JP2007120993A - Object shape measuring device - Google Patents

Object shape measuring device Download PDF

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JP2007120993A
JP2007120993A JP2005310483A JP2005310483A JP2007120993A JP 2007120993 A JP2007120993 A JP 2007120993A JP 2005310483 A JP2005310483 A JP 2005310483A JP 2005310483 A JP2005310483 A JP 2005310483A JP 2007120993 A JP2007120993 A JP 2007120993A
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measuring apparatus
dimensional coordinate
point
measured
coordinate measuring
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Giyourin Cho
暁林 張
Shuichi Katayama
修市 片山
Keiji Kino
桂司 木野
Kiyonori Okura
清教 大倉
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Tokyo Institute of Technology NUC
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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
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates

Abstract

<P>PROBLEM TO BE SOLVED: To provide a three-dimensional coordinate measuring device which facilitates correlation of each measuring point by two cameras, and acquires texture information of a measuring object. <P>SOLUTION: The three-dimensional coordinate measuring device has: cameras 1-1, 1-r having respectively zoom functions for photographing the measuring point and outputting image information; an actuator 2 for rotating the cameras more than one degree of freedom; and a rotation angle sensor for measuring the rotation angle of the cameras, and also has: a light source 6 irradiating light and forming a light spot on the measuring point; and the third camera 1-c having a wide angle lens for retrieving the light spot. First of all, the light spot is retrieved, based on image information from the third camera, and the actuator and the zoom function are controlled so that each gaze line of the cameras 1-1, 1-r agrees with the retrieved light spot. Then, the three-dimensional coordinate of the measuring point is calculated by the principle of triangulation by using the rotation angle measured by the rotation angle sensor. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は３次元座標測定装置に関し、特に、複数のカメラを用いる座標測定装置において光スポットを被測定点に形成してこれを検出して三角測量の原理により座標を測定する３次元座標測定装置に関する。   The present invention relates to a three-dimensional coordinate measuring apparatus, and more particularly to a three-dimensional coordinate measuring apparatus that forms a light spot at a point to be measured in a coordinate measuring apparatus using a plurality of cameras and detects this to measure coordinates based on the principle of triangulation. About.

従来から、２つのカメラを用いて被測定点の位置座標を測定する装置が種々開発されている。これらは、通常、既知の２ヶ所の位置に配置された２つのカメラによって被測定点を撮影し、各カメラの視線を被測定点に合わせ、カメラの回転角度から三角測量の原理を用いて被測定点の座標を算出するものである。   Conventionally, various apparatuses for measuring the position coordinates of a measurement point using two cameras have been developed. These are usually obtained by photographing a measurement point with two cameras arranged at two known positions, aligning the line of sight of each camera with the measurement point, and using the principle of triangulation from the rotation angle of the camera. The coordinates of the measurement point are calculated.

ここで、２つのカメラが独立に動作する場合、三角測量の原理を用いて座標を算出するためには、２つのカメラで対応する共通の被測定点を確実に撮影する必要がある。２つのカメラ間がある程度近い場合には、共通の被測定点を検出して撮影することもある程度容易であるが、三角測量の原理上、カメラ間の距離は広いほうが算出された座標の誤差は少ない。したがって、測定精度のことを考えるとカメラ間は離すほうが望ましい。   Here, in the case where the two cameras operate independently, in order to calculate coordinates using the principle of triangulation, it is necessary to reliably photograph the corresponding measured points corresponding to the two cameras. When the two cameras are close to a certain extent, it is easy to detect and measure a common measured point. However, on the principle of triangulation, the larger the distance between the cameras, the calculated coordinate error is. Few. Therefore, it is preferable to separate the cameras from the viewpoint of measurement accuracy.

また、被測定点の座標の測定精度を増すために、カメラにズーム機能を設けたものもある（特許文献１）。これは、被測定点にカメラを向けて、さらにズーム機能でズームインして画像を拡大するものである。   In addition, there is a camera provided with a zoom function in order to increase the measurement accuracy of the coordinates of the measurement point (Patent Document 1). In this method, the camera is pointed at a point to be measured, and the image is further enlarged by zooming in with a zoom function.

さらに、被測定物が特徴点を抽出できないような壁面等の場合には、光源から赤外光やレーザスリット光、十字マーカ等を照射し、それを目標にカメラの視線を合わせる例もある（特許文献２）。   Furthermore, when the object to be measured is a wall surface or the like from which feature points cannot be extracted, there is an example in which infrared light, laser slit light, a cross marker or the like is irradiated from a light source, and the line of sight of the camera is adjusted to that target ( Patent Document 2).

また、測定点から被測定点までの距離を計ることができる装置としては、上記以外にもレーザ距離計や超音波距離計等もある。   In addition to the above, there are a laser distance meter, an ultrasonic distance meter, and the like as devices that can measure the distance from the measurement point to the measurement point.

特開平６−７９６７１号公報JP-A-6-79671 特開平５−１８７４６号公報JP-A-5-18746

しかしながら、従来の独立して動作する２つのカメラを用いた座標測定装置においては、測定精度を上げるために２つのカメラ間の距離を離した場合、一方のカメラで撮影した被測定点を他方のカメラで撮影するのは難しいという問題がある。一方のカメラで撮影している被測定点の位置が分からないため、他方のカメラで対応点を探すのには、すべての領域において例えば微分法による対応点の検索等が行なわれており、非常に時間がかかるものであった。これは特に遠方の被測定点を測定する場合に顕著な問題となる。一方のカメラで撮影している被測定点と他方のカメラで撮影している被測定点が異なる点であると、正しい座標を算出できなくなってしまう。対応する被測定点を求めるのには非常に多くの計算が必要になり処理時間がかかるため、被測定点が移動体の一部である場合にはリアルタイムに座標を算出するようなことは特に難しかった。   However, in the conventional coordinate measuring apparatus using two cameras that operate independently, when the distance between the two cameras is increased in order to increase the measurement accuracy, the measured point photographed by one camera is changed to the other. There is a problem that it is difficult to shoot with a camera. Since the position of the point being measured taken by one camera is unknown, searching for the corresponding point using the other camera is performed in all areas, for example, by searching for the corresponding point using differentiation. It took a long time. This is a significant problem particularly when measuring a far measurement point. If the measured point photographed by one camera is different from the measured point photographed by the other camera, correct coordinates cannot be calculated. Since it takes a lot of calculation and processing time to find the corresponding measured point, it is especially important to calculate coordinates in real time when the measured point is part of a moving object. was difficult.

また、ズーム機能を用いて被測定点を高解像度で撮影して測定精度を向上する例では、ズーム機能を狭角側にした場合にカメラの画角が狭くなる。遠方の被測定点に対してズームインした場合等にはかなり画角が狭くなってしまうが、このような狭い画角のカメラを用いて共通の対応する被測定点を撮影することは、さらに困難であった。   In an example in which the measurement point is photographed at a high resolution by using the zoom function to improve the measurement accuracy, the angle of view of the camera is narrowed when the zoom function is set to the narrow angle side. When zooming in on a remote measurement point, the angle of view becomes considerably narrow, but it is more difficult to photograph a common corresponding measurement point using a camera with such a narrow angle of view. Met.

さらに、赤外光やレーザスリット光、十字マーカ等を照射してそれを目標に視線を合わせる例では、照射光マーカをカメラが追尾するためには、常にカメラの画角内にマーカ等が存在していなければならず、画角からマーカが外れたときにはマーカを検索するのに時間がかかるという問題もあった。また、オペレータにより被測定点を補正しようと思っても、現在の被測定点が全体のどの部分に当たるのか等が把握し難かったため、オペレータが手動により操作することは難しかった。   In addition, in the example of irradiating infrared light, laser slit light, cross markers, etc. and aligning the line of sight with the target, in order for the camera to track the irradiated light marker, there is always a marker, etc. within the angle of view of the camera There is also a problem that it takes time to search for a marker when the marker deviates from the angle of view. Further, even if the operator intends to correct the measurement point, it is difficult for the operator to manually operate the current measurement point because it is difficult to grasp which part of the whole measurement point corresponds to.

また、レーザ距離計や超音波距離計で被測定点の座標を測定することは可能であるが、被測定物の色や模様等のテクスチャ情報は取得できないため、３次元画像情報としてデータを得ることはできなかった。さらに、遠方の被測定点に対してはレーザ距離計や超音波距離計ではそのレーザや音波が反射して戻ってくるように高出力とする必要があったので、装置が高価となる場合があった。   In addition, although it is possible to measure the coordinates of the point to be measured with a laser distance meter or an ultrasonic distance meter, texture information such as the color and pattern of the object to be measured cannot be acquired, so data is obtained as three-dimensional image information. I couldn't. In addition, the laser rangefinder and ultrasonic rangefinder need to have a high output so that the laser or sound wave is reflected and returned to the far point to be measured, which may make the device expensive. there were.

