JP5375479B2 - Three-dimensional measurement system and three-dimensional measurement method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a technology for improving workability of a three-dimensional measurement of a three-dimensional shape. <P>SOLUTION: A three-dimensional measuring system includes a detection light projecting means for temporally sequentially projecting first detection light and second detection light to a first area of the three-dimensional shape of an object provided with a plurality of identification points; an image photographing means for photographing an image of the first area illuminated by a projection from the detection light projecting means; a shape obtaining means for obtaining three-dimensional shape data representing the three-dimensional shape of the first area based on an image produced when the first detection light is projected; a position obtaining means for obtaining first position data representing respective positions of a plurality of focused identification points arranged in the first area based on the image produced when the second detection light is projected; and an indication light projecting means for projecting first position indication light toward the object, the first position indication light indicating respective positions of the plurality of focused identification points based on the first position data. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a three-dimensional measurement system and a three-dimensional measurement method for generating shape data representing an overall three-dimensional shape of an object.

  In recent years, as one of the inspections of industrial products, the three-dimensional shape of parts of industrial products created based on design data such as CAD data is measured, and the measured three-dimensional shape and CAD data are measured using a computer. By comparison, CAT (Computer-Aided Testing) is performed to check whether or not the part is created with a shape error within a predetermined tolerance with respect to the design data.

  The measurement of the three-dimensional shape used in CAT is often an optical three-dimensional digitizer (“three-dimensional measurement system”, which can measure the three-dimensional coordinates of many points on an object surface in a short time without contact. It is performed by three-dimensional measurement (three-dimensional measurement) using a “three-dimensional measuring machine”.

  Optical three-dimensional digitizers include an active type using a light projection method that projects light, a passive type using a stereo image method that does not perform light projection, and an active passive type that combines them.

  For example, in a three-dimensional digitizer using a stereo imaging method, a measurement object is photographed from a plurality of different directions using a plurality of cameras, and each of the measurement objects on the measurement object is obtained from the obtained images according to the principle of triangulation. Perform 3D measurement to calculate 3D coordinates of a point.

  In addition, a three-dimensional digitizer using a light projection method projects detection light from a projection device onto a measurement target, and receives reflected light from the measurement target with an imaging element of a camera. A slit light projection method (also called a light cutting method) uses slit light as detection light. In the slit light projection method, the slit light is deflected to optically scan the measurement object, and each point on the measurement object is determined by the principle of triangulation based on the degree of deformation of the slit light based on the surface shape of the measurement object. The three-dimensional measurement for calculating the three-dimensional coordinates is performed. A set of three-dimensional coordinates of each point is referred to as “three-dimensional shape data” or “shape data”.

  In this way, the three-dimensional digitizer can measure only the shape of the object facing the camera, the projection device, etc., and the shape of the object surface on the side not facing the three-dimensional digitizer is It cannot be measured. In addition, the range in which the 3D digitizer can perform the 3D measurement is a predetermined three-dimensional range (also referred to as “measurement range”) determined by the base line length between the cameras, the angle of view of the camera, the depth of field, and the like. The measurement range is often smaller than the object.

  Therefore, in order to measure the overall (circumferential) shape of a part as an inspection object by CAT, by changing the position and orientation of the three-dimensional digitizer with respect to the part, a plurality of times from different directions can be obtained. Arrangement indicating the position and orientation of the 3D shape represented by each 3D shape data so that the obtained 3D shape data represents the overall 3D shape of the part. It is necessary to generate shape data for CAT that represents the overall shape of the component by adjusting each of the shapes (also referred to as “shape arrangement”).

  The adjustment of each shape arrangement for the plurality of three-dimensional shape data is an adjustment to match the plurality of three-dimensional shapes for the plurality of three-dimensional shape data with the original shape arrangement. Also referred to as “alignment” or “positioning”.

  One of the alignment methods is a marker-based alignment method.

  The alignment method based on the marker performs a plurality of three-dimensional measurements from a plurality of different directions with respect to the target so that the measurement ranges overlap on the target with the target provided with the plurality of markers. To obtain three-dimensional shape data representing the three-dimensional shape of each measurement range, and three-dimensional coordinates of three or more markers (“ (Also referred to as a “marker three-dimensional position”) for each of the two measurement ranges, and based on the correspondence between the three or more three-dimensional positions of the shape data, the arrangement of the shape data for the two measurement ranges This is a technique for performing matching (Patent Document 1, etc.).

  In Patent Document 1, four or more markers are arranged around a measurement object placed on a turntable, and the measurement object and each marker are measured by one measurement operation at a plurality of rotation angles. 3D shape data representing the 3D shape of the object at the rotation angle and the 3D position of each marker are acquired, and coordinate conversion between the 3D shape data is performed based on the acquired 3D position of each marker. Coordinate conversion information is obtained, and alignment of the three-dimensional shape data at each rotation angle is performed.

Japanese Patent No. 3928213

  However, the three-dimensional measuring apparatus of Patent Document 1 performs three-dimensional measurement for obtaining shape data and measurement for obtaining the three-dimensional position of the marker in one measurement operation, and the obtained three-dimensional position of the marker. It is only attempted to align the three-dimensional shape data acquired based on the above, and does not have a function for assisting in setting an efficient measurement range necessary for efficient three-dimensional measurement. For this reason, there exists a problem that the work efficiency of a measurement operation cannot be raised.

  The present invention has been made to solve these problems, and an object thereof is to provide a technique capable of improving the workability of the three-dimensional measurement for measuring the three-dimensional shape of an object.

  In order to solve the above problems, the invention of claim 1 is a three-dimensional measurement system for measuring a three-dimensional shape, wherein the first region of the three-dimensional shape of an object provided with a plurality of identification points is provided. Detection light projecting means for sequentially projecting the first detection light and the second detection light in time, and image capturing for capturing an image of the first area illuminated by the light projection from the detection light projecting means Means, shape acquisition means for acquiring three-dimensional shape data representing the three-dimensional shape of the first region based on the image when the first detection light is projected, and the second detection light is projected. Position acquisition means for acquiring first position data representing respective positions of a plurality of identification points of interest provided in the first region among the plurality of identification points based on the image when illuminated; Based on the first position data, the plurality of identification points of interest Characterized by comprising an instruction light projecting means for projecting light, a first position indication light indicating the position of the respectively toward the object.

  Further, the invention of claim 2 is a three-dimensional measurement system for measuring a three-dimensional shape, wherein the first detection light and the second light are detected in the first region of the three-dimensional shape of the object provided with a plurality of identification points. Detection light projecting means for projecting detection light sequentially in time, image photographing means for capturing an image of the first area illuminated by the light projection from the detection light projecting means, and the first detection Shape acquisition means for acquiring three-dimensional shape data representing the three-dimensional shape of the first region based on the image when light is projected, and the image when the second detection light is projected A position acquisition means for acquiring first position data representing the positions of a plurality of identification points of interest provided in the first area among the plurality of identification points, and a portion overlapping with the first area The second region of the object having three or more identification points The coordinate system of the existing second position data expressing the positions of the plurality of reference identification points among the plurality of identification points is used as a reference coordinate system, and the first position data is expressed in the reference coordinate system. Conversion means for converting the coordinates into the expressed third position data; and the three or more identification points are at least temporally and morphologically, among the plurality of reference identification points, the identification points other than the three or more identification points On the other hand, the first position indicating light indicating the position of each of the plurality of target identification points and the second position indicating light indicating the position of each of the plurality of reference identification points are respectively set to the third position so as to be illuminated in a different manner. And indicator light projecting means for projecting toward the object based on the position data and the second position data.

  The invention according to claim 3 is the three-dimensional measurement system according to claim 1, wherein the position acquisition unit has each reliability for the positions of the plurality of identification points of interest in the first position data. There is provided a reliability obtaining means for obtaining, wherein the first position indicating light is projected in a manner corresponding to each of the reliability.

  The invention according to claim 4 is the three-dimensional measurement system according to claim 1, wherein the position acquisition means includes form information acquisition means for acquiring each form information of the plurality of identification points of interest. The first position indicating light is projected in a manner corresponding to each of the form information.

