JP3095463B2 - 3D measurement method - Google Patents
3D measurement methodInfo
- Publication number
- JP3095463B2 JP3095463B2 JP03182177A JP18217791A JP3095463B2 JP 3095463 B2 JP3095463 B2 JP 3095463B2 JP 03182177 A JP03182177 A JP 03182177A JP 18217791 A JP18217791 A JP 18217791A JP 3095463 B2 JP3095463 B2 JP 3095463B2
- Authority
- JP
- Japan
- Prior art keywords
- measurement
- work
- image data
- points
- reference point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、自動車のボディーやプ
レス金型等の被測定物の寸法を測定する三次源測定方法
に関するものであり、詳しくは、任意の位置に載置され
たワークの近傍に２台以上のＣＣＤカメラをセットする
ことにより、このワークの寸法測定を可能とした測定方
法に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tertiary source measuring method for measuring dimensions of an object to be measured such as an automobile body and a press die, and more particularly, to a method of measuring a work placed at an arbitrary position. The present invention relates to a measuring method which enables dimensional measurement of a work by setting two or more CCD cameras in the vicinity.
【０００２】[0002]
【従来の技術】自動車のボディーのように、立体的形状
を持つ被測定物となるワーク（Ａ）を、各種測定装置が
設置された測定室ではなく、例えば、そのワーク（Ａ）
の製造現場で直接測定する場合、従来は、下記のような
方法が取られていた。2. Description of the Related Art A work (A) to be measured having a three-dimensional shape, such as a body of an automobile, is not placed in a measurement room in which various measuring devices are installed.
Conventionally, the following method has been adopted when measuring directly at a manufacturing site.
【０００３】即ち、図３に示す如く、先ず、測定場所
に、ワーク（Ａ）を安定した状体に保持するための測定
治具（Ｂ）を設置する。That is, as shown in FIG. 3, first, a measuring jig (B) for holding a work (A) in a stable state is installed at a measuring place.
【０００４】次に、この測定治具（Ｂ）上にワーク
（Ａ）を位置決め載置すると共に、この位置決めされた
ワーク（Ａ）の測定される測定面の前方所望位置に、２
台のセオドライト（１）（２）をセットする。Next, the work (A) is positioned and mounted on the measurement jig (B), and the work (A) is positioned at a desired position in front of a measurement surface to be measured of the work (A).
The theodolites (1) and (2) are set.
【０００５】尚、このセオドライト（１）（２）は、高
精度のスコープを、水平方向及び垂直方向に対し揺動自
在に支持したものであり、スコープの中心に対象となる
測定点を捉えたとき、スコープの水平方向及び垂直方向
の角度を外部に表示できるようにしたものである。The theodolites (1) and (2) support a high-precision scope swingably in the horizontal and vertical directions, and capture a target measurement point at the center of the scope. At this time, the horizontal and vertical angles of the scope can be displayed externally.
【０００６】この状態で、ワーク（Ａ）の寸法測定を行
うには、先ず、測定治具（Ｂ）上に位置決め保持された
ワーク（Ａ）の周囲少なくとも４カ所に、２台のセオド
ライト（１）（２）及びワーク（Ａ）の３者の位置関係
確定用の基準点部材（Ｃ）を付設し、かつ、ワーク
（Ａ）上、或は、ワーク（Ａ）周囲の任意の位置に、２
点（Ｄ）（Ｅ）間の距離Ｌが既知のリファレンスバー
（Ｆ）を付設する。In order to measure the dimensions of the work (A) in this state, first, two theodolites (1) are placed at least four places around the work (A) positioned and held on the measuring jig (B). (2) A reference point member (C) for determining the positional relationship between the two (2) and the work (A) is attached, and at any position on the work (A) or around the work (A), 2
A reference bar (F) having a known distance L between points (D) and (E) is attached.