本発明は、斯かる実情に鑑み、２つのカメラによる被測定点の対応付けを容易とすると共に被測定物のテクスチャ情報も取得可能な３次元座標測定装置を提供しようとするものである。また、オペレータによる介入も容易となる３次元座標測定装置を提供しようとするものである。   In view of such circumstances, the present invention intends to provide a three-dimensional coordinate measuring apparatus that facilitates associating measured points with two cameras and that can also acquire texture information of the measured object. It is another object of the present invention to provide a three-dimensional coordinate measuring apparatus that facilitates intervention by an operator.

上述した本発明の目的を達成するために、本発明による３次元座標測定装置は、被測定点を撮影するためのズーム機能を有し画像情報を出力する第１及び第２撮像手段と、各撮像手段を１自由度以上回転運動させるアクチュエータと、各撮像手段の回転角を測定する回転角センサと、光を照射し被測定点に光スポットを形成する光源と、広角レンズを有し画像情報を出力する第３撮像手段と、第１乃至第３撮像手段のいずれかからの画像情報に基づき光スポットを検索し、検索された光スポットに第１及び第２撮像手段の注視線を合わせるようにアクチュエータ及びズーム機能を制御する制御手段と、回転角センサで測定された回転角を用いて三角測量の原理により被測定点の３次元座標を算出する演算手段と、を具備するものである。   In order to achieve the above-described object of the present invention, a three-dimensional coordinate measuring apparatus according to the present invention includes first and second imaging means having a zoom function for photographing a measurement point and outputting image information, Image information having an actuator that rotates the imaging means by one or more degrees of freedom, a rotation angle sensor that measures the rotation angle of each imaging means, a light source that irradiates light to form a light spot at the measurement point, and a wide-angle lens The light spot is searched on the basis of the image information from the third image pickup means that outputs and the first to third image pickup means, and the gaze lines of the first and second image pickup means are aligned with the searched light spot. And a control means for controlling the actuator and the zoom function, and an arithmetic means for calculating the three-dimensional coordinates of the measurement point by the principle of triangulation using the rotation angle measured by the rotation angle sensor.

ここで、光源は、２つの撮像手段の視線の成す角の二分線に沿って光を照射できる位置に設けられれば良い。   Here, the light source should just be provided in the position which can irradiate light along the bisector of the angle | corner which the line of sight of two imaging means forms.

また、第３撮像手段は、第１撮像手段と第２撮像手段とを結ぶ線の略中心近傍に設けられれば良い。   The third imaging means may be provided in the vicinity of the approximate center of the line connecting the first imaging means and the second imaging means.

さらに、少なくとも第１及び第２撮像手段と光源と第３撮像手段とを載置する、１自由度以上回転又は並進運動可能な基盤を有するようにしても良い。   Furthermore, you may make it have a base | substrate which can rotate or translate more than 1 degree of freedom which mounts at least 1st and 2nd imaging means, a light source, and 3rd imaging means.

また、基盤の回転角を測定する基盤回転角センサや、基盤の回転加速度を測定する基盤回転加速度センサ、基盤の並進加速度を測定する基盤並進加速度センサを有するようにしても良い。   Moreover, you may make it have a base | substrate rotation angle sensor which measures the rotation angle of a base | substrate, a base | substrate rotational acceleration sensor which measures the rotational acceleration of a base | substrate, and a base | substrate translational acceleration sensor which measures the translational acceleration of a base | substrate.

ここで、基盤回転角センサ、基盤回転加速度センサ又は基盤並進加速度センサのいずれかからの情報と、回転角センサからの情報とを用いて、基盤の回転又は並進運動により生ずる画像情報のずれを補償する補償手段を有するようにしても良い。   Here, using information from either the base rotation angle sensor, the base rotation acceleration sensor, or the base translation acceleration sensor, and information from the base rotation angle sensor, the deviation of image information caused by the base rotation or translation motion is compensated. Compensation means may be provided.

さらに、基盤の水平度を測定する基盤水平度センサを有するようにしても良い。   Furthermore, you may make it have a board | substrate levelness sensor which measures the levelness of a board | substrate.

さらにまた、第１及び第２撮像手段の間の距離を調整する調整手段を有するようにしても良い。   Furthermore, an adjusting means for adjusting the distance between the first and second imaging means may be provided.

またさらに、測定装置の位置を所定の座標系に特定するために、第１、第２又は第３撮像手段により識別可能な所定の位置に設けられる位置認識標識を有するようにしても良い。   Furthermore, in order to specify the position of the measuring apparatus in a predetermined coordinate system, a position recognition mark provided at a predetermined position that can be identified by the first, second, or third imaging means may be provided.

さらに、被測定点に当接させる棒状体と第１及び第２撮像手段により識別可能な、棒状体に設けられる標識手段とを有する狭所位置測定棒を有するようにしても良い。   Furthermore, a narrow position measuring rod having a rod-like body brought into contact with the point to be measured and a labeling means provided on the rod-like body that can be identified by the first and second imaging means may be provided.

また、第１撮像手段は近傍配置される少なくとも２つのカメラからなり、第２撮像手段は第１撮像手段に対して遠隔配置されるようにしても良い。   Further, the first imaging means may be composed of at least two cameras arranged in the vicinity, and the second imaging means may be remotely arranged with respect to the first imaging means.

また、制御手段は、第１撮像手段を用いて被測定点の座標を近似計算させ、その近似計算の誤差範囲内で第２撮像手段からの画像情報を用いて被測定点を検出させるように制御するようにしても良い。   Further, the control means approximates the coordinates of the measured point using the first imaging means, and detects the measured point using the image information from the second imaging means within the error range of the approximate calculation. You may make it control.

ここで、制御手段は、近似計算の誤差範囲が第２撮像手段の視野から外れているときには、第２撮像手段の視野内に誤差範囲が入るようにアクチュエータを制御するようにしても良い。   Here, when the error range of the approximate calculation is out of the field of view of the second imaging unit, the control unit may control the actuator so that the error range is within the field of view of the second imaging unit.

また、制御手段は、近似計算の誤差範囲が第２撮像手段の視野よりも大きいときには、第２撮像手段の視野が誤差範囲内を探索するようにアクチュエータを制御するようにしても良い。   Further, the control means may control the actuator so that the visual field of the second imaging means searches within the error range when the error range of the approximate calculation is larger than the visual field of the second imaging means.

さらに、制御手段は、第１撮像手段の光軸を振動させ、そのときに出力される複数枚の画像情報から三角測量の原理により座標を近似計算させるように制御するようにしても良い。   Further, the control means may be controlled so as to vibrate the optical axis of the first image pickup means and to perform approximate calculation of coordinates based on the principle of triangulation from a plurality of pieces of image information output at that time.

またさらに、制御手段は、被測定点に第１撮像手段のピントを合わせたときの焦点距離を用いて近似計算させるように制御するようにしても良い。   Furthermore, the control means may be controlled to perform approximate calculation using the focal length when the first imaging means is focused on the measurement point.

さらに、制御手段は、第１及び第２撮像手段のズーム機能の広角側で撮像手段の注視点を被測定点に合わせた後に、ズーム機能の狭角側で撮像手段の注視点を被測定点に再度合わせるように制御するようにしても良い。   Further, the control means sets the gazing point of the imaging means to the measured point on the wide angle side of the zoom function of the first and second imaging means, and then sets the gazing point of the imaging means to the measured point on the narrow angle side of the zoom function. You may make it control to match again.

またさらに、被測定物が設置されるマニピュレータを具備するようにしても良い。   Furthermore, you may make it comprise the manipulator by which a to-be-measured object is installed.

また、測定装置が設置されるマニピュレータを具備するようにしても良い。   Moreover, you may make it comprise the manipulator by which a measuring apparatus is installed.

本発明の３次元座標測定装置には、広いエリアを検索するための広角カメラを有しているため、高速に被測定点に照射された光スポットに注視線を合わせることが可能となるという利点がある。また、広角カメラで広い領域を撮影できるため、オペレータにとっても使い勝手が良いという効果も得られる。さらに、テクスチャ情報も取得可能なため、３次元ＣＡＤ等に入力するためのデータを容易に作成可能であるという効果も得られる。   Since the three-dimensional coordinate measuring apparatus of the present invention has a wide-angle camera for searching a wide area, it is possible to align the gaze line with the light spot irradiated to the measurement point at high speed. There is. In addition, since a wide area can be photographed with a wide-angle camera, it is possible to obtain an effect that is easy for the operator. Furthermore, since texture information can also be acquired, there is an effect that data for inputting to a three-dimensional CAD or the like can be easily created.