  The invention according to claim 5 is the three-dimensional measurement system according to claim 1 or 2, wherein the image photographing means includes a plurality of areas each including an area including the first area. Each imaging means is provided.

  The invention according to claim 6 is the three-dimensional measurement system according to claim 1 or 2, wherein the second detection light and the first position indication light are alternately projected in time. It is characterized by being.

  The invention according to claim 7 is the three-dimensional measurement system according to claim 1 or 2, wherein the second detection light and the first position indication light are projected in different colors. It is characterized by that.

The invention of claim 8 is a three-dimensional measurement method for measuring a three-dimensional shape, wherein the first detection light and the second light are applied to the first region of the three-dimensional shape of the object provided with a plurality of identification points. A step of sequentially projecting detection light in terms of time, a step of photographing an image of the first area illuminated by the light projection in the step of projecting, and a case where the first detection light is projected A step of acquiring three-dimensional shape data representing a three-dimensional shape of the first region based on the image, and among the plurality of identification points based on the image when the second detection light is projected Obtaining the first position data representing the positions of the plurality of target identification points provided in the first region, and determining the positions of the plurality of target identification points based on the first position data. The first position indicating light shown is projected toward the object And having a step.

  According to the first aspect of the present invention, the first representing the respective positions of the plurality of target identification points in the first region based on the image when the second detection light is projected onto the first region of the object. Position data is obtained, and based on the first position data, the first position indicating light indicating the position of each of the plurality of target identification points is projected toward the object, so that the first region has a desired measurement range. The identification points provided on the object provide useful information for determining whether or not the measurement range is appropriate, and whether or not the number of identification points required for alignment is recognized by the three-dimensional measurement system. And the first position indicating light can be presented on the object as an interrelationship, and efficient measurement range setting work can be supported.

  According to the second aspect of the invention, the first position data expressing the positions of the plurality of target identification points in the first area of the object is the positions of the plurality of reference identification points in the second area. Is converted into third position data represented in the coordinate system of the existing second position data, and three or more identification points in the first area and the second area are the three of the plurality of reference identification points. The first position indicating light indicating the positions of the plurality of target identification points and the plurality of reference identification points so as to be illuminated in a different manner in at least one of temporal and morphological aspects from the identification points other than the above identification points Since the second position indicating light indicating the position is projected toward the object based on the third position data and the second position data, respectively, whether or not the first area is a desired measurement range, And focus identification point Information useful for determining the suitability of the measurement range, such as whether or not the correspondence with the reference identification point is correctly obtained, is the correlation between the identification point provided on the object, the first position indicating light, and the second position indicating light. Can be presented on the object as an object, and can support efficient measurement range setting work.

  According to the invention of claim 3, the first position indicating light indicating the position of each of the plurality of target identification points is an object in a mode corresponding to each reliability for each of the positions of the plurality of target identification points. Therefore, it is possible to present information on the reliability of the position acquisition of the target identification point, which is useful for determining the suitability of the measurement range, on the object, and to support efficient measurement range setting work.

  According to the fourth aspect of the present invention, the information useful for determining the suitability of the measurement range as to whether or not the correspondence relationship between the target identification point and the reference identification point is correctly obtained is obtained in each form of the plurality of target identification points. Can be presented on the object as a mutual relationship with the aspect of the first position indicating light indicating the position of each of the plurality of target identification points, and an efficient measurement range setting operation can be supported.

  According to the invention of claim 6, the second detection light used for detection of each target identification point and the first position indicating light indicating the position of each detected target identification point are alternately projected in time. The three-dimensional measurement system recognizes whether or not the first region is within the desired measurement range and the number of identification points necessary for alignment even when the first region varies. Information that is useful for determining whether or not the measurement range is appropriate can be presented on the object as a correlation between the identification point provided on the object and the first position indicating light, and the measurement range can be efficiently set. Can support.

  According to the seventh aspect of the present invention, the second detection light used for detecting each target identification point and the first position indicating light indicating the position of each detected target identification point are projected in different colors. Therefore, even when both the second detection light and the first position indication light are projected, it is determined whether the first region is in a desired measurement range and the number of necessary arrangements. Information useful for determining whether or not the identification point is recognized by the three-dimensional measurement system is displayed on the object as a correlation between the identification point provided on the object and the first position indicating light. This can support efficient measurement range setting work.

It is a figure which illustrates the structure of the three-dimensional measurement system which concerns on embodiment. It is a block diagram which illustrates the functional composition of the three-dimensional measurement system concerning an embodiment. It is a figure which illustrates the functional block diagram of an image imaging part. It is a figure which illustrates the functional block diagram of an image imaging part. It is a figure explaining acquisition of the indicator light image for projecting marker position indicator light. It is a figure explaining acquisition of the indicator light image for projecting marker position indicator light. It is a figure which illustrates the setting of the new measurement range with respect to the measured reference marker. It is a figure which illustrates the correspondence of a focus marker and a measured reference marker. It is a figure which shows a mode that the 3rd position data of the marker of interest and the 2nd position data of a reference marker were displayed on the standard coordinate system. It is a figure which shows the example of the marker position instruction | indication light projected on the marker of interest. It is a figure which shows the example of the marker position instruction light projected on the reference marker. It is a figure which shows the example of the marker position instruction | indication light projected on the focused marker and the reference marker. It is a figure which shows the example of the marker position instruction | indication light projected on the focused marker and the reference marker. It is a figure which shows the example of the marker position instruction | indication light based on the incorrect correspondence. It is a figure which shows the example of the marker position instruction | indication light based on the incorrect correspondence. It is a figure which illustrates the flowchart which shows the outline | summary of measurement operation | movement. It is a figure which illustrates the flowchart which shows the outline | summary of measurement operation | movement. It is a figure which illustrates the structure of the three-dimensional measurement system which concerns on a modification. It is a figure which illustrates the functional block diagram of the three-dimensional measuring system which concerns on a modification. It is a figure explaining acquisition of the indicator light image for projecting marker position indicator light. It is a figure which shows the example of the marker position instruction | indication light based on the incorrect correspondence.

<About embodiment:>
[Three-dimensional measurement system 500A:]
FIG. 1 is a diagram illustrating a configuration of a three-dimensional measurement system 500A according to the embodiment, and FIG. 2 is a block diagram illustrating a functional configuration of each unit configuring the three-dimensional measurement system 500A according to the embodiment. In FIG. 2, main information exchanged between the functional units is described together with the functional units. In addition, descriptions of control signals and the like are omitted.

  A three-dimensional measurement system 500A shown in FIGS. 1 and 2 mainly includes a processing apparatus 100A, a three-dimensional digitizer 30A, and a measurement stand 32.

  In addition, the three-dimensional digitizer 30A mainly includes an instruction light projecting unit 21A (FIG. 2) and a measuring unit 10A (FIG. 2).

  The three-dimensional measurement system 500A measures the three-dimensional shape of the measurement region n1 set on the object 50 provided with a plurality of markers TM using the three-dimensional digitizer 30A, and expresses the three-dimensional shape. Data (also referred to as “shape data”) is acquired.

  The object 50 has another range that has a portion that overlaps the measurement range n1 and whose shape data has already been acquired. For a plurality of markers provided in the other range, the position of each marker The three-dimensional coordinates representing are already calculated.

  The three-dimensional measurement system 500A acquires the shape acquired for the measurement region n1 so that the three-dimensional shape of the object 50 for the range including the measurement range n1 and the other ranges is reproduced with accuracy within a predetermined range. The processing apparatus 100A performs processing for aligning data with respect to shape data in another range.

  The other range is also referred to as a “measured range” because shape data has already been acquired.

  This alignment is performed based on three or more markers that are not on the same straight line and are affixed to portions where the measurement range n1 and the other ranges overlap each other among the plurality of markers TM. This alignment is referred to as “arrangement based on marker”.

  In the present application, simply “three or more markers” means “three or more markers that are not on the same straight line”. In the present application, each marker affixed to the object 50 is also referred to as an “identification point”, and the three-dimensional coordinates of a point on the marker that representatively represents the position of each marker such as the center of the marker are represented by “marker three-dimensional”. Also referred to as “position” or simply “marker position”.