【０００７】次に、２台のセオドライト（１）（２）に
より、各基準点部材（Ｃ）の位置を順次測定して行き、
各セオドライト（１）（２）が各基準点部材（Ｃ）の水
平方向及び垂直方向のデータを逐次コンピュータ（図示
せず）に入力して行き、上記作業が終了すると、更に、
リファレンスバー（Ｆ）の２点（Ｄ）（Ｅ）の位置も２
台のセオドライト（Ｆ）によってそれぞれ測定し、この
時のデータもコンピュータに入力する。Next, the position of each reference point member (C) is sequentially measured by two theodolites (1) and (2).
The theodolites (1) and (2) sequentially input the horizontal and vertical data of each reference point member (C) to a computer (not shown).
The position of two points (D) and (E) on the reference bar (F) is also 2
The measurement is performed by each theodolite (F), and the data at this time is also input to the computer.
【０００８】上記の如くして、６点の位置を各セオドラ
イト（１）（２）によって測定した時のデータが、コン
ピュータに入力すると、コンピュータは、上記データを
元に、先ず、２台のセオドライト（１）（２）間の相対
的な位置及び姿勢を算出し、リファレンスバー（Ｆ）の
２点（Ｄ）（Ｅ）間の距離Ｌから、２台のセオドライト
（１）（２）の絶対的な位置及び姿勢を算出する。As described above, when the data obtained when the positions of the six points are measured by the theodolites (1) and (2) are input to the computer, the computer first uses two theodolites based on the data. (1) The relative position and orientation between (2) are calculated, and the absolute values of the two theodolites (1) and (2) are calculated from the distance L between the two points (D) and (E) of the reference bar (F). Calculate the ideal position and orientation.
【０００９】このようにして、ワーク（Ａ）の前方に設
置した２台のセオドライト（１）（２）の絶対的な位置
及び姿勢が正確に判明すれば、後は、ワーク（Ａ）上の
所定の位置を２台のセオドライト（１）（２）によって
順次測定して行き、各測定点のデータを三角測量法で演
算処理することにより、ワーク（Ａ）の三次元の寸法測
定を終了する。If the absolute positions and postures of the two theodolites (1) and (2) installed in front of the work (A) are accurately determined in this way, the rest of the work (A) A predetermined position is sequentially measured by two theodolites (1) and (2), and data of each measurement point is subjected to a calculation process by a triangulation method, thereby completing the three-dimensional dimension measurement of the work (A). .
【００１０】尚、上記測定手順をフローチャートによっ
て示すと、図４のようになる。FIG. 4 is a flowchart showing the measurement procedure.
【００１１】[0011]
【発明が解決しようとする課題】上記した如く、２台の
セオドライト（１）（２）と、このセオドライト（１）
（２）からの測定データを処理するコンピュータとを用
いれば、ワーク（Ａ）の製造現場でワーク（Ａ）の寸法
測定を行うことが可能である。As described above, two theodolites (1) and (2) and the theodolite (1)
By using a computer that processes the measurement data from (2), it is possible to measure the dimensions of the work (A) at the manufacturing site of the work (A).
【００１２】しかし、ワーク（Ａ）の寸法を製造現場で
測定すると、測定場所の床面には、製造現場に設置され
ている各種工作機械からの振動が伝わると同時に、測定
場所の周囲を行交う作業者や、ワーク運搬用の作業用車
両等からの振動も伝わってくる。However, when the dimensions of the work (A) are measured at the manufacturing site, vibrations from various machine tools installed at the manufacturing site are transmitted to the floor of the measuring site, and at the same time, the work (A) moves around the measuring site. Vibrations from workers who intersect, work vehicles for transporting works, etc. are also transmitted.
【００１３】このため、上記測定作業中に、上記床から
伝わる振動によって２台のセオドライト（１）（２）と
ワーク（Ａ）との位置関係が変化してしまい、測定精度
を著しく低下させることがあると言った問題があった。For this reason, during the measurement operation, the positional relationship between the two theodolites (1) and (2) and the work (A) changes due to the vibration transmitted from the floor, and the measurement accuracy is significantly reduced. There was a problem that there was.