以下、本発明を実施するための最良の形態を図示例と共に説明する。図１は、本発明の３次元座標測定装置の概略図である。３次元座標測定装置は、撮像手段である左右２つのカメラ１−ｌ，１−ｒと、各カメラ１を１自由度以上回転運動させるアクチュエータ２とからなる。カメラ１は、主に撮像素子とレンズとからなるものであり、測定対象である被測定点１０を撮影して画像情報を出力するものである。これはカラーやモノクロ何れかに限定されるものではなく、また撮像素子の画素数等も特定のものに限定されるものではない。また、ズームインしてより高解像度で撮影できるように、ズーム機能を有していることが好ましい。なお、説明の便宜上、本明細書では２つのカメラを左右に配置した例について主に説明するが、本発明はこれに限定されず、上下に配置したものやその他の方向に配置したもの等、複眼で座標を測定するものであれば如何なる構成であっても構わない。   The best mode for carrying out the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram of a three-dimensional coordinate measuring apparatus according to the present invention. The three-dimensional coordinate measuring apparatus includes left and right cameras 1-1 and 1-r that are imaging means, and an actuator 2 that rotates each camera 1 by one degree of freedom or more. The camera 1 is mainly composed of an image sensor and a lens, and captures a measurement point 10 that is a measurement target and outputs image information. This is not limited to either color or monochrome, and the number of pixels of the image sensor is not limited to a specific one. Further, it is preferable to have a zoom function so that zooming in can be performed with higher resolution. For convenience of explanation, the present specification mainly describes an example in which two cameras are arranged on the left and right, but the present invention is not limited to this example, and those arranged in the vertical direction and in other directions, Any configuration may be used as long as the coordinates are measured with a compound eye.

本発明の３次元座標測定装置のカメラは、ズーム機能を有しているので、始めにズーム機能を広角側に設定しておき、対応する被測定点を検出し、カメラの注視点を被測定点に合わせた後、ズームインしてズーム機能の狭角側でカメラの注視点を再度被測定点に合わせることで、被測定点を高精細に撮影することが可能となる。これにより、カメラの撮像素子の画素数が少ない場合等により解像度が高くない場合であっても、高詳細な画像が得られるため精度高く被測定点の座標を検出することが可能となる。   Since the camera of the three-dimensional coordinate measuring apparatus of the present invention has a zoom function, the zoom function is first set to the wide angle side, the corresponding measured point is detected, and the camera's gazing point is measured. After matching the points, zooming in and aligning the gazing point of the camera with the point to be measured again on the narrow angle side of the zoom function makes it possible to photograph the point to be measured with high definition. Thereby, even when the resolution is not high due to a small number of pixels of the image sensor of the camera or the like, it is possible to detect the coordinates of the measurement point with high accuracy because a highly detailed image can be obtained.

そして、アクチュエータ２はモータ等からなるものであり、カメラを上下左右等に回転運動させるために用いられる。回転運動は簡略的には１自由度あれば良いが、自由度を高めるためには２自由度以上あっても構わない。また、アクチュエータで回転運動させたときのカメラの回転角を測定する回転角センサも有する。これはアクチュエータからの回転角を用いて測定するものであっても良いし、カメラに回転方向センサを内蔵しても良い。   The actuator 2 is composed of a motor or the like, and is used for rotating the camera up, down, left and right. The rotational motion may be simply one degree of freedom, but may have two or more degrees of freedom in order to increase the degree of freedom. In addition, a rotation angle sensor that measures the rotation angle of the camera when the actuator is rotated is provided. This may be measured using a rotation angle from an actuator, or a rotation direction sensor may be built in the camera.

また、本発明の３次元座標測定装置には、光を照射し被測定点１０に光スポットを形成するための光源６が含まれている。光スポットを照射する光源６は、レーザ光源や赤外光源等、光を照射できるあらゆる光源を利用可能である。長距離測定を行う場合には、遠くまで光スポットを形成可能なレーザ光源が好ましい。但し、カメラで測定可能な程度に光スポットを形成できれば良いため、レーザ距離計等のように高出力である必要はない。光源６は、カメラ１−ｌ，１−ｒが撮影可能な領域に光スポットを形成できるような位置に設置されれば良い。なお、計算の容易性等から、２つのカメラ１−ｌ，１−ｒの視線の成す角の二分線に沿って光を照射できる位置に設けられることが好ましい。これは、カメラ１−ｌ，１−ｒとを結ぶ線の略中心近傍付近のカメラ１−ｌ，１−ｒを載せるアーム等に設置され、カメラ１が向いている向きと同じ側に対応して動くように構成されれば良い。本発明に用いられる光源は、スポット光であるため、非常に遠くの被測定点まで光スポットを形成可能である。なお、もちろん十字レーザ光等であっても、マーカとなるようなものであれば構わない。   Further, the three-dimensional coordinate measuring apparatus of the present invention includes a light source 6 for irradiating light to form a light spot at the measurement point 10. As the light source 6 that irradiates the light spot, any light source that can irradiate light, such as a laser light source and an infrared light source, can be used. When performing long-distance measurement, a laser light source capable of forming a light spot far is preferable. However, since it is only necessary to form a light spot that can be measured by a camera, it is not necessary to have a high output unlike a laser distance meter. The light source 6 should just be installed in the position which can form a light spot in the area | region which the cameras 1-1 and 1-r can image | photograph. For ease of calculation, etc., it is preferably provided at a position where light can be irradiated along the angle bisector formed by the lines of sight of the two cameras 1-l and 1-r. This is installed on an arm or the like on which the cameras 1-1 and 1-r near the center of the line connecting the cameras 1-1 and 1-r are mounted, and corresponds to the same side as the direction in which the camera 1 is facing. It may be configured to move. Since the light source used in the present invention is spot light, a light spot can be formed up to a very far point to be measured. Of course, a cross laser beam or the like may be used as long as it can serve as a marker.

そして、本発明の３次元測定装置には、第３のカメラ１−ｃが設けられている。第３カメラも撮像素子とレンズからなるものであり、画像情報を出力するものである。しかしながら、上述のカメラ１−ｌ，１−ｒと違うのは、第３カメラのレンズは広角レンズである点である。広角レンズは、画角が広いレンズ一般を意味するが、これには魚眼レンズ等の特殊なレンズも含まれる。第３カメラ１−ｃは、広い画角を利用して主に光スポットを検索するために用いられるが、これはオペレータの操作を容易にするという効果も得られるものである。半自動又は手動で被測定点１０の座標を測定する場合に、光スポットが全体のうちのどこに照射されているのかが分かり難い場合が多い。このため、被測定点１０を変更する場合等に、オペレータが手動で被測定点を動かそうと思っても、２つのカメラだけでは狭い範囲でしか撮影画像が確認できないため難しかった。しかしながら、本発明の３次元測定装置では、広角カメラを設けたことにより、全体的な状況が容易につかめるため、オペレータは容易に手動で被測定点の変更が可能となる。このような観点から、第３カメラ１−ｃは、カメラ１−ｌ，１−ｒを載せるアーム等に設置され、カメラ１が向いている向きと同じ側に対応して動くように構成されれば良く、カメラ１−ｌ，１−ｒとを結ぶ線の略中心近傍付近に設けられると都合が良い。また、第３カメラは独立して向きを可変させて撮影できるように構成しても良い。   The three-dimensional measuring apparatus of the present invention is provided with a third camera 1-c. The third camera is also composed of an image sensor and a lens, and outputs image information. However, the difference from the cameras 1-l and 1-r described above is that the lens of the third camera is a wide-angle lens. A wide-angle lens means a general lens having a wide angle of view, and includes a special lens such as a fish-eye lens. The third camera 1-c is mainly used for searching for a light spot using a wide angle of view, and this also has the effect of facilitating the operation of the operator. When measuring the coordinates of the point 10 to be measured semi-automatically or manually, it is often difficult to know where the light spot is radiated. For this reason, when the measured point 10 is changed, even if the operator intends to move the measured point manually, it is difficult because the captured image can be confirmed only in a narrow range with only two cameras. However, in the three-dimensional measuring apparatus of the present invention, since the overall situation can be easily grasped by providing the wide-angle camera, the operator can easily change the measurement point manually. From such a viewpoint, the third camera 1-c is installed on an arm or the like on which the cameras 1-1, 1-r are placed, and is configured to move corresponding to the same side as the direction in which the camera 1 is facing. It is convenient if it is provided in the vicinity of the approximate center of the line connecting the cameras 1-l and 1-r. In addition, the third camera may be configured to be able to shoot independently with its orientation changed.

上述のような構成の３次元測定装置を用いた被測定点の座標の算出は、以下のように行われる。まず、第３カメラ１−ｃにより全体的な状況を捉え、これを用いて光源６により被測定点１０に作成された光スポットを検索する。このとき、第３カメラだけではなく、左右カメラも用いて光スポットを検索するようにしても良い。そして、光スポットが検索されると、検索された光スポットにカメラ１−ｌ，１−ｒの注視線を合わせるようにアクチュエータ２及びズーム機能を制御する。これらの制御は、測定装置に接続されるコンピュータ（図示無し）からの命令や、測定装置内に設けられた記憶装置等に予め記憶されたプログラムに従って例えばＤＳＰ等により実行される。   Calculation of the coordinates of the point to be measured using the three-dimensional measuring apparatus configured as described above is performed as follows. First, the overall situation is captured by the third camera 1-c, and the light spot created at the measurement point 10 by the light source 6 is searched using this. At this time, the light spot may be searched using not only the third camera but also the left and right cameras. When the light spot is searched, the actuator 2 and the zoom function are controlled so that the gaze lines of the cameras 1-1 and 1-r are aligned with the searched light spot. These controls are executed by, for example, a DSP or the like in accordance with a command from a computer (not shown) connected to the measurement apparatus or a program stored in advance in a storage device or the like provided in the measurement apparatus.