  Moreover, in this application, the data mainly comprised from the marker three-dimensional position (marker position) about each of a some marker is also called "marker position data."

  In the alignment based on the markers, the three-dimensional positions of the markers of the three or more markers in the measurement range n1 are determined based on the correspondence relationship between the three or more markers in the measurement range n1 and the other ranges. Coordinate conversion information to be converted into each marker three-dimensional position of the three or more markers in the range is obtained, and alignment between the shape data in each range is performed using this coordinate conversion information.

  In the present application, the plurality of markers provided in the measurement range n1 on the object 50 are also referred to as “markers of interest”, and are a plurality of markers provided in the other ranges described above in a predetermined reference coordinate system. A marker whose marker position has already been obtained is also referred to as a “reference marker”, and three or more markers in an overlapping portion between the measurement range n1 and the other range are also referred to as three or more “common markers”. In other words, the three or more common markers are notable markers and reference markers.

  As the marker, for example, a circular seal on which a color that can be measured by the three-dimensional digitizer 30A such as white is applied, or a black ring with a predetermined width drawn on a circular seal such as white is used. .

  The form (shape, color, pattern, etc.) of each marker may be the same between the markers, or may be different between the markers by allowing duplication.

  In addition, as the identification point, for example, a spherical or hemispherical member is attached to the object by a magnetic force or an adhesive force, and is adopted as the identification point.

  As the marker three-dimensional position of the spherical or hemispherical member, for example, the center coordinates of the member obtained by fitting the known shape data of the member to the shape data of the member obtained by three-dimensional measurement is adopted. Is done.

  As described above, the identification point is not limited to a planar one, but may be a three-dimensional shape, and the attachment method of the identification point to the object may employ various methods such as adhesive force, magnetic force, and the like.

  The three-dimensional measurement system 500A also supports marker position indicating light indicating the positions of a plurality of markers of interest recognized in the measurement range n1 in order to support the operation of setting the measurement range n1 with respect to the other ranges described above. A plurality of reference markers (also referred to as “first position indication light”) 23 are projected from the indication light projection unit 21A of the three-dimensional digitizer 30A toward the object 50, and are recognized in the other ranges described above. The marker position indicating light (also referred to as “second position indicating light”) 24 indicating the respective positions of the three-dimensional digitizer 30A is projected toward the target object 50 from the indicating light projector 21A of the three-dimensional digitizer 30A.

  In this case, the first position indicating light 23 is illuminated so that three or more common markers are illuminated with markers other than the common marker among the plurality of reference markers in at least one of temporal and morphological aspects. And the second position indicating light 24 are projected.

  Also, the three-dimensional measurement system 500A projects each position indicating light so that three or more common markers are further illuminated in a different manner from markers other than the common marker among the markers of interest in the measurement range n1. Also do.

  In FIG. 1, in order to appropriately set the measurement range n1 for measuring the three-dimensional shape with respect to the target object 50, the five markers TM provided on the target object 50 are within the current measurement range n1. For the three existing markers TM, the first position indicating light 23 indicating the position of each marker TM is projected from the indicating light projector 21A (FIG. 2) provided in the three-dimensional digitizer 30A.

  The measurement stand 32 includes a wheel (not shown) in the pedestal portion, and the position thereof can be changed.

  The arm portion 32a of the measurement stand 32 is movable along the support column of the measurement stand 32, and includes a free pan head to which a three-dimensional digitizer 30A can be attached at the tip.

  The three-dimensional digitizer 30A is attached to the measurement stand 32 via a free pan head or the like, and the posture can be adjusted within a predetermined angle range.

  Therefore, the three-dimensional digitizer 30A attached to the measurement stand 32 can change the position and orientation (also referred to as “arrangement”) relative to the object 50, and the measurement range n1 can be changed by changing the arrangement. It can be changed.

  The measurement range n1 is changed by the measurement person adjusting the arrangement of the three-dimensional digitizer 30A while confirming the first position indicating light 23.

  In FIG. 1, the arrangement of the three-dimensional digitizer 30 </ b> A is adjusted using the measurement stand 32. For example, the three-dimensional digitizer 30 </ b> A is attached to a manipulator, and the measurer The setting range of the measurement range n1 may be adjusted while confirming the arrangement relationship and the first position indicating light 23.

  Next, the three-dimensional digitizer 30A and the processing apparatus 100A will be described in detail with reference to FIG.

[Three-dimensional digitizer 30A:]
A three-dimensional digitizer 30A shown in FIG. 2 includes a measuring unit 10A and an indicator light projecting unit 21A. Instead of the measurement unit 10A, a measurement unit 10B having a different configuration from the measurement unit 10A may be provided.

◎ Measurement unit 10A:
The measurement unit 10A mainly includes an input / output unit 1, a control unit 2, a detection light projecting unit 3, an image photographing unit 4A, a shape calculating unit 5, and a storage unit 6.

  The measuring unit 10A is connected to the processing device 100A via the input / output unit 1, performs three-dimensional measurement of the object 50 in accordance with a control command from the processing device 100A that has detected the three-dimensional measurement start signal, and measures the shape. The processing apparatus that has detected the marker measurement start signal to supply the data d3 to the processing apparatus 100A and to perform a marker position acquisition process for acquiring the marker three-dimensional position of the marker TM performed by the marker position acquisition unit 12 of the processing apparatus 100A. Image data d2 obtained by performing “marker measurement” for measuring image data of the marker TM provided on the object 50 in accordance with a control command from 100A, and shape data d3 ′ generated from this image Supplied to the processing apparatus 100A.

  In the processing apparatus 100A, the image data d2 and the shape data d3 ′ are used for the marker position acquisition process and the like, and the shape data d3 has already been acquired for the marker position acquired by the marker position acquisition process and other imaging ranges. This is used for alignment based on the correspondence with the marker position.

  Since the three-dimensional shape data d3 ′ is shape data for acquiring the marker position, the capacity can be saved by reducing the number of pixels of the image data d2 with respect to the image data d1, and the subsequent three-dimensional processing and The speed of marker position acquisition processing and the like can be increased.

  The input / output unit 1 includes, for example, a USB interface and is an information exchange interface between the measurement unit 10A and the processing apparatus 100A.

  The control unit 2 controls each functional element of the measurement unit 10A and exchanges information with each functional element.

  The detection light projector 3 temporally places the first detection light 21 used for the three-dimensional measurement and the second detection light 22 used for the marker measurement into a region including the measurement range set for the object 50. This is a functional unit that sequentially emits light.

  The detection light projecting unit 3 includes a light source that generates each detection light, a light projecting optical system for projecting the detection light to the object 50, and the like according to the three-dimensional measurement method of the measurement unit 10A. A detection light shaping optical system, a scanning mechanism, and the like are provided.

  Moreover, the intensity | strength of the 1st detection light 21 and the 2nd detection light 22 is suitably adjusted according to the optical characteristic of the target object 50 and a marker, respectively.

  Note that “sequentially in time” in the relationship between the first detection light 21 and the second detection light 22 means that both the detection lights are switched when the first detection light 21 and the second detection light 22 are switched. This includes cases where there is a period during which light is projected.

  The image capturing unit 4A captures images of the first detection lights 21 and 22 reflected by the measurement range n1 of the object 50 as image data d1 and d2, respectively.

  The photographing conditions such as exposure of the image photographing unit 4A are appropriately adjusted according to the optical characteristics of the object 50 when photographing the first detection light 21, and the optical of the marker when photographing the second detection light 22. It adjusts suitably according to the characteristic.

  Image data d1 and d2 photographed by the image photographing unit 4A are supplied to the shape calculating unit 5 through the control unit 2.

  The shape calculation unit 5 is a calculation unit configured by a CPU or the like, and using the three-dimensional parameter stored in the storage unit 6 configured by a memory or the like, the detection light projecting unit 3 and the image capturing unit 4A In accordance with the principle of triangulation based on the base line length, calculation is performed to obtain the shape data d3 and d3 ′ expressed in the measuring machine coordinate system C1 (FIG. 5) from the image data d1 and d2, respectively.

  The acquired shape data d3, shape data d3 ′, and image data d2 measured by the light receiving optical system 4A are stored in the storage unit 6 and supplied to the processing device 100A in response to a command from the processing device 100A. .

