JP6395152B2 - 3D shape measuring device - Google Patents
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- JP6395152B2 JP6395152B2 JP2014215071A JP2014215071A JP6395152B2 JP 6395152 B2 JP6395152 B2 JP 6395152B2 JP 2014215071 A JP2014215071 A JP 2014215071A JP 2014215071 A JP2014215071 A JP 2014215071A JP 6395152 B2 JP6395152 B2 JP 6395152B2
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本発明は、たとえば最適な枕の形状を測定するために人間の後頭部及び首の後部の立体形状を測定する立体形状測定装置に関する。 The present invention relates to a three-dimensional shape measuring apparatus that measures a three-dimensional shape of a human occipital region and a posterior region of a neck, for example, in order to measure an optimal pillow shape.
たとえば、枕は快適な睡眠を行う上で不可欠な寝具であり、枕を利用して仰臥位で眠る姿勢は自然体の立体姿勢に近いと医学関係者が提唱している。そのため、人間の後頭部及び首の後部の立体形状を測定する立体形状測定装置（プレスシェイパとも言う）が必要である。 For example, a pillow is an indispensable bedding for a comfortable sleep, and a medical person advocates that the posture of sleeping in a supine position using a pillow is close to a natural three-dimensional posture. Therefore, a three-dimensional shape measuring device (also referred to as a press shaper) that measures the three-dimensional shapes of the human back and neck is necessary.
図９は従来の立体形状測定装置を示す写真である。図９の立体形状測定装置においては、多数たとえば縦×横＝３０×５本の同一長のロッド１０１を等間隔で２次元状に平行摺動可能にロッド保持機構１０２で保持する。ロッド１０１の先端を測定対象１０３たとえば人間の後頭部及び首の後部に押し当て各ロッド１０１の移動量により測定対象１０３の立体形状を測定する。この場合、各ロッド１０１の移動量はロッド１０１の位置を目視で書き写して把握し、あるいは各ロッド１０１に付された目盛を読取って把握し（参照：特許文献１）、あるいはロッド１０１の後端側に計測板を設けて各ロッド１０１の後端の計測板上の目盛を読取って把握する（参照：特許文献２）。 FIG. 9 is a photograph showing a conventional three-dimensional shape measuring apparatus. In the three-dimensional shape measuring apparatus of FIG. 9, a large number of rods 101 of the same length, for example, length × width = 30 × 5, are held by a rod holding mechanism 102 so as to be slidable in two dimensions at equal intervals. The tip of the rod 101 is pressed against the measurement object 103, for example, the back of the human head and the back of the neck, and the three-dimensional shape of the measurement object 103 is measured by the amount of movement of each rod 101. In this case, the amount of movement of each rod 101 is grasped by visually copying the position of the rod 101, or by grasping the scale attached to each rod 101 (refer to Patent Document 1), or the rear end of the rod 101. A measuring plate is provided on the side, and the scale on the measuring plate at the rear end of each rod 101 is read and grasped (see Patent Document 2).
しかしながら、上述の従来の立体形状測定装置においては、立体形状を迅速かつ高精度に把握できないという課題がある。つまり、目視による書き写しの場合は、時間を要する上、不精確である。また、ロッドの目盛を読取る場合は、時間を要し、すべてのロッド１０１が同一長であるので、奥側ロッド１０１の目盛は手前側のロッド１０１によって遮蔽されて読取りにくくかつ不精確である。さらに、計測板の目盛を読取る場合も、時間を要し、すべてのロッド１０１が同一長であるので、奥側のロッド１０１の後端に対する計測板の目盛は手前側のロッド１０１によって遮蔽されて読取りにくくかつ不精確である。 However, the above-described conventional three-dimensional shape measuring apparatus has a problem that the three-dimensional shape cannot be grasped quickly and with high accuracy. That is, in the case of visual copying, it takes time and is inaccurate. Further, when reading the scale of the rod, it takes time, and since all the rods 101 have the same length, the scale of the back rod 101 is shielded by the rod 101 on the near side and is difficult to read and inaccurate. Further, when reading the scale of the measurement plate, it takes time, and all the rods 101 have the same length. Therefore, the scale of the measurement plate with respect to the rear end of the rod 101 on the back side is shielded by the rod 101 on the near side. Difficult to read and inaccurate.