そして、注視線が合わせられた状態のカメラ１−ｌ，１−ｒの回転角を回転角センサでそれぞれ測定し、三角測量の原理で被測定点の３次元座標を算出する。この計算は、コンピュータや装置内のＤＳＰ等の演算手段を用いて行われれば良い。   Then, the rotation angles of the cameras 1-1 and 1-r in a state where the lines of sight are aligned are measured by the rotation angle sensor, and the three-dimensional coordinates of the measurement point are calculated by the principle of triangulation. This calculation may be performed using an arithmetic means such as a computer or a DSP in the apparatus.

また、一方のカメラで撮影した被測定点と他方のカメラで撮影した被測定点が対応していなければならないが、これには本出願による特願２００５−２８５２９６の技術を用いることも可能である。すなわち、カメラ１−ｌだけを用いてまず被測定点の座標を近似計算し、その近似計算の誤差の範囲内でカメラ１−ｒからの画像情報を用いて被測定点を検出するように制御する。このとき、カメラ１−ｌで近似計算された誤差範囲が、カメラ１−ｒの視野内にあればそのままその視野内で且つ誤差範囲内における対応点を検索すれば良いが、カメラ１−ｒの視野外に誤差範囲がある場合には、視野内に誤差範囲が入るようにアクチュエータ２を制御した後に、対応する被測定点を検索すれば良い。さらに、カメラ１−ｌで近似計算された誤差範囲がカメラ１−ｒの視野よりも広い場合には、カメラ１−ｒの視野が誤差範囲内を検索するようにアクチュエータ２を制御すれば良い。   Further, the measured point photographed by one camera must correspond to the measured point photographed by the other camera. For this purpose, the technique of Japanese Patent Application No. 2005-285296 according to the present application can be used. . That is, control is performed such that only the coordinates of the measurement point are approximated using only the camera 1-1, and the measurement point is detected using the image information from the camera 1-r within the range of the approximation calculation error. To do. At this time, if the error range approximately calculated by the camera 1-l is within the field of view of the camera 1-r, the corresponding point in the field of view and within the error range may be searched as it is. If there is an error range outside the field of view, the actuator 2 is controlled so that the error range is within the field of view, and then the corresponding measured point may be searched. Further, when the error range approximately calculated by the camera 1-1 is wider than the field of view of the camera 1-r, the actuator 2 may be controlled so that the field of view of the camera 1-r searches within the error range.

カメラ１−ｌだけを用いて被測定点１０の座標を計算する方法は種々あるが、例えば以下の方法を用いれば良い。すなわち、カメラ１−ｌを振動させ、そのときに出力される複数枚の画像情報から三角測量の原理により座標を近似計算する方法である。これは、本出願人と同一の出願人による特願２００５−０７４８６９の発明を利用することも可能である。また、カメラ１−ｌのピントを被測定点１０に合わせたときの焦点距離を用いて被測定点１０までの距離を計算する方法も利用可能である。   There are various methods for calculating the coordinates of the point 10 to be measured using only the camera 1-1, and the following method may be used, for example. In other words, the camera 1-l is vibrated, and coordinates are approximately calculated from a plurality of pieces of image information output at that time by the principle of triangulation. It is also possible to use the invention of Japanese Patent Application No. 2005-074869 by the same applicant as the present applicant. A method of calculating the distance to the measurement point 10 using the focal length when the camera 1-l is focused on the measurement point 10 can also be used.

このような構成の本発明の３次元座標測定装置を用いると、例えば部屋の大きさ等を採寸するときに特に有利となる。部屋の室内側を採寸してその壁や窓、床や天井等の大きさや長さを計る場合、従来だと手作業により採寸しており誤差が多く、またＣＡＤへの利用等で問題があった。本発明によれば全自動又は半自動、さらには手動でも、室内すべてを短時間で且つ正確に測定可能となる。   Use of the three-dimensional coordinate measuring apparatus of the present invention having such a configuration is particularly advantageous when measuring the size of a room, for example. When measuring the indoor side of a room and measuring the size and length of its walls, windows, floors, ceilings, etc., there are many errors due to manual measurement, and there was a problem in the use for CAD etc. . According to the present invention, it is possible to accurately measure the entire room in a short time, whether fully automatic, semi-automatic, or even manually.

模様も凹凸も何もない壁の場合、従来のカメラ方式による測定装置では特徴点となるようなピントを合わせる場所が見当たらず、測定不能となる場合があった。しかしながら、本発明によれば、光スポットをマーカとしてこれにカメラの注視線を合わせていけば良く、測定不能となることはない。また、カメラにより被測定点の部分だけでなく、その周りの画像情報も取得できるため、被測定物の自動認識や色、模様等の取り込みも容易である。生成した３次元データのテクスチャ情報として、撮影された画像情報を利用することができるので、実物の状況に近い３次元画像等を容易に作成可能となる。   In the case of a wall having no pattern or unevenness, a conventional camera-type measuring device cannot find a focus point as a characteristic point, and measurement may be impossible. However, according to the present invention, it is only necessary to match the gaze line of the camera with the light spot as a marker, and measurement is not disabled. Further, since not only the portion of the measured point but also the image information around it can be acquired by the camera, automatic recognition of the measured object and capture of the color, pattern, etc. are easy. Since the captured image information can be used as the texture information of the generated three-dimensional data, a three-dimensional image close to the actual situation can be easily created.

また、測定精度を高めるために、カメラ１−ｌとカメラ１−ｒの間の距離を広げたり縮めたりすることが可能な調整手段を設けることも可能である。すなわち、対応する被測定点を検索する段階では左右のカメラは近い位置に配置しておき、一旦対応する被測定点が検索されると、両カメラ間の距離を広げて、被測定点の座標測定精度を高めるように制御する。これにより、高速且つ高精度な座標の測定が可能となる。ここで、図２を用いて測定精度とカメラ間の距離との関係を説明する。図２は、座標の測定精度とカメラ間の距離との関係を説明するための図であり、説明の便宜上、左右のカメラの回転角が等しい場合を例に挙げて説明する。両カメラ間の距離をＬとし、被測定点１０から両カメラを結ぶ線までの距離をｈ、被測定点１０から各カメラまでの距離をｗ、各カメラの光軸（視線、又は注視線）と両カメラを結ぶ線とが成す角をαとすると、これらには以下の関係がある。
数２から、カメラの回転角を測定する回転角センサの精度がΔαの場合、被測定点１０の奥行きの距離の精度Δｈは以下の式で表される。
上記の式から分かるように、三角測量の原理で測定する被測定点の座標（距離）の誤差Δｈは、両カメラ間の距離Ｌに反比例する。したがって、カメラ間の距離が広ければ広いほど、正確に座標を算出することが可能となる。 In addition, in order to increase the measurement accuracy, it is possible to provide an adjustment unit that can increase or decrease the distance between the camera 1-1 and the camera 1-r. That is, at the stage of searching for the corresponding measured point, the left and right cameras are placed close to each other, and once the corresponding measured point is searched, the distance between the two cameras is increased and the coordinates of the measured point are set. Control to increase measurement accuracy. This makes it possible to measure coordinates at high speed and with high accuracy. Here, the relationship between the measurement accuracy and the distance between the cameras will be described with reference to FIG. FIG. 2 is a diagram for explaining the relationship between the coordinate measurement accuracy and the distance between the cameras. For convenience of explanation, the case where the rotation angles of the left and right cameras are equal will be described as an example. The distance between the two cameras is L, the distance from the measured point 10 to the line connecting the two cameras is h, the distance from the measured point 10 to each camera is w, and the optical axis of each camera (line of sight or gaze) If the angle formed by the line connecting the two cameras is α, they have the following relationship.
From Equation 2, when the accuracy of the rotation angle sensor for measuring the rotation angle of the camera is Δα, the depth distance accuracy Δh of the measurement point 10 is expressed by the following equation.
As can be seen from the above equation, the error Δh of the coordinates (distance) of the measured point measured by the triangulation principle is inversely proportional to the distance L between the two cameras. Therefore, the greater the distance between the cameras, the more accurately the coordinates can be calculated.

なお、本発明では、２つのカメラ１−ｌ，１−ｒはズーム機能を有するカメラであるため、上記の距離調整手段を併用することでさらに高精度な測定が可能となる。   In the present invention, since the two cameras 1-l and 1-r are cameras having a zoom function, it is possible to perform measurement with higher accuracy by using the distance adjusting means together.