  FIG. 3 is a diagram illustrating a functional block diagram of the image capturing unit 4A.

  The image photographing unit 4A includes a light receiving element unit 4b and a set of photographing units including a light receiving optical system 4a that forms an image of incident light on the light receiving element unit 4b, and the measurement range set for the object 50. n1 is the field of view of the set of imaging units.

  The light receiving element unit 4b includes, for example, a CCD sensor having a number of pixels of 640 pixels × 480 pixels (VGA), a light receiving element such as CMOS, and detection light among light incident on the light receiving element unit 4b from the light receiving optical system 4a. It mainly includes a band pass filter that selectively transmits the detection light projected from the light projecting unit 3 and a processing circuit that processes an output signal from the light receiving element. It converts into a pixel signal, and supplies it to the control part 2 as image data d1 and d2 which are the collection of each pixel signal.

  Since the image photographing unit 4A includes only one set of photographing units, when the shape calculating unit 5 acquires three-dimensional coordinates for each point on the object 50 corresponding to each pixel, each pixel and the target A plane (projection plane) of detection light passing through a straight line (camera line of sight) connecting each point on the object 50 and the projection center of the detection light projection unit 3 (the principal point of the lens, etc.), or Calculation based on the principle of triangulation is performed in relation to a straight line (projection line of sight).

  There are various methods for the three-dimensional measurement of the measurement unit 10A based on the principle of triangulation. For example, when the light cutting method is used, the first detection light 21 is usually a laser from a laser light source. Slit light obtained by shaping light into a plate shape is employed, and the first detection light 21 is scanned on the object 50 by a scanning mechanism. In this case, as the second detection light 22, for example, slit light whose scanning speed is faster than that of the first detection light 21 is used, and the speed of marker measurement with respect to three-dimensional measurement is increased.

  When the pattern projection method is used as the three-dimensional measurement method of the measurement unit 10A, the first detection light 21 is a plurality of types of striped pattern light having different stripe intervals from light from a light source such as a halogen lamp. A group generated is employed, and the pattern light group is sequentially projected onto the object 50.

  In this case, as the second detection light 22, for example, a pattern light group in which the type of pattern light is reduced as compared with the first detection light 21 for three-dimensional measurement is adopted, and the marker measurement speed for the three-dimensional measurement is high. Is achieved.

◎ Measurement unit 10B:
Next, the measurement unit 10B will be described. The measurement unit 10B mainly includes an input / output unit 1, a control unit 2, a detection light projecting unit 3, an image photographing unit 4B, a shape calculating unit 5, and a storage unit 6.

  In each functional element of the measurement unit 10B and the measurement unit 10A, the configuration is different only in the image capturing unit 4B, but in order to match the difference between the image capturing units 4A and 4B, control in other functional units There are parts with different contents and processing contents.

  Below, only the function part which has the difference with 10 A of measurement parts about each function part of the measurement part 10B is demonstrated.

  First, the image photographing unit 4B will be described.

  FIG. 4 is a diagram illustrating a functional block diagram of the image capturing unit 4B. The image capturing unit 4B includes a light receiving optical system 4a and a light receiving element unit 4b, and a light receiving optical system 4c and a light receiving element unit 4d. There are two sets of shooting units.

  The light receiving element portions 4b and 4d are, for example, a light receiving element such as a CCD sensor or CMOS having a predetermined number of pixels, and a detection light projecting portion of light incident on the light receiving element portions 4b and 4d from the light receiving optical systems 4a and 4c, respectively. 3 mainly includes a band-pass filter that selectively transmits the detection light projected from 3 and a processing circuit that processes an output signal from the light receiving element. The incident light is converted into a pixel signal for each pixel. And is supplied to the control unit 2 as image data d1 and d2 which are a set of pixel signals.

  The measurement range n1 of the image capturing unit 4B set for the object 50 is a region included in the region where the visual field areas for the two sets of image capturing units overlap on the object 50.

  In addition, although it is the structure provided with only two imaging parts in FIG. 4, the structure provided with three or more imaging | photography parts may be sufficient.

  The measurement unit 10B includes the detection light projecting unit 3 and the two sets of imaging units of the image capturing unit 4B by adopting the image capturing unit 4B, and performs three-dimensional measurement of the object 50 by the active stereo method. In addition to supplying the measured shape data d3 to the processing apparatus 100A, the image data of the marker TM provided on the object 50 is measured in order to use for the marker position acquisition process of extracting the position of the marker TM by image processing or the like. The image data d2 obtained by performing the “marker measurement” is supplied to the processing apparatus 100A.

  In the measurement unit 10B that employs the active stereo method, unlike the normal passive stereo method, the first detection light 21 is projected from the detection light projecting unit 3 to the measurement range n1, and the two imaging units of the image capturing unit 4B. Then, each image data d1 is photographed.

  As the first detection light 21, as in the measurement unit 10 </ b> A, slit light that scans the measurement range n <b> 1, multiple types of pattern light that is projected over the entire measurement range n <b> 1, and the like are employed.

  In addition, the shape calculation unit 5 obtains the phase information of the first detection light 21 and the passage time information of the detection light based on the respective image data d1, and uses these information in each image data d1 that is a stereo image. Corresponding points are assigned, and calculation is performed to acquire shape data d3 expressed in the measuring machine coordinate system C1 (FIG. 5) according to the principle of triangulation based on the base line length between the two image capturing units of the image capturing unit 4B.

  However, in the marker position acquisition process in the marker position acquisition unit 12, it is possible to employ a technique of searching for corresponding points between stereo images based on the marker to obtain only the marker position, and therefore projection of pattern light as the second detection light 22. When employed, detection light different from the second detection light 22 in the measurement unit 10A can be employed.

  That is, the detection light projecting unit 3 of the measurement unit 10B does not form the light from the light source into the pattern light, but projects the detection light (“flat light”) through the optical system with a substantially uniform light amount over the entire measurement range n1. As the second detection light 22.

  When slit light is used, slit light similar to that of the measurement unit 10 </ b> A is used as the second detection light 22.

  The image capturing unit 4B captures the reflected light of the second detection light 22 by each capturing unit and acquires each image data d2.

  The acquired shape data d3 and each image data d2 are stored in the storage unit 6, and are supplied to the processing device 100A in response to a command from the processing device 100A.

  In the processing apparatus 100A, each image data d2 is used for a marker position acquisition process or the like, and the shape data d3 is a marker position acquired by the marker position acquisition process and a marker position already acquired for another imaging range. It is used for arrangement matching based on the correspondence relationship.

◎ Indicating light projector 21A:
The instruction light projecting unit 21A mainly includes the input unit 7, the image display unit 8, and the projecting optical system 9, and each of the instruction light images 23d and 24d (each described later) supplied from the processing apparatus 100A. Based on this, the first position indicating light 23 and the second position indicating light 24 described above are projected toward the object 50.

  The input unit 7 includes a USB interface, for example, and is an information exchange interface between the instruction light projecting unit 21A and the processing device 100A.

  The image display unit 8 is a display device that displays the instruction light images 23d and 24d, and includes, for example, an LCD.

  Further, the images of the indicator light images 23d and 24d on the image display unit 8 are expressed by the projector coordinate system C2, and the arrangement information of the projector coordinate system C2 with respect to the measuring machine coordinate system C1 is the projector arrangement information CP1 (FIG. 5, FIG. 5). As shown in FIG. 6), the projector arrangement information CP1 does not change.

  The light projecting optical system 9 includes a light source, an optical system for projecting the first position indicating light 23 and the second position indicating light 24 onto the object 50, and the light emitted from the light source is used for image display. The light enters the optical system as light corresponding to the instruction light images 23d and 24d through the unit 8, and is converted into the first position instruction light 23 and the second position instruction light 24 by the optical system, respectively, toward the object 50. To be flooded.

  The instruction light projecting unit 21A appropriately changes the display state of the instruction light images 23d and 24d on the image display unit 8 according to control from the processing device 100A for the first position instruction light 23 and the second position instruction light 24. As a result, only one of the first position indicating light 23 and the second position indicating light 24 can be projected, and each can be alternately switched in terms of time.

