed. And the three-dimensional shape of the object 50 is measured one after another. However, the present invention can also be applied to a three-dimensional shape measurement in which a three-dimensional shape of an object moving one after another on various lines such as a production line and an inspection line is measured one after another. In this case, after the three-dimensional shape measuring devices 20A, 20B, and 20C are arranged toward the measurement target space on the line, the spheres 41, 42, and 43 as reference objects are placed on the line that is the measurement target space and the coordinates are set. The conversion coefficient is calculated, and then the measurement object that has moved on the line and entered the measurement object space is measured by the three-dimensional shape measuring devices 20A, 20B, and 20C, and the measurement result is converted into the calculated coordinate conversion. It is preferable to perform coordinate conversion using a coefficient.
[0077]
Moreover, in the said embodiment, after calculating a coordinate transformation coefficient based on the measurement of the three-dimensional solid shape of the reference | standard object (sphere 41,42,43), the measuring object 50 is put on the base 10, and a measuring object The three-dimensional solid shape of the object 50 was measured. However, instead of this, if it is possible to place the reference object and the measuring object 50 on the base 10 at the same time, the reference object and the measuring object 50 are placed on the base 10 at the same time. The three-dimensional solid shape of the object and the measurement object 50 may be measured. In this case, the image processing device 32 may execute the coordinate transformation coefficient calculation program of FIG. 2 up to step S22, and then execute the processing after step S36 of the combined three-dimensional shape display program of FIG.
[0078]
In the above embodiment, the fixed point is specified by the spheres 41, 42, and 43 as reference objects different from the measurement object 50. However, when a part of the measurement object 50 has a shape that can be easily recognized. In this case, a fixed point may be defined in a specific part of the measurement object 50 without using a reference object. For example, if a spherical portion exists in the measurement object 50, the same spherical portion is specified by the object parameter, the center of the spherical portion is determined as a fixed point, and the same processing as in the above embodiment may be performed. In this case as well, the image processing device 32 may execute the coordinate conversion program of FIG. 2 up to step S22, and then perform the processing after step S36 of the combined 3D shape display program of FIG.
[0079]
In addition, in the designation of fixed points by the specific parts of the spheres 41, 42, 43 and the measurement object 50 as the reference objects, the center of the circular shape, one end of one side of the rectangular parallelepiped shape, etc. One point in the shape that can be easily recognized may be designated by a fixed point designation parameter. In addition to this shape, in the case of various colors, a color element may be added to specify the shape. Furthermore, the fixed point may be specified based on the distance between the plurality of objects, the arrangement relationship of the plurality of objects, and the like. In these cases, the in-block feature values defined by the object parameters for searching for an object that specifies a fixed point include a curvature of a circle outline in the case of a circular shape, and a straight line of a predetermined length in the case of a rectangular parallelepiped. A specific color may be used when a part or color is added, and a distance of a predetermined length may be used when a plurality of objects are used.
[0080]
Of the object parameters and fixed point parameters for specifying a fixed point, as for the fixed point parameter, a fixed point designated by the object parameter may be determined and stored in advance. For example, if the object specified by the object parameter is a sphere and a circle, the predetermined data representing the relationship between the shape and the fixed point is used, such as a center point if the object is a rectangular parallelepiped, and one end of the shortest side. It may be stored in a table or the like, and a fixed point parameter representing a fixed point in the table may be used in association with the shape specified by the object parameter.
[0081]
In the above embodiment, three three-dimensional shape measuring apparatuses 20A, 20B, and 20C are installed, and three fixed points are set in the calculation of the coordinate conversion coefficient. However, the number of installed three-dimensional shape measuring apparatuses may be four or more. In this case, only three sets of measurement results that are easy to use among the four or more sets of measurement results measured by four or more three-dimensional shape measuring apparatuses may be used, or the three-dimensional shape data group may be calculated. The measurement results of the extra group (fourth or more groups) may be used for the final correction of the three-dimensional shape data group. There may also be four or more fixed points. In this case, the coordinate conversion coefficient may be calculated based on three fixed points that are easy to use among the four or more fixed points, or an extra (fourth or more) fixed points when calculating the coordinate conversion coefficient. May be used for final correction of the coordinate conversion coefficient.
[0082]
Further, in the above-described embodiment, three three-dimensional shape measuring devices 20A, 20B, and 20C are installed, and the three-dimensional shape measuring devices 20A, 20B, and 20C are respectively used as a reference object (spheres 41, 42, and 43) and a measurement. The three-dimensional solid surface shape of the object 50 is measured. However, instead of this, the position of one three-dimensional shape measuring apparatus may be moved to measure the reference object and the measuring object 50 at a plurality of positions. In this case, after calculating the coordinate conversion coefficient by measuring the reference object, when measuring the three-dimensional solid shape of the measurement object 50, the measurement position is set in advance and the measurement is always performed at the same measurement position. To. Also in this case, if there is an easily recognizable object or part of the object in the measurement target 50 and a specific point can be determined in the object or part of the object, as described above. Alternatively, this specific point may be determined as a fixed point without using the reference object, and the identified point may be detected using the object parameter and the fixed point parameter.
[Brief description of the drawings]
FIG. 1 is a schematic view of a three-dimensional image device used in a three-dimensional image data generation method of the present invention.
FIG. 2 is a flowchart of a coordinate transformation coefficient calculation program executed by the image processing apparatus of FIG.
FIG. 3 is a flowchart of a composite 3D shape display program executed by the image processing apparatus of FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 ... Base, 20A, 20B, 20C ... Three-dimensional shape measuring device, 31 ... Controller, 32 ... Image processing device, 33 ... Input device, 34 ... Display device, 41-43 ... Sphere.