さらに、本発明の３次元座標測定装置は、移動しながら被測定物を測定可能とするために、少なくともカメラ１−ｌ，１−ｒ，１−ｃと光源６とを載置する、１自由度以上回転又は並進運動可能な基盤を有するように構成しても良い。図３は、移動しながら被測定点を測定可能とした３次元座標測定装置の概略図である。図中、図１と同一の符号を付した部分は同一物を表わしており、基本的な構成は図１に示すものと同様である。本実施例は、カメラ１等を載置する基盤５を設けたものである。基盤５は、１自由度以上回転又は並進運動するように構成される。図３の例では、基盤５にタイヤ等が設けられており、所定の方向に並進運動するように構成されたものを例示している。なお、基盤の回転角度を測定するためのセンサや回転するときの回転加速度を測定するためのセンサ、並進するときの並進加速度を測定するためのセンサ等、種々のセンサを設けることも可能である。これらのセンサを単体で又は複合的に用い、測定装置の位置や移動方向を記録しながら、被測定点の座標を測定する。   Furthermore, the three-dimensional coordinate measuring apparatus of the present invention places at least the cameras 1-1, 1-r, 1-c and the light source 6 so that the object to be measured can be measured while moving. You may comprise so that it may have a base | substrate which can be rotated or translated more than a degree. FIG. 3 is a schematic diagram of a three-dimensional coordinate measuring apparatus that can measure a measurement point while moving. In the figure, the same reference numerals as those in FIG. 1 denote the same components, and the basic configuration is the same as that shown in FIG. In the present embodiment, a base 5 on which the camera 1 and the like are placed is provided. The base 5 is configured to rotate or translate more than one degree of freedom. In the example of FIG. 3, tires and the like are provided on the base 5, and the structure configured to translate in a predetermined direction is illustrated. It is also possible to provide various sensors such as a sensor for measuring the rotation angle of the substrate, a sensor for measuring the rotational acceleration when rotating, and a sensor for measuring the translational acceleration when translating. . These sensors are used alone or in combination, and the coordinates of the measurement point are measured while recording the position and moving direction of the measuring device.

そして、基盤５の回転角、回転加速度、又は並進加速度等の情報と、回転角センサからのカメラの回転角の情報とを用いて、アクチュエータでカメラの視野を制御する。これは、基盤の回転又は並進運動により生ずる画像情報のずれを補償するために行われるものである。並進運動等により生じた被測定点の視線に対する偏移は、被測定点までの距離に反比例するため、これを補償するために、被測定点までの距離情報が必要である。例えば、被測定点が無限遠に近い場合は、測定装置を並進運動させても視線を調整する必要はないが、被測定点が近距離にある場合には、並進運動に対する視野（視線）の偏移が大きくなるため、その補償が必要となる。被測定点が近ければ近いほど並進運動の影響が大きくなり、画像のずれやぶれが大きくなる。したがって、測定装置が並進運動する場合には、並進加速度センサ等の情報と、カメラの回転角情報を用いて算出した被測定点の距離情報とを用いて、被測定点の距離情報を視線制御システムに取り入れて、視野を制御するように構成する。   The field of view of the camera is controlled by an actuator using information such as the rotation angle, rotation acceleration, or translational acceleration of the substrate 5 and information on the rotation angle of the camera from the rotation angle sensor. This is performed in order to compensate for a shift in image information caused by rotation or translation of the base. Since the shift of the measurement point with respect to the line of sight caused by translational motion or the like is inversely proportional to the distance to the measurement point, information on the distance to the measurement point is necessary to compensate for this. For example, if the point to be measured is close to infinity, it is not necessary to adjust the line of sight even if the measuring device is translated, but if the point to be measured is at a short distance, the field of view (line of sight) for the translational movement is not necessary. Since the deviation is large, compensation is required. The closer the point to be measured, the greater the effect of translational motion, and the greater the image displacement and blurring. Therefore, when the measuring device moves in translation, the distance information of the measured point is controlled by using the information of the translational acceleration sensor and the like and the distance information of the measured point calculated using the rotation angle information of the camera. Incorporate into the system and configure to control the field of view.

なお、基盤に水平度を測定するための水平センサを設けても良い。これは、左右のカメラの位置を水平方向に保つ場合等に用いられる。これにより測定現場への設置等が容易となる。   Note that a horizontal sensor for measuring the level may be provided on the base. This is used when the positions of the left and right cameras are kept in the horizontal direction. This facilitates installation at the measurement site.

部屋の室内の採寸の場合等には、本発明の３次元座標測定装置を室内に置き、装置を３６０度回転させることで水平輪切りや垂直輪切りのデータを取得することが可能である。このとき、柱の裏側等、測定装置から死角になる部分が存在すると、輪切りデータに欠落部分が生じてしまう。そのため、適宜測定装置を移動させて、死角になる部分等による欠落データが存在しないように測定することが必要な場合もある。ここで、３次元座標測定装置を移動させながら被測定点（被測定物）を測定していく場合、測定データの座標系の原点をどこに置くかが問題となる場合がある。座標系の原点を装置以外に固定する場合、カメラ１により識別可能な所定の位置に設けられる位置識別標識を用いることが可能である。この位置識別標識は、例えば図４に示すような外部に固定される標識である。これは、三脚１６等の上に設けられる、４つの所定の大きさの識別球１７から構成されるものである。座標原点と座標軸とするｘ，ｙ，ｚ軸上の原点から一定の距離離した位置に、４つの識別球１７をそれぞれ配置する。なお、原理的には３つの識別球があれば足りるが、測定精度や測定容易性等の観点から、４つ用いることが好ましい。また、識別球としては、例えば白色の球が挙げられるが、本発明はこれに限定されず、光源からの光スポットが容易に識別可能な標識であれば、他の色であっても勿論構わない。さらに、識別球は電球等の識別標識であっても良い。   In the case of measuring in a room or the like, it is possible to obtain horizontal or vertical ring cutting data by placing the three-dimensional coordinate measuring apparatus of the present invention in a room and rotating the apparatus 360 degrees. At this time, if there is a part that becomes a blind spot from the measuring device, such as the back side of the column, a missing part is generated in the circular cut data. For this reason, it may be necessary to perform measurement so that there is no missing data due to a blind spot or the like by appropriately moving the measuring device. Here, when the measurement point (measurement object) is measured while moving the three-dimensional coordinate measuring apparatus, it may be a problem where the origin of the coordinate system of the measurement data is placed. When fixing the origin of the coordinate system to other than the apparatus, it is possible to use a position identification mark provided at a predetermined position that can be identified by the camera 1. This position identification mark is a sign fixed to the outside as shown in FIG. 4, for example. This is composed of four identification balls 17 of a predetermined size provided on a tripod 16 or the like. Four identification spheres 17 are arranged at positions spaced apart from the origin on the x, y, and z axes, which are the coordinate origin and the coordinate axes, respectively. In principle, three identification spheres are sufficient, but it is preferable to use four from the viewpoint of measurement accuracy, measurement ease, and the like. The identification sphere includes, for example, a white sphere. However, the present invention is not limited to this, and any other color may be used as long as the light spot from the light source can be easily identified. Absent. Furthermore, the identification sphere may be an identification mark such as a light bulb.

また、座標測定装置の視線が届かない場所、例えば狭所や物体の裏面側等にある被測定点を測定する場合には、以下に説明する狭所位置測定棒を用いることが可能である。狭所位置測定棒の一例を図５に示す。図示の通り、狭所位置測定棒は、棒状体１８とそれに設けられる識別球１９とからなるものである。図示例では識別球１９を２個用いた。識別球１９は予め所定の間隔や位置で棒状体１８に配置されており、棒状体１８の先端位置を被測定点に当接させ、これをカメラ１で撮影する。狭所位置測定棒や識別球１９は予め間隔等が分かっているため、これを用いて当接した被測定点の座標を算出することが可能となる。なお、識別球１９は図４の識別球１７と同様のもので構わない。また、棒状体１８の後端には持ち手２０を設けても良い。持ち手２０には、所定のボタン２１が設けられ、このボタンを操作することによって、座標測定装置と通信することで座標計測命令等の操作が可能となる。また、座標測定装置との通信が可能となるように、所定のインタフェース２２が設けられる。なお、識別球１９は、必ずしも棒状体１８上に配置される必要はなく、持ち手２０上等、所定の位置に設けられれば良い。   Further, when measuring a measurement point in a place where the line of sight of the coordinate measuring device does not reach, for example, a narrow place or a back side of an object, a narrow place position measuring rod described below can be used. An example of the narrow position measuring rod is shown in FIG. As shown in the drawing, the narrow position measuring rod is composed of a rod-shaped body 18 and an identification sphere 19 provided thereon. In the illustrated example, two identification balls 19 are used. The identification sphere 19 is arranged in advance on the rod-shaped body 18 at a predetermined interval or position, and the tip position of the rod-shaped body 18 is brought into contact with the point to be measured, and this is photographed by the camera 1. Since the space | interval etc. are known beforehand for the narrow place position measuring rod and the identification ball | bowl 19, it becomes possible to calculate the coordinate of the to-be-measured point which contact | abutted using this. The identification sphere 19 may be the same as the identification sphere 17 in FIG. A handle 20 may be provided at the rear end of the rod-shaped body 18. The handle 20 is provided with a predetermined button 21, and by operating this button, operations such as a coordinate measurement command can be performed by communicating with the coordinate measuring apparatus. In addition, a predetermined interface 22 is provided so as to enable communication with the coordinate measuring apparatus. Note that the identification sphere 19 is not necessarily arranged on the rod-like body 18 and may be provided at a predetermined position such as on the handle 20.