  Further, when the temporal switching time is short enough to cause the measurer to perceive afterimages of the first position indicating light 23 and the second position indicating light 24 that are alternately projected, for example, The temporal intensity (luminance) changes of the indicator light images 23d and 24d corresponding to the first position indicator light 23 and the second position indicator light 24 projected over a predetermined period longer than the switching time are averaged. A configuration and control for projecting the first position indicating light 23 and the second position indicating light 24 by acquiring one image by the processing device 100A and displaying it on the image display unit 8 over the predetermined period is adopted. Also good.

  In addition, according to control from the processing apparatus 100A, the measurement unit 10A (10B) measures a series of operations (referred to as “marker position measurement”) such as measuring the image data d2 for the marker to determine the three-dimensional position of the marker, and instructions The combination with the operation of projecting the marker position indicating light by the light projecting unit 21A can be performed once every time the control processing unit 20A detects the marker measurement start signal.

  In addition, after the control processing unit 20A detects the marker measurement start signal, the operation of the combination can be continuously repeated until the three-dimensional measurement start signal is detected.

  In the case where the combination operation of marker position measurement and marker position instruction light projection is continuously repeated, at least the first position instruction light 23 is emitted as the marker position instruction light, and the second detection light 22 and the marker position are emitted. If the indicator light and the indicator light are projected alternately in time, the first position indicator light 23 is projected based on the marker three-dimensional position of the marker of interest obtained from the latest marker position measurement result. Even when the measurement range n1 is set while changing the position of the three-dimensional digitizer 30A, the three-dimensional measurement system 500A determines whether or not the measurement range n1 is a desired measurement range and performs alignment. The latest information useful for determining the suitability of the measurement range, such as whether or not the required number of identification points are recognized by the three-dimensional measurement system, can be presented on the object 50, and the efficiency can be improved. There can assist the setting work of the measurement range.

  Here, when the second detection light 22 and the marker position instruction light are alternately projected in time, both are output at the time of switching between the second detection light 22 and the marker position instruction light. Cases are also included.

  Further, for example, light in a wavelength region that does not pass through a bandpass filter included in the image pickup unit 4A (4B) of the measurement unit 10A (measurement unit 10B) as a light source of the projection optical system 9 of the instruction light projection unit 21A. In addition, a wavelength region in which the first position indicating light 23 is not detected by the image pickup unit 4A (4B) by adopting a light source that generates visible light having a color that can be identified by the measurer from the second detection light 22 If the configuration that becomes visible light having a color different from that of the second detection light 22 is employed, the three-dimensional measurement system 500A is in a period during which the image capturing unit 4A (4B) measures the second detection light 22. In addition, the second detection light 22 and the first position indication light 23 can be projected together, and the measurer who sets the measurement range n1 also uses the first position indication light 23 during the period. Recognize from It is possible.

  Therefore, the three-dimensional measurement system 500A can adopt a simple control method as compared with the case where the projection timings of the second detection light 22 and the first position indication light 23 are strictly divided, respectively. Even during the period when both the second detection light 22 and the first position indication light 23 are projected, the measurement range n1 becomes a desired measurement range for the measurer who sets the measurement range n1. Information useful for determining whether or not the measurement range is appropriate, such as whether or not the number of identification points necessary for alignment is recognized by the three-dimensional measurement system, can be efficiently displayed. Can support measurement range setting work.

  In addition, each marker position indicating light may be projected using a plurality of indicating light projecting units. For example, the detection light from the detecting light projecting unit 3 of the measuring unit 10A (10B) is used as an LCD. When projecting, the functions of the detection light projecting unit 3 and the instruction light projecting unit 21A may be realized using a single projecting device.

  Here, although CP1 which is the arrangement information of the projector coordinate system C2 with respect to the measuring machine coordinate system C1 does not vary, for example, an arrangement reference unit such as an indoor GPS transmitter is provided in the measurement unit 10A (measurement unit 10B), When the indicator light projection unit 21A provided with an arrangement detection unit such as a GPS receiver is provided outside the housing of the three-dimensional digitizer 30A, the arrangement of the projector coordinate system C2 is determined by the measuring machine coordinate system. Since it is always calculated | required by known projector arrangement | positioning information CP1 which gives the relative arrangement | positioning information of the projector coordinate system C2 with respect to C1, the effect similar to this embodiment is acquired.

[Processing apparatus 100A:]
Next, the processing apparatus 100A will be described.

  As illustrated in FIG. 2, the processing device 100A includes a display unit 10, an input / output unit 11, a marker position acquisition unit 12, a correspondence relationship acquisition unit 15, a coordinate conversion unit 16, an instruction light image acquisition unit 17A, an operation unit 33, The storage unit 34 and the control processing unit 20A are mainly provided.

  Based on the image data d2 and the shape data d3 ′ supplied from the measurement unit 10A of the three-dimensional digitizer 30A, the processing device 100A uses the marker three-dimensional markers of the plurality of markers of interest provided in the measurement range n1 on the object 50. First position data d4 each representing a position in the measuring machine coordinate system C1 (FIGS. 5 and 6) of the three-dimensional digitizer 30A is acquired, and the positions of a plurality of markers of interest are respectively determined based on the first position data d4. An image (also referred to as “instruction light image”) 23d for projecting the first position instruction light 23 shown from the instruction light projector 21A toward the object 50 is generated and supplied to the instruction light projector 21A. To do.

  In addition, when there are a plurality of reference markers provided on the target object 50, the processing device 100A represents the third three-dimensional positions of the plurality of reference markers represented by a predetermined reference coordinate system C3 (FIG. 6). Based on the two position data d6 and three or more common markers, the first position data d4 is coordinate-converted into third position data d5 expressed in a reference coordinate system that is a coordinate system for the reference marker.

  When the third position data d5 is obtained, the processing device 100A sends the first position instruction light 23 indicating the positions of the plurality of markers of interest from the instruction light projector 21A to the object 50 based on the third position data d5. An instruction light image 23d for projecting toward is generated and supplied to the instruction light projector 21A.

  In addition, the processing apparatus 100A generates a second instruction light image 24d for projecting the second position instruction light 24 indicating the positions of the plurality of reference markers from the instruction light projector 21A toward the object 50. Based on the position data d6, it is generated and supplied to the instruction light projector 21A.

  In the processing apparatus 100A, for the first position indicating light and the second position indicating light, the three or more common markers do not exist in a plurality of reference markers different from the three or more common markers, that is, in the current measurement range. The instruction light image 23d and the instruction light image 24d are generated so as to be identified from the reference marker and supplied to the instruction light projector 21A.

  The operation unit 33 shown in FIG. 2 includes, for example, a keyboard, a mouse, and operation buttons, and inputs various operation signals such as a marker measurement start signal and a three-dimensional measurement start signal to the control processing unit 20A. In addition, it is used for applications such as setting of processing device parameters used for control and processing of each part of the processing device 100A and setting of measurement parameters at the time of three-dimensional measurement. And stored in the storage unit 34.

  The stored measurement parameters and the like are acquired by the control processing unit 20A when necessary, and supplied to each unit of the processing apparatus 100A and the three-dimensional digitizer 30A.

  The display unit 10 includes, for example, a liquid crystal display, a CRT, and the like, and can display moving images. Image information such as a three-dimensional shape of measured shape data, various messages, and the like are displayed on the display unit 10. . Further, when various parameters, device arrangement information, and the like are input from the operation unit 33, these information are displayed on the display unit 10 and used for confirmation of input values.

  The input / output unit 11 includes a USB interface and the like, and is an information exchange interface between the processing device 100A and the three-dimensional digitizer 30A.

  The storage unit 34 includes, for example, a hard disk, a ROM, a RAM, and the like. The information output from each unit of the processing device 100A, such as the second position data d6, various shape data and image data arranged, and the processing device. Permanent storage of parameters necessary for each part of the three-dimensional measurement system 500A, such as processing apparatus parameters and measurement parameters set for controlling each part of the 100A, and a control program for controlling the operation of each part of the processing apparatus 100A And temporary storage of various information. Further, when the 3D digitizer 30A is of a type that causes the processing device 100A to convert the measured 2D image of the target object into shape data, the 3D parameters required for the conversion are also included. It is stored in the storage unit 34.