【００１４】また、甚だしい場合には、測定者の気がつ
かないうちに、セオドライト（１）（２）或はワーク
（Ａ）に、作業者或は作業用車両が接触し、３者の位置
関係が大きく変化してしまい、異常な測定結果がでるこ
とにより、測定をやり直すこともあった。In a severe case, the worker or the work vehicle comes into contact with the theodolite (1) (2) or the work (A) without the measurer's knowledge, and the positional relationship between the three is determined. In some cases, the measurement changed greatly and an abnormal measurement result appeared, so that the measurement was sometimes repeated.
【００１５】[0015]
【課題を解決するための手段】前記課題を解決するため
に本発明は、被測定物の周囲或いは被測定物上の測定範
囲内の水平方向及び垂直方向に隔たった任意の位置で、
かつ、２台以上のＣＣＤカメラの視野内に、４点以上の
基準点部材と、基準点部材を既知の２点間距離で配置し
たリファレンスバーとを配置し、２台以上のＣＣＤカメ
ラで上記基準点部材及びリファレンスバーを撮像し、先
ず、撮像した画像データから基準点部材及びリファレン
スバーの各ＣＣＤカメラの光軸に対する水平方向、垂直
方向の角度を求め、これらの基準点部材及びリファレン
スバーの角度のデータから基準点部材、リファレンスバ
ー及び２台以上のＣＣＤカメラの相対的な位置関係を求
め、求めた相対的な位置関係とリファレンスバーの２点
間距離から、２台以上のＣＣＤカメラの絶対的な位置及
び姿勢を算出し、この後、このデータを基準として、被
測定物の複数の測定点の三次元位置座標を該２台以上の
ＣＣＤカメラで撮像してその撮像された画像データから
三角測量法で算出し、これを被測定物の複数回の撮像に
よる複数の測定点について行うことにより被測定物の三
次元の形状・寸法を算出し、この時、被測定物の各測定
点の撮像データを得る毎に又は画像データが変わる毎
に、同時に撮像された基準点部材及びリファレンスバー
の画像データから２台以上のＣＣＤカメラの絶対的な位
置関係も前記同様に算出し直すことを特徴とする三次元
測定方法を提案するものである。SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a method for measuring the position of an object at an arbitrary position horizontally or vertically separated within a measuring range around an object to be measured.
In addition, four or more reference point members and a reference bar in which the reference point members are arranged at a known distance between two points are arranged in the field of view of two or more CCD cameras, and the two or more CCD cameras are used for the above. The reference point member and the reference bar are imaged. First, the horizontal and vertical angles of the reference point member and the reference bar with respect to the optical axis of each CCD camera are obtained from the captured image data. The relative positional relationship between the reference point member, the reference bar, and the two or more CCD cameras is obtained from the angle data, and the two or more CCD cameras are obtained from the obtained relative positional relationship and the distance between the two points of the reference bar. The absolute position and orientation are calculated, and then the three-dimensional position coordinates of a plurality of measurement points on the object to be measured are captured by the two or more CCD cameras based on the data. Then, the three-dimensional shape and dimensions of the object to be measured are calculated by performing triangulation from the image data of the imaged object, and calculating the three-dimensional shape and dimensions of the object to be measured by performing this for a plurality of measurement points obtained by imaging the object to be measured a plurality of times. The absolute positional relationship between two or more CCD cameras based on the image data of the reference point member and the reference bar, which are simultaneously imaged, every time the image data of each measurement point of the DUT is obtained or the image data changes. Also proposes a three-dimensional measuring method characterized by recalculating in the same manner as described above.
【００１６】[0016]
【００１７】[0017]
【００１８】[0018]
【作用】上記の如く、２台以上のＣＣＤカメラからの画
像データに含まれる、基準点部材及びリファレンスバー
のデータから、２台以上のＣＣＤカメラの絶対的な位置
を算出した後、この画像データを元に測定点の位置を算
出することにより、高精度な寸法測定を可能にするもの
である。As described above, the absolute positions of the two or more CCD cameras are calculated from the data of the reference point members and the reference bars included in the image data from the two or more CCD cameras. By calculating the position of the measurement point based on the above, it is possible to measure the dimension with high accuracy.