上記の位置識別標識を用いて室内の採寸をする場合について、図６を用いて説明する。本発明の３次元座標測定装置１００を室内の適当なところに配置する。そして、３次元座標測定装置１００を制御するためのノートブック型パーソナルコンピュータ１０１等が３次元座標測定装置１００にネットワークケーブル等を介して接続される。図示例のような室内の場合、柱等があるために死角となる場所が存在するため、すべての壁面を測定するためには３次元座標測定装置１００を適当に移動させる必要がある。このため、座標系の原点を固定するための位置識別標識１０２を、３次元座標測定装置、より具体的には３次元座標測定装置の広角カメラから死角にならない位置に設置する。これは例えば室内中央部や天井等であれば良い。このような状況の下、本発明の３次元座標測定装置では、図７に示すような輪切りデータを取得していく。図７（ａ）は水平輪切りデータを取得する場合、図７（ｂ）は垂直輪切りデータを取得する場合、図７（ｃ）は別の垂直輪切りデータを取得する場合を示している。輪切り機能で得られるデータは、３次元座標測定装置１００の設置位置を基準として１本のラインでの輪切りデータである。これを例えば水平輪切り機能の場合は地面から天井まで繰り返し測定していき、壁面全体を採寸する。   A case where indoor measurement is performed using the above-described position identification mark will be described with reference to FIG. The three-dimensional coordinate measuring apparatus 100 of the present invention is placed at an appropriate place in the room. A notebook personal computer 101 or the like for controlling the three-dimensional coordinate measuring apparatus 100 is connected to the three-dimensional coordinate measuring apparatus 100 via a network cable or the like. In the case of a room such as the illustrated example, since there are pillars and the like, there is a place that becomes a blind spot. Therefore, in order to measure all the wall surfaces, it is necessary to move the three-dimensional coordinate measuring apparatus 100 appropriately. For this reason, the position identification mark 102 for fixing the origin of the coordinate system is installed at a position that does not become a blind spot from the three-dimensional coordinate measuring device, more specifically, the wide-angle camera of the three-dimensional coordinate measuring device. This may be, for example, the center of the room or the ceiling. Under such circumstances, the three-dimensional coordinate measuring apparatus according to the present invention acquires the slice data as shown in FIG. FIG. 7A shows a case where horizontal ring-cut data is acquired, FIG. 7B shows a case where vertical ring-cut data is acquired, and FIG. 7C shows a case where another vertical ring-cut data is acquired. The data obtained by the circular cutting function is the circular cutting data for one line with the installation position of the three-dimensional coordinate measuring apparatus 100 as a reference. For example, in the case of a horizontal ring cutting function, measurement is repeated from the ground to the ceiling, and the entire wall surface is measured.

ここで、柱等により死角になる部分がある場合には、輪切りデータに欠損が生ずる。そこで、図８に示すように、まず３次元座標測定装置１００を測定位置Ａに配置し、そこから位置識別標識を原点にした輪切りデータを測定する。次に測定位置Ｂに３次元座標測定装置１００を配置し、そこから再度位置識別標識を原点にした輪切りデータを測定する。このようにして得られた２つの測定データを合成することで、最終的にすべての壁面についての採寸が完了する。なお、図示例では２箇所からの測定例を説明したが、本発明はこれに限定されず、さらに多くの箇所から測定してその結果を合成するようにしても勿論構わない。   Here, when there is a part that becomes a blind spot due to a pillar or the like, a loss occurs in the circular slice data. Therefore, as shown in FIG. 8, first, the three-dimensional coordinate measuring apparatus 100 is arranged at the measurement position A, and from this, the cut data with the position identification mark as the origin is measured. Next, the three-dimensional coordinate measuring device 100 is arranged at the measurement position B, and from there, the cut data with the position identification mark as the origin is measured again. By combining the two measurement data obtained in this way, the measurement for all the wall surfaces is finally completed. In the illustrated example, the example of measurement from two locations has been described. However, the present invention is not limited to this, and it is of course possible to measure from more locations and synthesize the results.

次に、特定の立体物の形状を測定する場合について説明する。この場合は、３次元座標測定装置をマニピュレータの手先に設置すれば良い。図９に、マニピュレータを用いた測定装置に本発明の３次元座標測定方法を適用した例を説明するための図を示す。図示のように、２乃至６自由度を有するマニピュレータ３０の腕の先端に、本発明の３次元座標測定装置１００を設置し、被測定物３１のすべての部位を測定するようにマニピュレータを動作させ、被測定物のすべての被測定点の座標を測定し、この座標情報をから被測定物３１の立体形状の情報を得ることが可能となる。なお、図１０に示すように、上記とは反対に被測定物３１をマニピュレータ３０の手先に設置し、座標測定装置を固定して被測定物のすべての被測定点の座標を測定可能なようにマニピュレータを動作させるようにしても勿論構わない。すなわち、２乃至６自由度を有するマニピュレータの手先に被測定物３１を設置し、被測定物を回転・移動させながら、所定の位置に固定した座標測定装置を用いて被測定物を測定するようにしても良い。   Next, a case where the shape of a specific three-dimensional object is measured will be described. In this case, a three-dimensional coordinate measuring device may be installed at the hand of the manipulator. FIG. 9 is a diagram for explaining an example in which the three-dimensional coordinate measuring method of the present invention is applied to a measuring apparatus using a manipulator. As shown in the figure, the three-dimensional coordinate measuring apparatus 100 of the present invention is installed at the tip of the arm of the manipulator 30 having 2 to 6 degrees of freedom, and the manipulator is operated so as to measure all the parts of the object 31 to be measured. It is possible to measure the coordinates of all the measurement points of the object to be measured and obtain information on the three-dimensional shape of the object 31 from this coordinate information. As shown in FIG. 10, it is possible to measure the coordinates of all the measurement points of the object to be measured by placing the object to be measured 31 on the hand of the manipulator 30 and fixing the coordinate measuring device as shown in FIG. Of course, the manipulator may be operated. That is, the object to be measured 31 is installed at the tip of a manipulator having 2 to 6 degrees of freedom, and the object to be measured is measured using a coordinate measuring device fixed at a predetermined position while rotating and moving the object to be measured. Anyway.

図１１に、特に被測定点が遠方にある場合に有効な本発明の３次元座標測定装置の他の例を説明するための概略を示す。図示例のものは、被測定点の座標を近似計算するためのカメラが２台のカメラ１−ｌ，１−ｒからなる第１撮影装置５１であり、それと離れた位置に第２撮影装置５２が設けられる。これまで説明してきた本発明の３次元座標測定装置と同様に、まず第１撮影装置５１で被測定点１０の座標を計算する。図２を用いて説明したように、この計算結果の誤差は、被測定点からカメラまでの距離の２乗に比例して大きくなるため、被測定点が遠方にある場合には誤差範囲が大きくなる。本実施例では、第２撮影装置５２を用いて、被測定点を検索して検出するように構成する。そして各撮影装置の注視線を被測定点に合わせ、第１撮影装置５１の回転角と第２撮影装置５２の回転角とを用いて三角測量の原理により被測定点の座標をより正確に算出する。また、ズーム機能により、さらにより正確に座標を算出することが可能である。また、さらに別の撮影装置５３を設けることで、同じ原理でより高精度な座標計測も可能となる。   FIG. 11 shows an outline for explaining another example of the three-dimensional coordinate measuring apparatus of the present invention which is effective particularly when the point to be measured is far away. In the illustrated example, a camera for approximating the coordinates of a point to be measured is a first imaging device 51 composed of two cameras 1-l and 1-r, and the second imaging device 52 is separated from the first imaging device 51. Is provided. Similar to the three-dimensional coordinate measuring apparatus of the present invention described so far, first, the coordinates of the measured point 10 are calculated by the first photographing apparatus 51. As described with reference to FIG. 2, the error of this calculation result increases in proportion to the square of the distance from the measured point to the camera, so that the error range is large when the measured point is far away. Become. In this embodiment, the second photographing device 52 is used to search for and detect the measurement point. Then, the gaze line of each photographing device is aligned with the point to be measured, and the coordinates of the point to be measured are calculated more accurately by the principle of triangulation using the rotation angle of the first photographing device 51 and the rotation angle of the second photographing device 52. To do. In addition, it is possible to calculate coordinates more accurately by the zoom function. Further, by providing another photographing device 53, it is possible to measure coordinates with higher accuracy based on the same principle.

上述したとおり、カメラ間の距離が離れれば離れるほど測定精度が高くなるため、第２撮影装置５２を第１撮影装置に対して遠隔配置することで、高精度に座標を算出することが可能となる。   As described above, since the measurement accuracy increases as the distance between the cameras increases, it is possible to calculate coordinates with high accuracy by disposing the second imaging device 52 remotely from the first imaging device. Become.