  Further, in the relationship between the measuring machine coordinate system C1 that is the coordinate system of the measuring unit 10A and the projector coordinate system C2 (FIGS. 5 and 6) that is the coordinate system of the indicator light projecting unit 21A, The projector arrangement information CP1 indicating the arrangement of the projector coordinate system C2 is also stored in the storage unit 34 by an input from the operation unit 33 or an input from the three-dimensional digitizer 30A.

  The marker position acquisition unit 12, the correspondence acquisition unit 15, the coordinate conversion unit 16, the instruction light image acquisition unit 17A, and the control processing unit 20A described below are realized by executing a predetermined control program on the CPU. Alternatively, it may be realized using a dedicated hardware circuit.

Control processing unit 20A:
The control processing unit 20A controls other functional units of the processing apparatus 100A and necessary information with other functional units in accordance with various operation signals such as a marker measurement start signal and a three-dimensional measurement start signal input from the operation unit 33. And the control of the measuring unit 10A (10B) and the indicator light projecting unit 21A constituting the three-dimensional digitizer 30A and the exchange of information.

Marker position acquisition unit 12:
The marker position acquisition unit 12 shown in FIG. 2 is a measuring machine that indicates the three-dimensional positions of a plurality of markers of interest in the measurement range n1 based on image data d2 and the like supplied from the three-dimensional digitizer 30A via the input / output unit 11. First position data d4 expressed in the coordinate system C1 is generated and supplied to the correspondence relationship acquisition unit 15 and the coordinate conversion unit 16.

○ Generation of the first position data d4 for the output of the measurement unit 10A:
When the measurement unit 10A is employed as the measurement unit of the three-dimensional digitizer 30A, for example, the marker position acquisition unit 12 first extracts an image of each marker of interest from the image data d2 by image processing such as edge extraction processing, A pixel position (two-dimensional) corresponding to the center of each marker is obtained from this image.

  Next, the marker position obtaining unit 12 obtains the first position data d4 by obtaining the three-dimensional position of each marker of interest by obtaining the three-dimensional coordinates corresponding to the obtained pixel positions from the shape data d3 '.

○ Generation of the first position data d4 for the output of the measurement unit 10B:
When the measurement unit 10B is employed as the measurement unit of the three-dimensional digitizer 30A, the marker position acquisition unit 12 first focuses each image data d2 by image processing such as edge extraction processing from each image data d2. A marker image is extracted, and a pixel position corresponding to the center of each marker is obtained for each image data d2 from this image.

  Next, the marker position acquisition unit 12 associates pixel positions corresponding to the centers of the markers between the image data d2 that are stereo images, and based on the obtained correspondence relationship, the image capturing unit 4B. The first position data d4 is obtained by obtaining the three-dimensional position of each marker of interest by the principle of triangulation based on the baseline length between the two imaging units.

○ About the reliability acquisition unit 13 and the marker form acquisition unit 14:
The marker position acquisition unit 12 includes a reliability acquisition unit 13 and a marker form acquisition unit 14.

  For example, the reliability acquisition unit 13 compares the pixel value of each marker portion of the image data d2 with a predetermined threshold value to determine whether the marker portion has insufficient light amount or whether or not the light amount is saturated. A reliability is added to each marker three-dimensional position in the position data d4.

  When the marker forms (shape, color, pattern, etc.) on the object 50 are different, the marker form acquisition unit 14 is based on the image data d2 according to the control from the control processing unit 20A. The form of each marker is acquired by processing and added to the first position data d4.

◎ Correspondence acquisition unit 15:
The correspondence acquisition unit 15 shown in FIG. 2 has three or more of the first position data d4 supplied from the marker position acquisition unit 12 and the second position data d6 supplied from the storage unit 34 via the control processing unit 20A. The common marker position data is searched for the first position data d4 and the second position data d6, respectively, and the correspondence relationship between the first position data d4 and the second position data d6 of the three or more searched common markers is obtained. A certain marker correspondence R <b> 1 is generated and supplied to the coordinate conversion unit 16.

  In addition, for the search for the three or more common markers described above, the correspondence acquisition unit 15 first extracts all combinations of three or more markers for each of the first position data d4 and the second position data d6, for example. To do. Next, paying attention to the shape (also referred to as “marker position shape”) expressed by the marker three-dimensional position for each extracted combination, the marker position shape between the first position data d4 and the second position data d6 Extracts the combination closest to the congruence relationship, and searches for three or more markers constituting the extracted combination as three or more common markers for each of the first position data d4 and the second position data d6.

Coordinate conversion unit 16:
The coordinate conversion unit 16 shown in FIG. 2 is common to the first position data d4 expressed by the measuring machine coordinate system C1 of the three-dimensional digitizer 30A based on the marker correspondence R1 supplied from the correspondence acquisition unit 15. Coordinate conversion information M1 for converting each three-dimensional position of the marker to each three-dimensional position of the common marker in the second position data d6 expressed in a predetermined reference coordinate system C3 is obtained.

  The coordinate conversion information M1 is expressed by affine transformation expressed in the form of the expression (1) or (2). The coordinate conversion information M1 is also information that gives an arrangement relationship of the measuring machine coordinate system C1 with respect to the reference coordinate system C3.

  Specifically, the coordinate conversion information M1, for example, affine-transforms the three-dimensional position of each common marker in the first position data d4 into the three-dimensional position of each common marker in the second position data d6 according to the marker correspondence R1. Are generated by, for example, obtaining simultaneous equations corresponding to each of them, and obtaining a transformation matrix of the affine transformation represented by the formula (1) or (2) using the least square method.

  Further, the coordinate conversion unit 16 applies the generated coordinate conversion information M1 to the first position data d4 supplied from the marker position acquisition unit 12, thereby making the first position data d4 expressed in the measuring machine coordinate system C1. Is converted into a reference coordinate system C3 for the third position data d5.

  The coordinate conversion unit 16 also receives the supply of the shape data d3 for the measurement range n1 via the control processing unit 20A, and applies the coordinate conversion information M1 to the shape data d3, whereby the shape expressed in the measuring machine coordinate system C1. The data d3 is coordinate-transformed into shape data d7 expressed in the reference coordinate system C3.

  The acquired third position data d5, shape data d7, and coordinate conversion information M1 are supplied to the control processing unit 20A, and displayed on the display unit 10 and the instruction light images 23d and 24d in the instruction light image acquisition unit 17A. Used for acquisition.

◎ Indicating light image acquisition unit 17A:
The instruction light image acquisition unit 17A illustrated in FIG. 2 mainly includes an image position calculation unit 18A and an image mode acquisition unit 19.

  The instruction light image acquisition unit 17A receives the first position data d4, the third position data d5, the second position data d6, the projector arrangement information CP1, the coordinate conversion information M1, and the like from the control processing unit 20A, and receives the image position calculation unit. 18A calculates the image positions of the indicator light images 23d and 24d, and the image mode acquisition unit 19 acquires the mode of the indicator light images 23d and 24d, thereby generating the indicator light images 23d and 24d.

  The generated instruction light images 23d and 24d are supplied to the instruction light projector 21A via the control processing unit 20A, and the first position instruction light 23 and the plurality of reference markers respectively indicating the positions of the plurality of markers of interest. Are used for projecting the second position indicating light 24 indicating the positions of.

  Next, the image position calculation unit 18A and the image mode acquisition unit 19 will be described with reference to FIGS.

Image position calculation unit 18A:
In the three-dimensional digitizer 30A, the arrangement relationship between the measurement unit 10A (10B) and the indicator light projecting unit 21A is fixed.

  Accordingly, the projector arrangement information CP1 expressing the arrangement information of the projector coordinate system C2 with respect to the measuring machine coordinate system C1 is a fixed expression of the arrangement relationship of the projector coordinate system C2 with respect to the measuring machine coordinate system C1, and is the reference coordinate system. When the arrangement of the measuring machine coordinate system C1 in C3 is changed, the arrangement of the projector coordinate system C2 in the reference coordinate system C3 is also changed in the same manner.