【００１９】[0019]
【実施例】図１は、本発明に係る方法により、寸法測定
を行うときの各種機器の配置例を示すものである。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows an example of the arrangement of various devices when dimension measurement is performed by the method according to the present invention.
【００２０】同図に於いて（Ａ）は、被測定物となるワ
ーク、（Ｂ）は、ワーク（Ａ）を安定した状態に位置決
め保持するための測定治具、（Ｃ）は、ワーク（Ａ）の
周囲に配置する基準点部材、（Ｆ）は、２点（Ｄ）
（Ｅ）間の距離Ｌが既知のリファレンスバーであり、上
記各部材は従来と同様である。In FIG. 1, (A) shows a work to be measured, (B) shows a measuring jig for positioning and holding the work (A) in a stable state, and (C) shows a work ( Reference point members arranged around A), (F) is two points (D)
(E) The distance L between them is a known reference bar, and each of the above members is the same as the conventional one.
【００２１】尚、上記基準点部材（Ｃ）の中心、及びリ
ファレンスバー（Ｆ）の２点（Ｄ）（Ｅ）の中心には、
後述するＣＣＤカメラによる測定が容易となるように、
発光ダイオードが埋め込まれており、この光点を測定点
とするようにしてある。The center of the reference point member (C) and the centers of two points (D) and (E) of the reference bar (F) are:
In order to facilitate the measurement by the CCD camera described later,
A light emitting diode is embedded, and this light spot is set as a measurement point.
【００２２】（１０）は、三脚（１１）上に支持された
第１のＣＣＤカメラ、（１２）は、三脚（１３）上に支
持された第２のＣＣＤカメラであり、この両ＣＣＤカメ
ラ（１０）（１２）のワーク（Ａ）前方での設置位置
は、各ＣＣＤカメラ（１０）（１２）のフレーム内に、
ワーク（Ａ）及びワーク（Ａ）周囲に配置した基準点部
材（Ｃ）及びリファレンスバー（Ｆ）が確実に入る範囲
に設定しておく。(10) is a first CCD camera supported on a tripod (11), and (12) is a second CCD camera supported on a tripod (13). The installation position of 10) and (12) in front of the work (A) is set in the frame of each CCD camera (10) and (12).
The work (A) and the reference point member (C) and the reference bar (F) arranged around the work (A) are set to be within a range that can be surely entered.
【００２３】（１４）は、２台のＣＣＤカメラ（１０）
（１２）からの画像データを元に、２台のＣＣＤカメラ
（１０）（１２）の位置を算出した後、ワーク（Ａ）の
三次元の寸法を算出するための画像処理装置を備えたコ
ンピュータである。(14) Two CCD cameras (10)
Computer having an image processing device for calculating the three-dimensional dimensions of the work (A) after calculating the positions of the two CCD cameras (10) and (12) based on the image data from (12) It is.
【００２４】上記したワーク（Ａ）、第１及び第２のＣ
ＣＤカメラ（１０）（１２）、基準点部材（Ｃ）、リフ
ァレンスバー（Ｆ）を図１の如く配置した状態に於い
て、ワーク（Ａ）の三次元の寸法測定を行うには、先
ず、第１及び第２のＣＣＤカメラ（１０）（１２）によ
って撮像した、ワーク（Ａ）の周囲を含むワーク（Ａ）
の画像データをコンピュータ（１４）に送る。The above-mentioned work (A), first and second C
In the state where the CD cameras (10) and (12), the reference point member (C), and the reference bar (F) are arranged as shown in FIG. 1, to measure the three-dimensional dimensions of the work (A), first, Work (A) including the periphery of the work (A) captured by the first and second CCD cameras (10) and (12).
Is sent to the computer (14).