また、複数のロッド１０１を平行摺動可能に保持する保持機構１０２はガイド部材もしくはゴム板に孔を穿設したもので、耐久性が悪いという課題がある。つまり、経時変化により孔が大きくなり、ロッド１０１の先端を測定対象１０３に押し当てた後にも、ロッド１０１が不安定で移動し易く、この結果、ロッド１０１の位置を精確に把握できなくなる。この場合、ガイド部材もしくはゴム板を交換する必要性も生ずる。 Further, the holding mechanism 102 that holds the plurality of rods 101 so as to be slidable in parallel is a hole formed in a guide member or a rubber plate, and there is a problem that durability is poor. That is, the hole becomes larger due to the change over time, and the rod 101 is unstable and easily moved even after the tip of the rod 101 is pressed against the measuring object 103. As a result, the position of the rod 101 cannot be accurately grasped. In this case, it becomes necessary to replace the guide member or the rubber plate.
上述の課題を解決するために、本発明に係る立体形状測定装置は、測定対象に押し当てられる先端及びマーカが付された後端を有する複数のロッドと、各ロッドを２次元に平行に配列して保持するロッド保持機構と、各ロッドのマーカを撮影するカメラと、カメラによって撮影された各マーカの位置から測定対象の立体形状を演算する制御ユニットとを具備し、各ロッドの長さは、カメラによって撮影された各マーカが重複しないように、異ならせたものである。 In order to solve the above-described problem, a three-dimensional shape measuring apparatus according to the present invention includes a plurality of rods having a tip that is pressed against a measurement target and a rear end that is provided with a marker, and each rod is arranged in two dimensions in parallel. A rod holding mechanism, a camera that photographs the marker of each rod, and a control unit that calculates the three-dimensional shape of the measurement object from the position of each marker photographed by the camera, and the length of each rod is The markers photographed by the cameras are made different so as not to overlap.
また、ロッド保持機構は、ロッドに対向する弾性部材と、弾性部材のロッドとの反対側に設けられた剛性部材と、剛性部材の弾性部材との反対側に設けられた空気袋とを具備し、ロッドの先端が測定対象に押し当てられるときに、空気袋の空気を抜いてロッドはロッド保持機構内に摺動できるロッド摺動可能状態（ノーブレーキ状態）にし、各ロッドの後端のマーカの撮影のときに、空気袋に空気を入れて各ロッドはロッド保持機構内に固定されるロッド固定状態（ブレーキ状態）にするものである。 The rod holding mechanism includes an elastic member facing the rod, a rigid member provided on the opposite side of the elastic member to the rod, and an air bag provided on the opposite side of the elastic member of the rigid member. When the tip of the rod is pressed against the object to be measured, the air in the air bag is removed so that the rod can slide into the rod holding mechanism (no brake state), and the marker at the rear end of each rod At the time of photographing, air is introduced into the air bag so that each rod is in a rod fixed state (brake state) in which it is fixed in the rod holding mechanism.
本発明によれば、すべてロッドの位置をカメラの撮影によって把握するので、迅速かつ高精度に立体形状を把握できる。また、ロッドの保持を空気力によるロッド摺動可能状態／ロッド固定状態の切替によって行うので、ロッド保持機構の耐久性の劣化も防止できる。 According to the present invention, since the positions of all the rods are grasped by photographing with the camera, the three-dimensional shape can be grasped quickly and with high accuracy. Further, since the rod is held by switching between the rod slidable state and the rod fixed state by aerodynamic force, it is possible to prevent deterioration of the durability of the rod holding mechanism.
図１は本発明に係る立体形状測定装置の実施の形態を示す写真である。但し、動作説明し易くするために、図１の立体形状測定装置は、本来の大きい測定対象に対する図２に示す実機立体形状測定装置より小さくしてある。尚、図２においては、縦×横＝４０×５本のロッドＲよりなるロッド群１が設けられ、ロッドＲの後端に色マーカＭが付されている。また、ロッド保持機構２の後述の空気袋には、電動ポンプ６が接続されている。さらに、色マーカＭを撮影するための２台のカメラ４が設けられている。この場合、上方のカメラ４は上半分の色マーカＭを撮影し、下方のカメラ４は下半分の色マーカＭを撮影する。 FIG. 1 is a photograph showing an embodiment of a three-dimensional shape measuring apparatus according to the present invention. However, in order to facilitate the explanation of the operation, the three-dimensional shape measuring apparatus of FIG. 1 is made smaller than the actual three-dimensional shape measuring apparatus shown in FIG. In FIG. 2, a rod group 1 consisting of vertical × horizontal = 40 × 5 rods R is provided, and a color marker M is attached to the rear end of the rod R. In addition, an electric pump 6 is connected to an air bag described later of the rod holding mechanism 2. Further, two cameras 4 for photographing the color marker M are provided. In this case, the upper camera 4 captures the upper half color marker M, and the lower camera 4 captures the lower half color marker M.