Claims (3)

Using 3D surface shapes of objects measured at multiple different positions with one or more 3D shape measurement devices, 3D images of objects located in the measurement target space can be viewed from any direction. In a 3D image data generation method for generating 3D image data,
A plurality of sets of three-dimensional shapes representing the three-dimensional surface shape of the object by causing the one or more three-dimensional shape measuring devices to measure the three-dimensional surface shape of the object existing in the measurement target space at a plurality of different positions. A three-dimensional shape data group generation step for generating a data group;
Sub 3D shape data group extraction for extracting from the 3D shape data group a sub 3D shape data group corresponding to a part of the object defined by the object parameter or a part of the same object for each 3D shape data group Steps,
A plurality of sets representing fixed points defined by fixed point parameters, which are fixed points specified by the partial object or part of the same object, using the sub solid shape data groups extracted for each of the solid shape data groups A fixed point data set generating step for generating a three-dimensional data set for each sub-three-dimensional shape data group;
A coordinate conversion parameter for calculating a coordinate conversion parameter for converting each of the plurality of sets of three-dimensional shape data groups into a three-dimensional shape data group represented by one reference coordinate, using the generated plurality of sets of three-dimensional data sets. A calculation step;
A synthesis step of converting each of the plurality of sets of three-dimensional shape data groups into a three-dimensional shape data group represented by the reference coordinates using the coordinate conversion parameters, and combining the plurality of sets of three-dimensional shape data groups that have been converted; A three-dimensional image data generation method comprising: Using 3D surface shapes of objects measured at multiple different positions with one or more 3D shape measurement devices, 3D images of objects located in the measurement target space can be viewed from any direction. In a 3D image data generation method for generating 3D image data,
A reference object is arranged in the measurement object space, and the one or more three-dimensional shape measuring devices are caused to measure the three-dimensional surface shape of the reference object at a plurality of different positions, and the three-dimensional surface of the reference object is measured. A reference solid shape data group generation step for generating a plurality of sets of reference solid shape data groups representing shapes;
For each reference solid shape data group, a sub solid shape data group for extracting a sub solid shape data group corresponding to a reference object represented by an object parameter or a part of the reference object from each reference solid shape data group An extraction step;
A plurality of fixed points defined by fixed point parameters, which are fixed points specified by the reference object or a part of the reference object, using the sub solid shape data groups extracted for each of the reference solid shape data groups. A fixed point data set generation step for generating a three-dimensional data set for each sub-three-dimensional shape data group;
Using the generated plurality of sets of three-dimensional data sets, a plurality of sets of three-dimensional shape data groups respectively generated based on the respective measurements at a plurality of different positions by the one or more three-dimensional shape measuring apparatuses A coordinate conversion parameter calculation step for calculating a coordinate conversion parameter for conversion into a three-dimensional shape data group represented by two reference coordinates,
The one or a plurality of three-dimensional shape measuring devices measure the three-dimensional surface shape of the measurement object arranged in the measurement object space at a plurality of different positions, and represent the three-dimensional surface shape of the measurement object. A measurement solid shape data group generation step for generating a plurality of sets of measurement solid shape data groups;
Using the calculated coordinate conversion parameters, the plurality of sets of measurement solid shape data groups are converted into measurement solid shape data groups represented by the reference coordinates, respectively, and the plurality of sets of measurement solid shape data groups that have been converted are converted. And a synthesizing step of synthesizing the three-dimensional image data. The three-dimensional image data generation method according to claim 1 or 2, wherein the object parameter and the fixed point parameter can be arbitrarily input using an input device.

Images