【００２５】すると、コンピュータ（１４）は、先ず、
第１のＣＣＤカメラ（１０）の画像データの中から、ワ
ーク（Ａ）の周囲に配置した４つの基準点部材（Ｃ）
の、第１のＣＣＤカメラ（１０）の光軸に対する水平方
向及び垂直方向の角度を算出すると共に、リファレンス
バー（Ｆ）の２点（Ｄ）（Ｅ）の光軸に対する水平方向
及び垂直方向の角度を算出する。Then, the computer (14) firstly
Four reference point members (C) arranged around the work (A) from the image data of the first CCD camera (10)
Of the horizontal and vertical directions with respect to the optical axis of the first CCD camera (10), and the horizontal and vertical directions of the two points (D) and (E) of the reference bar (F) with respect to the optical axis. Calculate the angle.
【００２６】次に、第２のＣＣＤカメラ（１２）の画像
データの中から、上記と同様、ワーク（Ａ）の周囲に配
置した４つの基準点部材（Ｃ）の、第２のＣＣＤカメラ
（１２）の光軸に対する水平方向及び垂直方向の角度を
算出すると共に、リファレンスバー（Ｆ）の２点（Ｄ）
（Ｅ）の光軸に対する水平方向及び垂直方向の角度を算
出する。Next, from the image data of the second CCD camera (12), the second CCD camera (C) of the four reference point members (C) arranged around the work (A) in the same manner as described above. 12) The angles in the horizontal and vertical directions with respect to the optical axis are calculated, and two points (D) on the reference bar (F) are calculated.
The horizontal and vertical angles with respect to the optical axis of (E) are calculated.
【００２７】そして、上記各データを元に、２台のＣＣ
Ｄカメラ（１０）（１２）の相対的な位置及び姿勢（光
軸の方向）を算出し、次に、リファレンスバー（Ｆ）の
２点（Ｄ）（Ｅ）の距離Ｌから２台のＣＣＤカメラ（１
０）（１２）の絶対的な位置及び姿勢を算出する。Then, based on the above data, two CCs
The relative positions and orientations (optical axis directions) of the D cameras (10) and (12) are calculated, and then two CCDs are calculated from the distance L between two points (D) and (E) on the reference bar (F). Camera (1
0) The absolute position and orientation of (12) are calculated.
【００２８】このようにして、第１及び第２のＣＣＤカ
メラ（１０）（１２）の絶対的な位置及び姿勢が求まれ
ば、後は、ワーク（Ａ）上の予め設定された測定点の、
２台のＣＣＤカメラ（１０）（１２）の光軸に対する水
平方向及び垂直方向の角度を、コンピュータ（１４）に
入力されている上記画像データから算出し、この各測定
点のデータを三角測量法で演算することにより、ワーク
（Ａ）の三次元の寸法を算出し、測定を終了する。Once the absolute positions and postures of the first and second CCD cameras (10) and (12) have been determined in this way, the position of the predetermined measurement point on the workpiece (A) is determined. ,
The horizontal and vertical angles with respect to the optical axes of the two CCD cameras (10) and (12) are calculated from the image data input to the computer (14), and the data at each measurement point is calculated by triangulation. Then, the three-dimensional dimensions of the work (A) are calculated, and the measurement is completed.
【００２９】尚、ワーク（Ａ）上の測定点としては、ワ
ーク（Ａ）上の特徴のある複数箇所を測定点としてもよ
いし、また、測定面全面のデータが必要な時には、レー
ザスキャナを用いて、ワーク（Ａ）の測定面上にレーザ
スポットを順次照射して行く。The measurement points on the work (A) may be a plurality of characteristic points on the work (A). Alternatively, when data on the entire measurement surface is required, a laser scanner may be used. And sequentially irradiate a laser spot on the measurement surface of the work (A).