図１においては、ロッド群１はステンレス等の剛性材料よりなる５×５本のロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５よりなり、これらのロッドは２次元状に等間隔でロッド保持機構２によって保持されている。ロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５の図１の右方の先端は図示しない測定対象たとえば人間の後頭部及び首の後部に押し当てられ、他方、ロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５の後端には特定色たとえば赤色の色マーカＭ１１、Ｍ１２、…、Ｍ１５；Ｍ２１、Ｍ２２、…、Ｍ２５；…；Ｍ５１、Ｍ５２、…、Ｍ５５が付されている。尚、特定色は２色以上、たとえば赤、青を交互にマーカに付してもよい。 In Figure 1, the rod group 1 in 5 × 5 present consisting rigid material such as stainless steel rod R 11, R 12, ..., R 15; R 21, R 22, ..., R 25; ...; R 51, R 52 ,..., R 55 , and these rods are held by the rod holding mechanism 2 at two-dimensional intervals at equal intervals. Rod R 11, R 12, ..., R 15; R 21, R 22, ..., R 25; ...; R 51, R 52, ..., measured for example human tip of the right side of FIG. 1 of the R 55 is not shown occipital and pressed against the rear of the neck, while the rod R 11, R 12, ..., R 15; R 21, R 22, ..., R 25; ...; R 51, R 52, ..., after the R 55 specific color for example red color marker M 11 to the end, M 12, ..., M 15 ; M 21, M 22, ..., M 25; ...; M 51, M 52, ..., M 55 are assigned. It should be noted that two or more specific colors, for example, red and blue may be alternately attached to the marker.
ロッド保持機構２は枠機構３によって支持されている。枠機構３のロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５の色マーカＭ１１、Ｍ１２、…、Ｍ１５；Ｍ２１、Ｍ２２、…、Ｍ２５；…；Ｍ５１、Ｍ５２、…、Ｍ５５に対向する位置に色マーカＭ１１、Ｍ１２、…、Ｍ１５；Ｍ２１、Ｍ２２、…、Ｍ２５；…；Ｍ５１、Ｍ５２、…、Ｍ５５を撮影するためのカメラ４が設けられ、カメラ４はマイクロコンピュータにより構成される制御ユニット５が接続されている。 The rod holding mechanism 2 is supported by the frame mechanism 3. Rod R 11, R 12 of the frame mechanism 3, ..., R 15; R 21, R 22, ..., R 25; ...; R 51, R 52, ..., the color of R 55 markers M 11, M 12, ..., M 15; M 21, M 22 , ..., M 25; ...; M 51, M 52, ..., the color marker M 11, M 12 at a position opposed to M 55, ..., M 15; M 21, M 22, .., M 25 ;... M 51 , M 52 ,..., M 55 are provided with a camera 4 connected to a control unit 5 constituted by a microcomputer.
ロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５の長さは、カメラ４によって撮影された色マーカＭ１１、Ｍ１２、…、Ｍ１５；Ｍ２１、Ｍ２２、…、Ｍ２５；…；Ｍ５１、Ｍ５２、…、Ｍ５５が重複しないように、異ならせてある。たとえば、
Ｌ１＜Ｌ２＜Ｌ３＜Ｌ４＜Ｌ５
Ｌ２−Ｌ１＝Ｌ３−Ｌ２＝Ｌ４−Ｌ３＝Ｌ５−Ｌ４≧ΔＬ
但し、Ｌ１はロッドＲ１１、Ｒ１２、…、Ｒ１５の長さ、
Ｌ２はロッドＲ２１、Ｒ２２、…、Ｒ２５の長さ、
Ｌ３はロッドＲ３１、Ｒ３２、…、Ｒ３５の長さ、
Ｌ４はロッドＲ４１、Ｒ４２、…、Ｒ４５の長さ、
Ｌ５はロッドＲ５１、Ｒ５２、…、Ｒ５５の長さ、
ΔＬは測定対象によって決定される正の値
と設定される。これにより、ロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５の長さは、カメラ４より遠い程、大きくされ、カメラ４によって撮影された色マーカＭ１１、Ｍ１２、…、Ｍ１５；Ｍ２１、Ｍ２２、…、Ｍ２５；…；Ｍ５１、Ｍ５２、…、Ｍ５５が重複しないようになる。
Rod R 11, R 12, ..., R 15; R 21, R 22, ..., R 25; ...; R 51, R 52, ..., the length of the R 55, the color taken by the camera 4 markers M 11 , M 12, ..., M 15 ; M 21, M 22, ..., M 25; ...; M 51, M 52, ..., M 55 is so as not to overlap, are made different. For example,
L 1 <L 2 <L 3 <L 4 <L 5
L 2 −L 1 = L 3 −L 2 = L 4 −L 3 = L 5 −L 4 ≧ ΔL
Where L 1 is the length of the rods R 11 , R 12 ,..., R 15 ,
L 2 is the length of rods R 21 , R 22 ,..., R 25 ,
L 3 is the length of rods R 31 , R 32 ,..., R 35 ,
L 4 is the length of the rods R 41 , R 42 ,..., R 45 ,
L 5 is the length of the rods R 51 , R 52 ,..., R 55 ,
ΔL is set to a positive value determined by the measurement object. Thus, the rod R 11, R 12, ..., R 15; R 21, R 22, ..., R 25; ...; R 51, R 52, ..., the length of the R 55 is farther from the camera 4, large is, the color marker M 11 taken by the camera 4, M 12, ..., M 15; M 21, M 22, ..., M 25; ...; M 51, M 52, ..., so M 55 do not overlap .
図３は図１のロッド保持機構３の詳細を示す断面図であって、（Ａ）はロッド摺動可能状態（ノーブレーキ状態）を示し、（Ｂ）はロッド固定状態（ブレーキ状態）を示す。 3A and 3B are cross-sectional views showing the details of the rod holding mechanism 3 of FIG. 1, wherein FIG. 3A shows a rod slidable state (no brake state), and FIG. 3B shows a rod fixed state (brake state). .
図３において、ロッド保持機構２は、枠機構３に固定されたプラスチックよりなる比較的厚い剛性部材２１、２２の間に、たとえばゴム等よりなりブレーキシューの作用をする２×５＝１０枚の弾性部材２３、たとえばプラスチックよりなりブレーキプレートの作用をする比較的厚い２×５＝１０枚の剛性部材２４、及び６枚の空気袋２５よりなる。この場合、ロッドＲ１１、Ｒ１２、…、Ｒ１５；ロッドＲ２１、Ｒ２２、…、Ｒ２５；…；ロッドＲ５１、Ｒ５２、…、Ｒ５５毎に、両側が弾性部材２３に対向し、弾性部材２３のロッドの反対側に剛性部材２４が設けられ、剛性部材２４の弾性部材２３の反対側に空気袋２５が設けられている。 In FIG. 3, the rod holding mechanism 2 includes 2 × 5 = 10 sheets of, for example, rubber, which act as a brake shoe, between relatively thick rigid members 21 and 22 made of plastic fixed to the frame mechanism 3. The elastic member 23 is composed of, for example, a relatively thick 2 × 5 = 10 rigid members 24 made of plastic and acting as a brake plate, and six air bags 25. In this case, the rod R 11, R 12, ..., R 15; opposing rods R 51, R 52, ..., each R 55, both sides to the elastic member 23; rod R 21, R 22, ..., R 25; ... The rigid member 24 is provided on the opposite side of the rod of the elastic member 23, and the air bag 25 is provided on the opposite side of the rigid member 24 to the elastic member 23.
他方、図３の（Ａ）に示すロッド摺動可能状態にあっては、空気袋２５に空気が入っていないので、空気袋２５は非膨張状態である。従って、弾性部材２３及び剛性部材２４はノーブレーキ状態となり、ロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５と弾性部材２３とは接触しなくなる。この結果、ロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５は滑らかに摺動可能状態となる。 On the other hand, in the rod slidable state shown in FIG. 3A, since the air bag 25 does not contain air, the air bag 25 is not inflated. Therefore, the elastic member 23 and the rigid member 24 becomes no brake state, the rod R 11, R 12, ..., R 15; R 21, R 22, ..., R 25; ...; R 51, R 52, ..., R 55 And the elastic member 23 are not in contact with each other. As a result, the rod R 11, R 12, ..., R 15; R 21, R 22, ..., R 25; ...; R 51, R 52, ..., R 55 is smoothly made slidable state.