  The projector arrangement information CP1 is stored in advance in the storage unit 34, for example, and is used when the image position calculation unit 18A obtains the position of the indicator light image corresponding to the marker position indicator light.

  FIG. 5 is a diagram for explaining a technique for acquiring the instruction light image 23d corresponding to the first position instruction light 23 which is the marker position instruction light based on the first position data d4 expressed in the measuring machine coordinate system C1. is there.

  The object 50 shown in FIG. 5 is provided with three markers TM1 as the target marker, and is based on the instruction light image 23d displayed on the image display unit 8 of the instruction light projector 21A (FIG. 2). The generated first position indicating light 23 is projected onto each target marker TM1 through the principal point 9a of the light projecting optical system 9.

  The first position data d4 indicating the marker three-dimensional position of each marker of interest TM1 is given by the measuring machine coordinate system C1, and the coordinates of the principal point 9a of the light projecting optical system 9 are given by the projector coordinate system C2. Is given.

  Here, since the image generated on the image display unit 8 is generated in the projector coordinate system C2, the position of the instruction light image 23d needs to be expressed in the projector coordinate system C2.

  Accordingly, the image position calculation unit 18A projects the projector for the measuring machine coordinate system C1 in order to obtain the instruction light image 23d capable of projecting the first position instruction light 23 that appropriately indicates the position of each marker of interest TM1. The first position data d4 is coordinate-converted into marker position data expressed by the projector coordinate system C2 using the projector arrangement information CP1 which is the arrangement relationship of the coordinate system C2, and each marker of interest TM1 expressed by the marker position data, respectively. The position of the indicator light image 23d on the image display unit 8 is obtained by obtaining the coordinates of the intersection of the straight line connecting the position of the image and the principal point 9a with the plane representing the image display unit 8 in the projector coordinate system C2. To get.

  FIG. 6 corresponds to the first position indicating light 23 and the second position indicating light 24, which are marker position indicating lights, based on the third position data d5 and the second position data d6 expressed in the reference coordinate system C3. It is a figure explaining the method of acquiring the instruction | indication light images 23d and 24d.

  The object 50 shown in FIG. 6 is provided with three focus markers TM1 and three reference markers TM2, and the indicator light image displayed on the image display unit 8 of the indicator light projector 21A (FIG. 2). The first position indicating light 23 and the second position indicating light 24 generated based on 23d and 24d are respectively projected onto the target marker TM1 and the reference marker TM2 via the principal point 9a of the light projecting optical system 9. Yes.

  The third position data d5 and the second position data d6 indicating the marker three-dimensional positions of each marker of interest TM1 and each of the reference markers TM2 are given by the reference coordinate system C3, respectively. The coordinates of the point 9a are given by the projector coordinate system C2.

  The coordinate conversion information M1 is obtained by the coordinate conversion unit 16, and gives the arrangement information of the measuring machine coordinate system C1 with respect to the reference coordinate system C3.

  Accordingly, the arrangement of the projector coordinate system C2 with respect to the reference coordinate system C3 is given by the composite transformation CP1 * M1.

  Here, since the image generated on the image display unit 8 is generated in the projector coordinate system C2, the positions of the indicator light images 23d and 24d need to be expressed in the projector coordinate system C2.

  Therefore, the image position calculation unit 18A can indicate the instruction light image 23d capable of projecting the first position instruction light 23 and the second position instruction light 24 that appropriately indicate the positions of the respective markers of interest TM1 and the reference markers TM2. And 24d, the third position data d5 and the second position data d6 are expressed in the projector coordinate system C2 by using the combined transformation CP1 * M1 that gives the positional relationship of the projector coordinate system C2 with respect to the measuring machine coordinate system C3. Each coordinate position is converted to the marker position data, and the straight line connecting the positions of the respective markers of interest TM1 and reference markers TM2 and the principal point 9a respectively expressed by the marker position data and the image display unit 8 are projected by the projector coordinate system C2. By obtaining the coordinates of the intersection point with the plane to be expressed, the image positions of the indicator light images 23d and 24d on the image display unit 8 are obtained. That.

○ Image mode acquisition unit 19:
The image mode acquisition unit 19 is configured such that the first position indicating light 23 and the second position indicating light 24 have a desired size and form (shape, color, pattern, illuminance, etc.) for each target marker and each reference marker on the object 50. The mode (shape, color, pattern, brightness, etc.) of the indicator light images 23d and 24d formed at the respective image positions on the image display unit 8 acquired by the image position calculation unit 18A is obtained. .

  Since the projection magnification of the indication light images 23d and 24d with respect to the first position indication light 23 and the second position indication light 24 is obtained from the calculation result of the image position calculation unit 18A, the image mode acquisition unit 19 calculates the projection magnification to the projection magnification. Based on this, the sizes of the indicator light images 23d and 24d formed at the respective image positions on the image display unit 8 are obtained.

  Further, the image mode acquisition unit 19 may change the mode of the indication light image 23d and the indication light image 24d formed at each image position on the image display unit 8 to the same mode for all image positions. According to the control command from the control processing unit 20A, the first position of the aspect according to the reliability of the marker three-dimensional position of each marker acquired by the reliability acquisition unit 13 and the form of each marker acquired by the marker form acquisition unit 14 You may obtain | require the aspect of the instruction | indication light images 23d and 24d of each image position on the image display part 8 so that the instruction | indication light 23 and the 2nd position instruction | indication light 24 are each projected on each marker.

  Further, the image mode acquisition unit 19 uses, for example, three or more of the first position instruction light 23 and the second position instruction light 24 in order to facilitate the setting operation of the measurement range n1 based on each reference marker. Various indicator light images 23d and indicator light images 24d are generated such that the common marker is illuminated in such a manner that it can be identified from a plurality of reference markers different from the three or more common markers.

[Operation of the three-dimensional measurement system 500A:]
Next, an operation example of the three-dimensional measurement system 500A will be described with reference to FIGS.

  FIG. 7 illustrates a state in which a new range having the markers of interest f1 to f3 and fx is set as the measurement range n1 of the three-dimensional digitizer 30A with respect to the measured range n2 provided with the reference markers f1 to f4. FIG.

  Here, Table 1 shows an example of the second position data d6 for the reference markers f1 to f4.

  In Table 1, “Marker ID” at the top is an ID for identifying each reference marker, and “X coordinate”, “Y coordinate”, and “Z coordinate” represent the marker three-dimensional position of each reference marker. "Reliability" is the reliability of the marker three-dimensional position of each reference marker, and each symbol in the lower row is the uppermost row for each of the reference markers f1 to f4 from top to bottom. This is a code that symbolically represents the value corresponding to.

  The second position data d6 for each of the reference markers f1 to f4 is acquired in advance with a predetermined reference coordinate system and stored in the storage unit 34.

  The marker IDs in Tables 1 to 4 and the like are used in various processes such as the correspondence acquisition process in the correspondence acquisition unit 15 by representatively expressing the characteristics of each marker such as the marker three-dimensional position of each marker. It is set to facilitate the handling of the marker.

  Table 2 shows an example of the first position data d4 for the respective markers of interest f1 to f3 and fx in the measurement range n1.

  In Table 2, “Marker ID” at the top is an ID for identifying each marker of interest, and “x coordinate”, “y coordinate”, and “z coordinate” express the marker three-dimensional position of each marker of interest. Each of the coordinates, “reliability” is the reliability of the marker three-dimensional position of each marker of interest, and each symbol in the lower row is for each marker of interest f1 to f3 and fx for each row from top to bottom. It is a code that symbolically represents the value corresponding to the top row.

  The respective markers of interest f1 to f3 and fx in the measurement range n1 are acquired by the marker position acquisition unit 12 based on the image data d2 measured by the three-dimensional digitizer 30A and the first positions shown in Table 2 The data d4 is expressed in the measuring machine coordinate system C1.

  Here, in the first position data d4, the marker ID of each marker of interest is not fixed, and temporary marker IDs h5 to h8 are respectively assigned to the markers of interest f1 to f3 and fx as temporary IDs. It has been.

  The first position data d4 and the second position data d6 are supplied to the correspondence acquisition unit 15 (FIG. 2), and the marker correspondence R1 between the target marker in the measurement range n1 and the reference marker in the measured range n2 is obtained. Desired.