なお、上記の実施例において、第２撮影装置５２による被測定点の検出法に、本出願人による特願２００５−２８５２９６の技術を用いることも可能である。すなわち、第１撮影装置５１で計算した誤差範囲内で、第２撮影装置５２で被測定点を検索するように制御することで、第２撮影装置５２による被測定点の検索を高速化することが可能となる。   In the above embodiment, the technique of Japanese Patent Application No. 2005-285296 by the present applicant can be used for the method of detecting the measurement point by the second imaging device 52. In other words, by controlling the second imaging device 52 to search for the measured point within the error range calculated by the first imaging device 51, the second imaging device 52 can speed up the search for the measured point. Is possible.

また、別の撮影装置５３ではなく、他の手段、例えばＧＰＳやレーダ、電波、超音波等の位置（座標）測定装置を本発明の座標測定装置に組み合わせることも可能である。図１２にレーダを組み合わせた座標測定装置の概要を示す。まずレーダ５４により被測定点の座標を計算し、その誤差範囲内でカメラ１−ｌ，１−ｒを動作させるようにすれば良い。広角カメラである第３カメラ１−ｃとレーダの結果を用いて光スポットを検出し、これにより両カメラで対応する被測定点が検出できれば、これまでの説明と同様に、各カメラの注視線に被測定点を合わせるようにアクチュエータで制御し、必要によりズームインして高解像度で被測定点を撮影し、再度注視線に合わせるようにした後に三角測量の原理を用いて被測定点の座標を算出する。なお、この実施例においても上記と同様に本出願人による特願２００５−２８５２９６の技術を用いることが可能である。   In addition, other means, for example, a position (coordinate) measuring device such as a GPS, a radar, a radio wave, and an ultrasonic wave can be combined with the coordinate measuring device of the present invention instead of the other photographing device 53. FIG. 12 shows an outline of a coordinate measuring apparatus combined with a radar. First, the coordinates of the measurement point are calculated by the radar 54, and the cameras 1-1 and 1-r may be operated within the error range. If the light spot is detected using the results of the radar and the third camera 1-c, which is a wide-angle camera, and if the corresponding measurement points can be detected by both cameras, the gaze line of each camera is the same as described above. The actuator is controlled so that the measured point is aligned with the measured point, and if necessary, the measured point is zoomed in, and the measured point is photographed with high resolution. calculate. In this embodiment as well, the technique of Japanese Patent Application No. 2005-285296 by the present applicant can be used as described above.

なお、本発明の３次元座標測定装置は、上述の図示例にのみ限定されるものではなく、本発明の要旨を逸脱しない範囲内において種々変更を加え得ることは勿論である。例えば本発明は３次元座標測定装置として説明したが、座標測定に限定されず、被測定点の距離や立体形状、運動軌跡等、種々の測定にも応用可能である。   It should be noted that the three-dimensional coordinate measuring apparatus of the present invention is not limited to the illustrated examples described above, and it is needless to say that various modifications can be made without departing from the scope of the present invention. For example, although the present invention has been described as a three-dimensional coordinate measuring apparatus, the present invention is not limited to coordinate measurement, and can be applied to various measurements such as the distance of a measured point, a three-dimensional shape, and a motion trajectory.

また、本発明の３次元座標測定装置は、２つのカメラと１つの光源、広角カメラを用いた例について説明したが、本発明はこれに限定されず、これらを逆に用いたもの、すなわち２つの光源と１つのズームカメラや広角カメラとの組み合わせを用いて、２つの光スポットが１つに重なるときの光源の角度から３次元座標を測定するようにしても良い。   In addition, the three-dimensional coordinate measuring apparatus of the present invention has been described with respect to an example using two cameras, one light source, and a wide-angle camera. However, the present invention is not limited to this, and those using these in reverse, that is, 2 A combination of one light source and one zoom camera or wide-angle camera may be used to measure the three-dimensional coordinates from the angle of the light source when the two light spots overlap.

本発明の３次元座標測定装置によれば、カメラの回転角を用いて被測定点の座標を測定するため、カメラの解像度の問題を回転角センサの分解能に転化することが可能となる。回転角センサの分解能は、エンコーダとギアの組み合わせ等によりカメラの解像度よりも遥かに高く、かつ安価に実現可能となる。   According to the three-dimensional coordinate measuring apparatus of the present invention, since the coordinates of the measurement point are measured using the rotation angle of the camera, it is possible to convert the resolution problem of the camera into the resolution of the rotation angle sensor. The resolution of the rotation angle sensor is much higher than that of the camera and can be realized at a low cost by a combination of an encoder and a gear.

図１は、本発明の３次元座標測定装置の概略図である。FIG. 1 is a schematic diagram of a three-dimensional coordinate measuring apparatus according to the present invention. 図２は、３次元座標の測定精度とカメラ間の距離との関係を説明するための図である。FIG. 2 is a diagram for explaining the relationship between the measurement accuracy of the three-dimensional coordinates and the distance between the cameras. 図３は、本発明の３次元座標測定装置の他の例を説明するための概略図である。FIG. 3 is a schematic diagram for explaining another example of the three-dimensional coordinate measuring apparatus of the present invention. 図４は、座標を固定するために外部に固定される位置識別標識の概略図である。FIG. 4 is a schematic view of a position identification mark fixed to the outside in order to fix the coordinates. 図５は、狭所を測定するときに用いられる狭所位置測定棒の概略図である。FIG. 5 is a schematic view of a narrow position measuring rod used when measuring a narrow place. 図６は、位置識別標識を用いて室内の採寸をする場合の例を説明するための図である。FIG. 6 is a diagram for explaining an example of measuring a room using a position identification mark. 図７は、本発明の輪切り機能を説明するための図である。FIG. 7 is a diagram for explaining the ring cutting function of the present invention. 図８は、本発明の３次元座標測定装置の測定位置を移動させた場合の輪切りデータの合成について説明するための図である。FIG. 8 is a diagram for explaining the synthesis of the cut data when the measurement position of the three-dimensional coordinate measuring apparatus of the present invention is moved. 図９は、本発明の３次元座標測定装置とマニピュレータを組み合わせた例を説明するための図である。FIG. 9 is a diagram for explaining an example in which the three-dimensional coordinate measuring apparatus of the present invention and a manipulator are combined. 図１０は、本発明の３次元座標測定装置とマニピュレータを組み合わせた他の例を説明するための図である。FIG. 10 is a diagram for explaining another example in which the three-dimensional coordinate measuring apparatus of the present invention and a manipulator are combined. 図１１は、本発明の３次元座標測定装置の他の例を説明するための概略図である。FIG. 11 is a schematic diagram for explaining another example of the three-dimensional coordinate measuring apparatus of the present invention. 図１２は、本発明の３次元座標測定装置にレーダを組み合わせた座標測定装置の概要図である。FIG. 12 is a schematic diagram of a coordinate measuring apparatus in which a radar is combined with the three-dimensional coordinate measuring apparatus of the present invention.

符号の説明Explanation of symbols

１ カメラ
２ アクチュエータ
５ 基盤
６ 光源
１０ 被測定点
１６ 三脚
１７ 識別球
１８ 棒状体
１９ 識別球
２０ 持ち手
２１ ボタン
２２ インタフェース
３０ マニピュレータ
３１ 被測定物
５１ 第１撮影装置
５２ 第２撮影装置
５３ 第３撮影装置
５４ レーダ DESCRIPTION OF SYMBOLS 1 Camera 2 Actuator 5 Base 6 Light source 10 Point to be measured 16 Tripod 17 Identification ball 18 Rod-shaped body 19 Identification ball 20 Handle 21 Button 22 Interface 30 Manipulator 31 Object to be measured 51 First imaging device 52 Second imaging device 53 Third imaging Equipment 54 Radar

Claims (21)