図３の（Ｂ）に示すロッド固定状態にあっては、空気袋２５に空気が入っているので、空気袋２５は膨張状態である。従って、弾性部材２３及び剛性部材２４はブレーキ状態となり、ロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５と弾性部材２３とは強い接触状態となり、弾性部材２３はロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５のすべてに対して均一に凹み状態となる。この結果、ロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５は確実にかつ均一の固定状態となる。 In the rod fixed state shown in FIG. 3B, since air is contained in the air bag 25, the air bag 25 is in an inflated state. Therefore, the elastic member 23 and the rigid member 24 becomes braking state, the rod R 11, R 12, ..., R 15; R 21, R 22, ..., R 25; ...; R 51, R 52, ..., and R 55 becomes strong contact with the elastic member 23, elastic member 23 is a rod R 11, R 12, ..., R 15; R 21, R 22, ..., R 25; ...; R 51, R 52, ..., the R 55 It becomes indented uniformly for all. As a result, the rod R 11, R 12, ..., R 15; R 21, R 22, ..., R 25; ...; R 51, R 52, ..., R 55 is the fixed state of reliably and uniformly.
尚、ロッド保持機構２の空気袋２５への空気の吸入は図２の電動ポンプを用いて行うことも手動ポンプを用いても行うこともできる。 Note that air can be sucked into the air bladder 25 of the rod holding mechanism 2 using the electric pump shown in FIG. 2 or a manual pump.
図４は比較例としてのロッド保持機構の詳細を示す断面図であって、（Ａ）はロッド摺動可能状態（ノーブレーキ状態）を示し、（Ｂ）はロッド固定状態（ブレーキ状態）を示す。 4A and 4B are cross-sectional views showing details of a rod holding mechanism as a comparative example, in which FIG. 4A shows a rod slidable state (no brake state), and FIG. 4B shows a rod fixed state (brake state). .
図４のロッド保持機構２’においては、図３の剛性部材２１、２２、２４の代りに、ブレーキとして作用する１枚の剛性プレート２４’を設け、図３の弾性部材２３の代りに、各ロッドＲ１１、Ｒ１２、…、Ｒ１５；ロッドＲ２１、Ｒ２２、…、Ｒ２５；…；ロッドＲ５１、Ｒ５２、…、Ｒ５５を囲むようにブレーキシューの作用をする２５個の弾性部材２３’を設け、図３の空気袋２５は設けていない。 In the rod holding mechanism 2 ′ shown in FIG. 4, a single rigid plate 24 ′ acting as a brake is provided instead of the rigid members 21, 22, and 24 shown in FIG. 3, and each of the elastic members 23 shown in FIG. rod R 11, R 12, ..., R 15; rod R 21, R 22, ..., R 25; ...; rod R 51, R 52, ..., 25 pieces of which the action of the brake shoe so as to surround the R 55 The elastic member 23 ′ is provided, and the air bag 25 of FIG. 3 is not provided.
図４の（Ａ）のロッド摺動可能状態にあっては、剛性プレート２４’は各ロッドＲ１１、Ｒ１２、…、Ｒ１５；ロッドＲ２１、Ｒ２２、…、Ｒ２５；…；ロッドＲ５１、Ｒ５２、…、Ｒ５５と各弾性部材２３とが離間するように、位置している。従って、弾性部材２３’及び剛性プレート２４’はノーブレーキ状態となり、ロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５と弾性部材２３’とは接触しなくなる。この結果、図３の（Ａ）の摺動可能状態と同様に、ロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５は滑らかに摺動可能状態となる。 In the rod slidably state of (A) in FIG. 4, the rigid plate 24 'each rod R 11, R 12, ..., R 15; rod R 21, R 22, ..., R 25; ...; Rod R 51 , R 52 ,..., R 55 and the elastic members 23 are positioned so as to be separated from each other. Therefore, the elastic member 23 'and the rigid plate 24' becomes a no brake state, the rod R 11, R 12, ..., R 15; R 21, R 22, ..., R 25; ...; R 51, R 52, ..., R55 and the elastic member 23 'do not come into contact with each other. As a result, the rods R 11 , R 12 ,..., R 15 ; R 21 , R 22 ,..., R 25 ; ...; R 51 , R 52 ,. , R 55 is smoothly slidable.