【００３０】またこの場合、上記レーザスポットを測定
点とし、レーザスポットが測定面上を移動し、コンピュ
ータ（１４）に入力する画像データが変わるごとに、上
記演算をすべて繰り返し、レーザスポットが照射された
各点の位置を順次算出して行くことにより、測定面全体
の寸法を把握し、ワーク（Ａ）の寸法測定を終了する。In this case, the laser spot is used as a measurement point, and every time the laser spot moves on the measurement surface and the image data input to the computer (14) changes, the above calculations are all repeated to irradiate the laser spot. By sequentially calculating the positions of the respective points, the dimensions of the entire measurement surface are grasped, and the dimension measurement of the work (A) is completed.
【００３１】即ち、ワーク（Ａ）を撮像した１フレーム
の画像データのみによってワーク（Ａ）の寸法を算出す
るのではなく、ワーク（Ａ）を撮像した多数のフレーム
の画像データからワーク（Ａ）の寸法を算出する時に
は、画像データが変わるごとに、先ず、上記した要領
で、２台のＣＣＤカメラ（１０）（１２）の絶対的な位
置を算出した後、このデータを元に測定点の位置を算出
する。That is, instead of calculating the dimensions of the work (A) only by the image data of one frame obtained by imaging the work (A), the work (A) is obtained from the image data of many frames obtained by imaging the work (A). When calculating the dimensions of the image data, the absolute positions of the two CCD cameras (10) and (12) are calculated in the same manner as described above each time the image data changes. Calculate the position.
【００３２】このように、２台のＣＣＤカメラ（１０）
（１２）によりワーク（Ａ）の寸法測定を行う場合、測
定点の位置を算出する前に、必ず、２台のＣＣＤカメラ
（１０）（１２）の絶対的な位置を算出するようにして
おけば、上記の如く、ワーク（Ａ）の表面にレーザスポ
ットを順次照射させながら測定を行う時のように、測定
にある程度の時間を要し、この間に、測定場所の床面に
伝わる振動等により、２台のＣＣＤカメラ（１０）（１
２）とワーク（Ａ）との位置関係に変化が生じても、こ
の変化が測定誤差につながることはなく、常に高精度な
測定を行うことが可能となる。Thus, the two CCD cameras (10)
When measuring the dimension of the work (A) according to (12), be sure to calculate the absolute positions of the two CCD cameras (10) and (12) before calculating the position of the measurement point. For example, as described above, a certain amount of time is required for measurement, such as when measuring is performed while sequentially irradiating the surface of the work (A) with a laser spot, and during this time, vibration or the like transmitted to the floor surface of the measurement location causes , Two CCD cameras (10) (1
Even if a change occurs in the positional relationship between 2) and the work (A), this change does not lead to a measurement error, and high-precision measurement can always be performed.
【００３３】また、上記測定手順をフローチャートによ
って示すと図２のようになる。FIG. 2 is a flowchart showing the measurement procedure.
【００３４】[0034]
【発明の効果】上記した如く、本発明は、ワークの周
囲、或いは被測定物上の少なくとも４箇所に基準点部材
を付設すると共に、２点の距離が既知のリファレンスバ
ーを付設しておき、As described above, according to the present invention, a reference point member is provided around a work or at least four places on an object to be measured, and a reference bar having a known distance between two points is provided.
【００３５】２台以上のＣＣＤカメラからの画像データ
による測定点の位置算出時、先ず、この画像データ中の
上記各基準点部材及びリファレンスバーの２点の、２台
以上のＣＣＤカメラの光軸に対する水平方向及び垂直方
向の角度、並びに、リファレンスバーの２点の距離か
ら、２台以上のＣＣＤカメラの絶対的な位置を算出し、
この後、このデータを基準として測定点の位置を算出
し、更に、上記画像データが変わる毎に、２台以上のＣ
ＣＤカメラの絶対的な位置を算出し直すようにした為、When calculating the positions of the measurement points based on the image data from the two or more CCD cameras, first, the optical axes of the two or more CCD cameras of the two points of the reference point members and the reference bar in the image data. The absolute positions of two or more CCD cameras are calculated from the horizontal and vertical angles with respect to and the distance between the two points on the reference bar,
Thereafter, the position of the measurement point is calculated based on this data, and each time the image data changes, two or more C
Since the absolute position of the CD camera was calculated again,
【００３６】測定にある程度の時間を要し、この間に、
測定場所の床面に伝わる振動等により、２台以上のＣＣ
Ｄカメラとワークとの位置関係に変化が生じても、この
変化を逐次補正しながら測定を続行することができ、上
記変化が測定誤差につながることはなく、常に高精度な
測定を行うことが可能となる。It takes a certain amount of time for the measurement, during which time
Two or more CCs due to vibration transmitted to the floor at the measurement location
Even if there is a change in the positional relationship between the D camera and the work, the measurement can be continued while sequentially correcting this change, and the change does not lead to a measurement error, so that high-precision measurement can always be performed. It becomes possible.