３次元空間に配置された被測定点の座標を測定する装置であって、該装置は、
被測定点を撮影するためのズーム機能を有し画像情報を出力する第１及び第２撮像手段と、
前記各撮像手段を１自由度以上回転運動させるアクチュエータと、
前記各撮像手段の回転角を測定する回転角センサと、
光を照射し被測定点に光スポットを形成する光源と、
広角レンズを有し画像情報を出力する第３撮像手段と、
前記第１乃至第３撮像手段のいずれかからの画像情報に基づき光スポットを検索し、検索された光スポットに前記第１及び第２撮像手段の注視線を合わせるように前記アクチュエータ及びズーム機能を制御する制御手段と、
前記回転角センサで測定された回転角を用いて三角測量の原理により被測定点の３次元座標を算出する演算手段と、
を具備することを特徴とする３次元座標測定装置。 An apparatus for measuring coordinates of a measurement point arranged in a three-dimensional space, the apparatus comprising:
First and second imaging means having a zoom function for photographing a measurement point and outputting image information;
An actuator for rotating each of the imaging means by one or more degrees of freedom;
A rotation angle sensor for measuring the rotation angle of each imaging means;
A light source that irradiates light to form a light spot at a point to be measured;
A third imaging means having a wide-angle lens and outputting image information;
A light spot is searched based on image information from any one of the first to third imaging means, and the actuator and zoom function are set so that the gaze lines of the first and second imaging means are aligned with the searched light spot. Control means for controlling;
Computing means for calculating the three-dimensional coordinates of the point to be measured by the principle of triangulation using the rotation angle measured by the rotation angle sensor;
A three-dimensional coordinate measuring apparatus comprising: 請求項１に記載の測定装置において、前記光源は、前記２つの撮像手段の視線の成す角の二分線に沿って光を照射できる位置に設けられることを特徴とする３次元座標測定装置。   The three-dimensional coordinate measuring apparatus according to claim 1, wherein the light source is provided at a position where light can be irradiated along a bisector of an angle formed by a line of sight of the two imaging units. 請求項１又は請求項２に記載の測定装置において、前記第３撮像手段は、第１撮像手段と第２撮像手段とを結ぶ線の略中心近傍に設けられることを特徴とする３次元座標測定装置。   3. The three-dimensional coordinate measurement according to claim 1, wherein the third imaging unit is provided in the vicinity of a center of a line connecting the first imaging unit and the second imaging unit. apparatus. 請求項１乃至請求項３の何れかに記載の測定装置であって、さらに、少なくとも前記第１及び第２撮像手段と光源と第３撮像手段とを載置する、１自由度以上回転又は並進運動可能な基盤を有することを特徴とする３次元座標測定装置。   4. The measuring apparatus according to claim 1, further comprising at least the first and second imaging means, the light source, and the third imaging means, wherein the rotation or translation is performed by one degree of freedom or more. A three-dimensional coordinate measuring apparatus having a movable base. 請求項４に記載の測定装置であって、さらに、前記基盤の回転角を測定する基盤回転角センサを有することを特徴とする３次元座標測定装置。   5. The measuring apparatus according to claim 4, further comprising a base rotation angle sensor for measuring a rotation angle of the base. 請求項４又は請求項５に記載の測定装置であって、さらに、前記基盤の回転加速度を測定する基盤回転加速度センサを有することを特徴とする３次元座標測定装置。   6. The measuring apparatus according to claim 4, further comprising a base rotational acceleration sensor that measures the rotational acceleration of the base. 請求項４乃至請求項６の何れかに記載の測定装置であって、さらに、前記基盤の並進加速度を測定する基盤並進加速度センサを有することを特徴とする３次元座標測定装置。   The three-dimensional coordinate measuring apparatus according to claim 4, further comprising a base translational acceleration sensor that measures a translational acceleration of the base. 請求項５乃至請求項７の何れかに記載の測定装置において、前記基盤回転角センサ、基盤回転加速度センサ又は基盤並進加速度センサのいずれかからの情報と、回転角センサからの情報とを用いて、基盤の回転又は並進運動により生ずる画像情報のずれを補償する補償手段を有することを特徴とする３次元座標測定装置。   8. The measurement apparatus according to claim 5, wherein information from any one of the base rotation angle sensor, base rotation acceleration sensor, or base translation acceleration sensor and information from the rotation angle sensor are used. A three-dimensional coordinate measuring apparatus comprising compensation means for compensating for image information deviation caused by rotation or translation of the substrate. 請求項４乃至請求項８の何れかに記載の測定装置であって、さらに、前記基盤の水平度を測定する基盤水平度センサを有することを特徴とする３次元座標測定装置。   9. The three-dimensional coordinate measuring apparatus according to claim 4, further comprising a base level sensor for measuring the level of the base. 請求項１乃至請求項９の何れかに記載の測定装置であって、さらに、前記第１及び第２撮像手段の間の距離を調整する調整手段を有することを特徴とする３次元座標測定装置。   10. The measuring apparatus according to claim 1, further comprising an adjusting unit that adjusts a distance between the first and second imaging units. . 請求項１乃至請求項１０の何れかに記載の測定装置であって、さらに、前記測定装置の位置を所定の座標系に特定するために、第１、第２又は第３撮像手段により識別可能な所定の位置に設けられる位置認識標識を有することを特徴とする３次元座標測定装置。   11. The measuring apparatus according to claim 1, further comprising a first, second, or third imaging unit that can be identified to identify the position of the measuring apparatus in a predetermined coordinate system. A three-dimensional coordinate measuring apparatus having a position recognition mark provided at a predetermined position. 請求項１乃至請求項１１の何れかに記載の測定装置であって、さらに、被測定点に当接させる棒状体と第１及び第２撮像手段により識別可能な、棒状体に設けられる標識手段とを有する狭所位置測定棒を有することを特徴とする３次元座標測定装置。   12. The measuring apparatus according to claim 1, further comprising: a rod-shaped body that is brought into contact with a point to be measured and a labeling means provided on the rod-shaped body that can be identified by the first and second imaging means. A three-dimensional coordinate measuring apparatus having a narrow position measuring rod having 請求項１乃至請求項１２の何れかに記載の測定装置において、前記第１撮像手段は近傍配置される少なくとも２つのカメラからなり、前記第２撮像手段は第１撮像手段に対して遠隔配置されることを特徴とする３次元座標測定装置。   13. The measuring apparatus according to claim 1, wherein the first imaging unit includes at least two cameras arranged in the vicinity, and the second imaging unit is remotely arranged with respect to the first imaging unit. A three-dimensional coordinate measuring apparatus. 請求項１乃至請求項１３の何れかに記載の測定装置において、前記制御手段は、前記第１撮像手段を用いて被測定点の座標を近似計算させ、その近似計算の誤差範囲内で第２撮像手段からの画像情報を用いて被測定点を検出させるように制御することを特徴とする３次元座標測定装置。   14. The measurement apparatus according to claim 1, wherein the control unit approximates the coordinates of the measurement point using the first imaging unit, and the second is within an error range of the approximate calculation. A three-dimensional coordinate measuring apparatus that controls to detect a measurement point using image information from an imaging means. 請求項１４に記載の測定装置において、前記制御手段は、近似計算の誤差範囲が第２撮像手段の視野から外れているときには、第２撮像手段の視野内に誤差範囲が入るようにアクチュエータを制御することを特徴とする３次元座標測定装置。   15. The measurement apparatus according to claim 14, wherein when the error range of the approximate calculation is out of the field of view of the second image pickup unit, the control unit controls the actuator so that the error range is within the field of view of the second image pickup unit. A three-dimensional coordinate measuring apparatus. 請求項１４又は請求項１５に記載の測定装置において、前記制御手段は、近似計算の誤差範囲が第２撮像手段の視野よりも大きいときには、第２撮像手段の視野が誤差範囲内を探索するようにアクチュエータを制御することを特徴とする３次元座標測定装置。   16. The measuring apparatus according to claim 14, wherein the control means searches for the visual field of the second imaging means within the error range when the error range of the approximate calculation is larger than the visual field of the second imaging means. A three-dimensional coordinate measuring apparatus characterized by controlling an actuator. 請求項１４乃至請求項１６の何れかに記載の測定装置において、前記制御手段は、第１撮像手段の光軸を振動させ、そのときに出力される複数枚の画像情報から三角測量の原理により座標を近似計算させるように制御することを特徴とする３次元座標測定装置。   17. The measurement apparatus according to claim 14, wherein the control unit vibrates the optical axis of the first image pickup unit, and based on a principle of triangulation from a plurality of pieces of image information output at that time. A three-dimensional coordinate measuring apparatus that controls to approximately calculate coordinates. 請求項１４乃至請求項１６の何れかに記載の測定装置において、前記制御手段は、被測定点に第１撮像手段のピントを合わせたときの焦点距離を用いて近似計算させるように制御することを特徴とする３次元座標測定装置。   17. The measurement apparatus according to claim 14, wherein the control unit performs control so that an approximate calculation is performed using a focal length when the focus of the first imaging unit is focused on a measurement target point. A three-dimensional coordinate measuring apparatus. 請求項１４乃至請求項１８の何れかに記載の測定装置において、前記制御手段は、第１及び第２撮像手段のズーム機能の広角側で撮像手段の注視点を被測定点に合わせた後に、ズーム機能の狭角側で撮像手段の注視点を被測定点に再度合わせるように制御することを特徴とする３次元座標測定装置。   The measuring apparatus according to any one of claims 14 to 18, wherein the control means aligns the gazing point of the imaging means with the point to be measured on the wide angle side of the zoom function of the first and second imaging means. A three-dimensional coordinate measuring apparatus, characterized in that control is performed so that the gazing point of the image pickup means is again aligned with the point to be measured on the narrow angle side of the zoom function. 請求項１乃至請求項１９の何れかに記載の測定装置であって、さらに、被測定物が設置されるマニピュレータを具備することを特徴とする３次元座標測定装置。   The three-dimensional coordinate measuring apparatus according to any one of claims 1 to 19, further comprising a manipulator on which an object to be measured is installed. 請求項１乃至請求項１９の何れかに記載の測定装置であって、さらに、該測定装置が設置されるマニピュレータを具備することを特徴とする３次元座標測定装置。   20. The three-dimensional coordinate measuring apparatus according to claim 1, further comprising a manipulator on which the measuring apparatus is installed.
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