他方、図４の（Ｂ）に示すロッド固定状態にあっては、剛性プレート２４’が図４において右側に移動する。従って、弾性部材２３’及び剛性プレート２４’はブレーキ状態となり、ロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５の一部と弾性部材２３’とは接触状態となり、弾性部材２３’が凹み状態となるが、残りのロッドと弾性部材２３’とは接触状態とならない。この結果、ロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５の固定状態は不確実かつ不均一となる。 On the other hand, in the rod fixed state shown in FIG. 4B, the rigid plate 24 ′ moves to the right in FIG. Therefore, the elastic member 23 'and the rigid plate 24' becomes braking state, the rod R 11, R 12, ..., R 15; R 21, R 22, ..., R 25; ...; R 51, R 52, ..., R A part of 55 and the elastic member 23 'are in contact with each other, and the elastic member 23' is in a recessed state, but the remaining rods and the elastic member 23 'are not in contact with each other. As a result, the rod R 11, R 12, ..., R 15; R 21, R 22, ..., R 25; ...; R 51, R 52, ..., the fixed state of the R 55 becomes uncertain and uneven.
このように、図３に示すロッド保持機構２’はより完全なブレーキ状態になるので、図４に示すロッド保持機構２’に比較して優れている。 In this way, the rod holding mechanism 2 'shown in FIG. 3 is in a more complete braking state, which is superior to the rod holding mechanism 2' shown in FIG.
図５は図１のロッドたとえばＲ１１の先端を示す断面図である。 Figure 5 is a sectional view showing the tip of the rod for example R 11 in FIG. 1.
図５の（Ａ）に示すごとく、ロッドＲ１１の先端は丸くなっており、これにより、たとえ髪があっても人間の後頭部に直接接触でき、従って、後頭部の立体形状を精確に測定できる。 As shown in FIG. 5 (A), the tip of the rod R 11 are rounded, thereby, even if there is hair can directly contact the human occipital, therefore, the occipital region of the three-dimensional shape can be accurately measured.
また、図５の（Ｂ）に示すごとく、ロッドＲ１１の先端をねじ加工し、ロッドＲ１１の先端に先端が丸いたとえばプラスチック等よりなる剛性部材１ａを嵌め込む。これにより、やはり、髪があっても人間の後頭部に直接接触でき、従って、後頭部の立体形状を精確に測定できる。さらに、この場合、剛性部材１ａが劣化した場合には、新しい剛性部材１ａに容易に置換できる。 Further, as shown in FIG. 5 (B), the tip of the rod R 11 and threading the tip to the distal end of the rod R 11 is fitted into the rigid member 1a formed of round such as plastic or the like. As a result, even if there is hair, it is possible to directly contact the human occipital region, and therefore, the three-dimensional shape of the occipital region can be accurately measured. Furthermore, in this case, when the rigid member 1a deteriorates, it can be easily replaced with a new rigid member 1a.
図６は図１の制御ユニット５の動作を説明するためのフローチャートである。このフローチャートは制御ユニット５のリードオンリメモリ（ＲＯＭ）もしくはフラッシュメモリに格納される。また、制御ユニット５の動作前に、オペレータはロッド保持機構２の空気袋２５の空気を抜いたロッド摺動可能状態でロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５の先端を人間の後頭部及び首の後部に押し当て、その後、ロッド保持機構２の空気袋２５に空気を入れてロッド固定状態（ブレーキ状態）にしてカメラ４でロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５の後端の色マーカＭ１１、Ｍ１２、…、Ｍ１５；Ｍ２１、Ｍ２２、…、Ｍ２５；…；Ｍ５１、Ｍ５２、…、Ｍ５５の撮影を行って図６に示すカメラ画像を得ているものとする。 FIG. 6 is a flowchart for explaining the operation of the control unit 5 of FIG. This flowchart is stored in a read only memory (ROM) or a flash memory of the control unit 5. The control before operation of the unit 5, the operator rod R 11, R 12 in the rod slidably state deflated air bladder 25 of the rod holding mechanism 2, ..., R 15; R 21, R 22, ... , R 25 ; ...; the tips of R 51 , R 52 , ..., R 55 are pressed against the back of the human head and the back of the neck, and then air is introduced into the air bag 25 of the rod holding mechanism 2 to fix the rod (brake rod R 11, R 12 in the camera 4 in the state), ..., R 15; R 21, R 22, ..., R 25; ...; R 51, R 52, ..., the color of the rear end of the R 55 markers M 11 , M 12, ..., M 15 ; M 21, M 22, ..., M 25; ...; M 51, M 52, ..., shall perform the shooting M 55 to obtain the camera image shown in FIG. 6 .