【図１】本発明に係る三次元測定方法を実行する時の、
各種機器の配置例を示す斜視図。FIG. 1 illustrates a method for performing a three-dimensional measurement method according to the present invention.
FIG. 2 is a perspective view showing an example of the arrangement of various devices.
【図２】本発明に係る三次元測定方法の測定手順を示す
フローチャート。FIG. 2 is a flowchart showing a measurement procedure of the three-dimensional measurement method according to the present invention.
【図３】従来の三次元測定方法を実行する時の、各種機
器の配置例を示す斜視図。FIG. 3 is a perspective view showing an example of the arrangement of various devices when a conventional three-dimensional measuring method is executed.
【図４】従来の三次元測定方法の測定手順を示すフロー
チャート。FIG. 4 is a flowchart showing a measurement procedure of a conventional three-dimensional measurement method.
Ａ ワーク Ｃ 基準点部材 Ｆ リファレンスバー １０ 第１のＣＣＤカメラ １２ 第２のＣＣＤカメラ １４ コンピュータ A Work C Reference point member F Reference bar 10 First CCD camera 12 Second CCD camera 14 Computer
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 昭61−277012（ＪＰ，Ａ) 特開 昭63−133002（ＪＰ，Ａ) 特開 昭52−93363（ＪＰ，Ａ) (58)調査した分野(Int.Cl.7，ＤＢ名) G01B 11/00 - 11/30 G01C 3/06 ──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-61-277012 (JP, A) JP-A-63-133002 (JP, A) JP-A-52-93363 (JP, A) (58) Field (Int.Cl. 7 , DB name) G01B 11/00-11/30 G01C 3/06
Claims (1)
範囲内の水平方向及び垂直方向に隔たった任意の位置
で、かつ、２台以上のＣＣＤカメラの視野内に、４点以
上の基準点部材と、基準点部材を既知の２点間距離で配
置したリファレンスバーとを配置し、２台以上のＣＣＤ
カメラで上記基準点部材及びリファレンスバーを撮像
し、先ず、撮像した画像データから基準点部材及びリフ
ァレンスバーの各ＣＣＤカメラの光軸に対する水平方
向、垂直方向の角度を求め、これらの基準点部材及びリ
ファレンスバーの角度のデータから基準点部材、リファ
レンスバー及び２台以上のＣＣＤカメラの相対的な位置
関係を求め、求めた相対的な位置関係とリファレンスバ
ーの２点間距離から、２台以上のＣＣＤカメラの絶対的
な位置及び姿勢を算出し、この後、このデータを基準と
して、被測定物の複数の測定点の三次元位置座標を該２
台以上のＣＣＤカメラで撮像してその撮像された画像デ
ータから三角測量法で算出し、これを被測定物の複数回
の撮像による複数の測定点について行うことにより被測
定物の三次元の形状・寸法を算出し、この時、被測定物
の各測定点の撮像データを得る毎に又は画像データが変
わる毎に、同時に撮像された基準点部材及びリファレン
スバーの画像データから２台以上のＣＣＤカメラの絶対
的な位置関係も前記同様に算出し直すことを特徴とする
三次元測定方法。1. An image processing apparatus comprising: four or more points at arbitrary positions separated in a horizontal direction and a vertical direction around a measured object or within a measuring range on a measured object, and within a visual field of two or more CCD cameras; A reference point member and a reference bar in which the reference point member is disposed at a known distance between two points, and two or more CCDs
An image of the reference point member and the reference bar is captured by a camera. First, horizontal and vertical angles of the reference point member and the reference bar with respect to the optical axis of each CCD camera are obtained from the captured image data. The relative positional relationship between the reference point member, the reference bar, and the two or more CCD cameras is obtained from the reference bar angle data, and the two or more CCD cameras are obtained from the obtained relative positional relationship and the distance between the two points of the reference bar. The absolute position and orientation of the CCD camera are calculated, and then, based on this data, the three-dimensional position coordinates of a plurality of measurement points on the device under test are calculated.