始めに、ステップ６０１にて、カメラ４より図７に示すカメラ画像を取得する。 First, in step 601, the camera image shown in FIG.
次に、ステップ６０２にて、色マーカＭ１１、Ｍ１２、…、Ｍ１５；Ｍ２１、Ｍ２２、…、Ｍ２５；…；Ｍ５１、Ｍ５２、…、Ｍ５５の特定色から図８に示す２値データとしての色マーカＭ１１、Ｍ１２、…、Ｍ１５；Ｍ２１、Ｍ２２、…、Ｍ２５；…；Ｍ５１、Ｍ５２、…、Ｍ５５を抽出する。 Next, at step 602, the color marker M 11, M 12, ..., M 15; M 21, M 22, ..., M 25; ...; M 51, M 52, ..., 8 from a specific color of M 55 color marker M 11, M 12 of the binary data shown in, ..., M 15; M 21 , M 22, ..., M 25; ...; M 51, M 52, ..., to extract the M 55.
次に、ステップ６０３にて、色マーカＭ１１、Ｍ１２、…、Ｍ１５；Ｍ２１、Ｍ２２、…、Ｍ２５；…；Ｍ５１、Ｍ５２、…、Ｍ５５の数が所定数たとえば２５か否かを判別する。ロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５が正常な動作をしていれば、色マーカの数は２５である。従って、色マーカの数が２５である場合のみ、ステップ６０４に進み、他の場合には、ステップ６０９に進んでエラーとする。 Next, at step 603, the color marker M 11, M 12, ..., M 15; M 21, M 22, ..., M 25; ...; M 51, M 52, ..., a predetermined number the number of M 55 e.g. Whether it is 25 or not is discriminated. Rod R 11, R 12, ..., R 15; R 21, R 22, ..., R 25; ...; R 51, R 52, ..., if R 55 is long as a normal operation, the number of color markers 25. Accordingly, only when the number of color markers is 25, the process proceeds to step 604, and in other cases, the process proceeds to step 609 to make an error.
ステップ６０４では、各色マーカＭ１１、Ｍ１２、…、Ｍ１５；Ｍ２１、Ｍ２２、…、Ｍ２５；…；Ｍ５１、Ｍ５２、…、Ｍ５５の重心座標を演算する。 In step 604, each color marker M 11, M 12, ..., M 15; M 21, M 22, ..., M 25; ...; M 51, M 52, ..., and calculates the barycentric coordinates of M 55.
次に、ステップ６０５では、ロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５の先端座標をステップ６０４にて演算された重心座標及びロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５の予め定められた長さＬ１１、Ｌ１２、…、Ｌ１５；Ｌ２１、Ｌ２２、…、Ｌ２５；…；Ｌ５１、Ｌ５２、…、Ｌ５５を用いて演算する。 Next, in step 605, the rod R 11, R 12, ..., R 15; R 21, R 22, ..., R 25; in R 51, R 52, ..., 604 of the tip coordinates of R 55; ... barycentric coordinates and the rod R 11 computed, R 12, ..., R 15 ; R 21, R 22, ..., R 25; ...; R 51, R 52, ..., the length predetermined for R 55 L 11 , L 12, ..., L 15 ; L 21, L 22, ..., L 25; ...; L 51, L 52, ..., and calculates using the L 55.
次に、ステップ６０７にて、ロッドＲ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５の先端座標に基づいて測定対象の立体形状を補間演算する。 Next, at step 607, the rod R 11, R 12, ..., R 15; R 21, R 22, ..., R 25; ...; R 51, R 52, ..., measured on the basis of the coordinates of the tip of the R 55 Interpolate the target 3D shape.
次に、ステップ６０７にて、測定対象の立体形状をランダムアクセスメモリ（ＲＡＭ）に格納する。 Next, in step 607, the three-dimensional shape to be measured is stored in a random access memory (RAM).
そして、ステップ６０８にて、図６のルーチンは終了する。 At step 608, the routine of FIG.
上述の本発明の実施の形態によれば、測定対象を人間の後頭部及び首の後部に適用した場合、立体形状が±０．３ｍｍ以内の誤差で精確に得られた。 According to the above-described embodiment of the present invention, when the measurement object is applied to the back of the human head and the back of the neck, the three-dimensional shape is accurately obtained with an error within ± 0.3 mm.