The three-dimensional shape of the object to be measured is calculated by triangulation from the image data captured by more than one CCD camera, and the measurement is performed for a plurality of measurement points by multiple imaging of the object to be measured. Calculate the dimensions, and at this time, each time image data of each measurement point on the measured object is obtained or every time the image data changes, two or more CCDs are taken from the image data of the reference point member and the reference bar imaged simultaneously. A three-dimensional measuring method, wherein the absolute positional relationship of the camera is calculated again in the same manner as described above.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP03182177A JP3095463B2 (en) | 1991-07-23 | 1991-07-23 | 3D measurement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP03182177A JP3095463B2 (en) | 1991-07-23 | 1991-07-23 | 3D measurement method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0526639A JPH0526639A (en) | 1993-02-02 |
| JP3095463B2 true JP3095463B2 (en) | 2000-10-03 |
Family
ID=16113692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP03182177A Expired - Lifetime JP3095463B2 (en) | 1991-07-23 | 1991-07-23 | 3D measurement method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3095463B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10546381B2 (en) | 2015-11-06 | 2020-01-28 | Fujifilm Corporation | Information processing device, information processing method, and program |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2569397B2 (en) * | 1993-03-01 | 1997-01-08 | 株式会社ひさや | Shape measurement method and apparatus by stereo photography |
| KR100395773B1 (en) * | 2001-04-18 | 2003-08-21 | 대우조선해양 주식회사 | Apparatus for measuring coordinate based on optical triangulation using the images |
| KR100490525B1 (en) * | 2001-09-29 | 2005-05-19 | 박상래 | Position of Target Image Tracking System in DVR(Digital Video Recorder) |
| JP4680558B2 (en) * | 2004-09-30 | 2011-05-11 | 株式会社リコー | Imaging and 3D shape restoration method, and imaging and 3D shape restoration system |
| JP2008232776A (en) * | 2007-03-20 | 2008-10-02 | Fujifilm Corp | Three-dimensional shape measuring device and method, and program |
| US9003670B2 (en) * | 2012-03-08 | 2015-04-14 | United Technologies Corporation | System and method for measuring a workpiece relative to a common measurement coordinate system |
| JP6457775B2 (en) * | 2014-10-10 | 2019-01-23 | エヌ・ティ・ティ・インフラネット株式会社 | 3D shape measuring apparatus and 3D shape measuring method |
| GB2560190A (en) * | 2017-03-03 | 2018-09-05 | Nvtek Electronic Co Ltd | A calibration method for a camera which monitors a target board |
| CN113358026B (en) * | 2021-06-04 | 2023-04-18 | 南京视道信息技术有限公司 | Object position and contour information detection method based on double-linear-array CCD camera |
-
1991
- 1991-07-23 JP JP03182177A patent/JP3095463B2/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10546381B2 (en) | 2015-11-06 | 2020-01-28 | Fujifilm Corporation | Information processing device, information processing method, and program |
| US11074705B2 (en) | 2015-11-06 | 2021-07-27 | Fujifilm Corporation | Information processing device, information processing method, and program |
| US11727585B2 (en) | 2015-11-06 | 2023-08-15 | Fujifilm Corporation | Information processing device, information processing method, and program |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0526639A (en) | 1993-02-02 |
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