尚、本発明は上述の実施の形態の自明の範囲のいかなる変更も適用し得る。 It should be noted that the present invention can be applied to any modifications within the obvious range of the above-described embodiment.
本発明は人間の後頭部及び首の後部以外に人間の全体の立体形状等の測定対象にも利用できる。また、軟らかい物体形状たとえば枕形状等の測定対象にも利用できる。 The present invention can also be used for measuring objects such as the entire three-dimensional shape of a human, in addition to the human back and neck. It can also be used for measuring objects such as soft object shapes such as pillow shapes.
１：ロッド群
Ｒ、Ｒ１１、Ｒ１２、…、Ｒ１５；Ｒ２１、Ｒ２２、…、Ｒ２５；…；Ｒ５１、Ｒ５２、…、Ｒ５５：ロッド
１ａ：剛性部材
２：ロッド保持機構
２’：ロッド保持機構
２１、２２：剛性部材
２３：弾性部材
２３’：弾性部材
２４：剛性部材
２４’：剛性プレート
２５：空気袋
３：枠機構
４：カメラ
５：制御ユニット
６：電動ポンプ
１０１：ロッド
１０２：ロッド保持機構
１０３：測定対象
Ｍ１１、Ｍ１２、…、Ｍ１５；Ｍ２１、Ｍ２２、…、Ｍ２５；…；Ｍ５１、Ｍ５２、…、Ｍ５５：色マーカ
1: Rod group R, R 11 , R 12 ,..., R 15 ; R 21 , R 22 ,..., R 25 ; ...; R 51 , R 52 , ..., R 55 : Rod 1a: Rigid member 2: Rod holding Mechanism 2 ': Rod holding mechanism 21, 22: Rigid member 23: Elastic member 23': Elastic member 24: Rigid member 24 ': Rigid plate 25: Air bag 3: Frame mechanism 4: Camera 5: Control unit 6: Electric pump 101: Rod
102: Rod holding mechanism 103: Measurement target
M 11, M 12, ..., M 15; M 21, M 22, ..., M 25; ...; M 51, M 52, ..., M 55: Color Marker
Claims (6)
前記各ロッドを２次元に平行に配列して保持するロッド保持機構と、
前記各ロッドの前記マーカを撮影するカメラと、
前記カメラによって撮影された前記各マーカの位置から前記測定対象の立体形状を演算する制御ユニットと
を具備し、
前記各ロッドの長さは、前記カメラによって撮影された前記各マーカが重複しないように、異ならせた立体形状測定装置。 A plurality of rods having a front end pressed against a measurement object and a rear end provided with a marker;
A rod holding mechanism that holds the rods arranged in two dimensions in parallel;
A camera for photographing the marker of each rod;
A control unit that calculates the three-dimensional shape of the measurement object from the position of each marker imaged by the camera,
The length of each rod is a three-dimensional shape measuring apparatus in which the respective markers photographed by the camera are made different so as not to overlap each other.
前記ロッドに対向する弾性部材と、
前記弾性部材の前記ロッドとの反対側に設けられた剛性部材と、
前記剛性部材の前記弾性部材との反対側に設けられた空気袋と
を具備し、
前記各ロッドの先端が前記測定対象に押し当てられるときに、前記空気袋の空気を抜いて前記各ロッドは前記ロッド保持機構内に摺動できるロッド摺動可能状態にし、前記各ロッドの後端の前記マーカの撮影のときに、前記空気袋に空気を入れて前記各ロッドは前記ロッド保持機構内に固定されるロッド固定状態にする請求項１に記載の立体形状測定装置。 The rod holding mechanism is
An elastic member facing the rod;
A rigid member provided on the opposite side of the elastic member to the rod;
An air bag provided on the opposite side of the rigid member to the elastic member,
When the tip of each rod is pressed against the object to be measured, the air in the air bag is removed so that each rod can slide in the rod holding mechanism, and the rear end of each rod The three-dimensional shape measuring apparatus according to claim 1, wherein when the marker is photographed, air is introduced into the air bag so that the rods are fixed in a state where the rods are fixed in the rod holding mechanism.
The three-dimensional shape measuring apparatus according to claim 1, wherein a rigid member having a rounded tip is fitted into the tip of the rod.
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| JP2004069608A (en) * | 2002-08-08 | 2004-03-04 | Mitsutoyo Corp | Shape measurement device and shape tracing mechanism |
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