  FIG. 8 shows a marker correspondence relationship between the markers of interest f1 to f3 and fx (FIG. 7) in the measurement range n1 and the reference markers f1 to f4 in the measured range n2 obtained by the correspondence relationship acquisition unit 15 (FIG. 2). It is a figure which shows R1.

  FIG. 8 shows the correspondence between the marker three-dimensional positions for the focus markers f1 to f3 and fx in the measurement range n1 in FIG. 7 and the marker three-dimensional positions for the reference markers f1 to f4 in the measured range n2 in FIG. FIG.

  The marker three-dimensional positions b1 to b4 are obtained by displaying the marker three-dimensional positions for the marker IDs f1 to f4 of the second position data d6 shown in Table 1 in the reference coordinate system C3.

  The marker three-dimensional positions b5 to b8 are obtained by displaying the marker three-dimensional positions for the marker IDs h5 to h8 of the first position data d4 shown in Table 2 in the measuring machine coordinate system C1.

  In FIG. 8, the measurement range n <b> 1 and the measured range n <b> 2 are virtually displayed to facilitate understanding of the correspondence relationship between the marker three-dimensional positions.

  In FIG. 8, based on the correspondence relationship between the triangle b1b2b3, which is one of the marker position shapes in the second position data d6, and the triangle b5b6b7, which is one of the marker position shapes in the first position data d4, The correspondence relationship acquisition unit 15 obtains a marker correspondence relationship R1 that associates the positions b5, b6, and b7 with the marker three-dimensional positions b1, b2, and b3, respectively.

  The obtained marker correspondence R1 is supplied to the coordinate conversion unit 16, and the coordinate conversion information M1 based on the marker correspondence R1 is obtained by the method described above in the coordinate conversion unit 16.

  When the coordinate conversion information M1 is obtained, the coordinate conversion unit 16 applies the coordinate conversion information M1 to the first position data d4 shown in Table 2, and acquires the third position data d5 expressed in the reference coordinate system C3.

  Table 3 shows the third position data d5 generated from the first position data d4 shown in Table 2 and the marker correspondence R1.

  In Table 3, “Marker ID” at the top is an ID for identifying each marker of interest, and “X coordinate”, “Y coordinate”, and “Z coordinate” express the marker three-dimensional position of each marker of interest. Each of the coordinates, “reliability” is the reliability of the marker three-dimensional position of each marker of interest, and each symbol in the lower row is for each marker of interest f1 to f3 and fx for each row from top to bottom. It is a code that symbolically represents the value corresponding to the top row.

  Here, the first position data d4 shown in Table 2 and the third position data d5 shown in Table 3 have different marker IDs and three-dimensional positions.

  The change in the three-dimensional position is due to coordinate conversion from the measuring machine coordinate system C1 to the reference coordinate system C3.

  Next, changes in the marker ID will be described.

  In the coordinate conversion unit 16, the temporary marker IDs h5 to h8 (Table 2) in the first position data d4 shown in Table 2 based on the marker correspondence R1 are the third position data d5. Is updated to f1 to f5 which are marker IDs considering the correspondence between the reference marker and the marker of interest.

  Here, since the marker three-dimensional position of the marker of interest indicated by the temporary marker IDs h5 to h7 corresponds to the marker three-dimensional position of the reference marker indicated by the marker IDs f1 to f3, respectively, the temporary marker ID H5 to h7 are updated to the marker IDs f1 to f3, respectively, and the marker correspondence R1 is not obtained for the marker three-dimensional position indicated by the temporary marker ID h8. The sequential marker ID f5 is assigned to the largest marker ID f4.

  Thus, the third position data d5 is generated from the first position data d4 by updating the marker ID and the marker three-dimensional position based on the marker correspondence R1.

  FIG. 9 is a diagram showing a state in which each marker three-dimensional position of the third position data d5 shown in Table 3 and the second position data d6 shown in Table 1 are displayed in the reference coordinate system C3. . In FIG. 9, as in FIG. 8, the measurement range n <b> 1 and the measured range n <b> 2 are virtually displayed in order to facilitate understanding of the correspondence relationship between the marker three-dimensional positions.

  As shown in FIG. 9, if the marker correspondence relationship R1 obtained by the correspondence relationship acquisition unit 15 is correct, the arrangement relationship of each marker three-dimensional position indicates that each reference marker shown in FIG. It becomes equal to the arrangement relationship.

  The generated first position data d4, third position data d5, coordinate conversion information M1, and the like are supplied to the instruction light image acquisition unit 17A via the control processing unit 20A, and as already described in the instruction light image acquisition unit 17A. In addition, the instruction light image 23d and the instruction light image 24d are generated.

  The generated instruction light image 23d and instruction light image 24d are supplied to the instruction light projector 21A and are projected toward the object 50 as the first position instruction light 23 and the second position instruction light 24.

  When the measurement person determines that the current measurement range is appropriate based on the state of each marker position indicating light on the object 50, a three-dimensional measurement for the measurement range n1 is performed. Shape data d3 representing the three-dimensional shape of the measurement range n1 is acquired in the measurement unit 10A (10B).

  The acquired shape data d3 is coordinate-converted into shape data d7 by using the coordinate conversion information M1 in the coordinate conversion unit 16 of the processing apparatus 100A.

  When the three-dimensional measurement is completed, the third position data d5 is integrated with the second position data d6 and updated as new second position data d6. The updated second position data d6 is used as second position data d6 indicating the three-dimensional position of each reference marker that is a measured marker when a new measurement range is set.

  Table 4 shows the updated second position data d6. The description in Table 4 is the same as in Table 1.

  As shown in Table 4, the updated second position data d6 is different from the second position data d6 before update shown in Table 1 in that the target marker fx shown in FIG. Based on the correspondence R1, the marker ID f5 is set as the assigned reference marker f5.

[Description of Projection Operation of Indicator Light Projection Unit 21A:]
Next, an example of the light projecting operation of the instruction light projecting unit 21A in the three-dimensional digitizer 30A will be described.

  FIG. 10 shows marker position indication light projected from the indication light projection unit 21A (FIG. 2) of the three-dimensional digitizer 30A with respect to the markers of interest f1 to f3 and f5 provided in the measurement range n1 on the object 50. It is a figure which shows the example of the 1st position instruction | indication light 23 which is.

  As shown in FIG. 10, only the first position instruction light 23 is irradiated on the object 50 from the instruction light projector 21 </ b> A.

  Accordingly, when the measurement person performs the arrangement adjustment of the three-dimensional digitizer 30A and sets the measurement range n1, the measurer pays attention to the object 50 without moving his / her line of sight to the display unit 10 of the three-dimensional measurement system 500A. It can be determined whether or not the position of the target identification point has been appropriately obtained, and based on the determination result, the measurement range can be set efficiently by adjusting the arrangement of the three-dimensional digitizer 30A.

  That is, when the measurement person normally sets the measurement range n1 of the three-dimensional digitizer 30A to the object 50, the measurer assumes the range to be measured on the object 50, and places the 3D digitizer 30A directly in the assumed range, for example. The range assumed by causing the three-dimensional digitizer 30A and the measurement range of the three-dimensional digitizer 30A to coincide with each other to obtain the shape data of the desired measurement range. Whether or not the shape data for the desired measurement range can be obtained is determined based on whether or not the light is projected to the measurement range marker, and the three-dimensional measurement is performed only when the desired measurement range is set. It is possible to improve the efficiency of the three-dimensional measurement work.

  From the marker position indicator light projection state shown in FIG. 10, the indicator light projector 21 </ b> A switches the marker position indicator light from the first position indicator light 23 to the second position indicator light 24.

  FIG. 11 shows marker position indication light projected from the indication light projection unit 21A (FIG. 2) of the three-dimensional digitizer 30A with respect to the reference markers f1 to f4 provided in the measured range n2 on the object 50. It is a figure which shows the example of a certain 2nd position instruction | indication light 24. FIG.

  As shown in FIG. 11, only the indication light projector 21 </ b> A or the second position indication light 24 is irradiated on the object 50.

  For example, by alternately switching the instruction light image 23d and the instruction light image 24d supplied from the processing apparatus 100A to the instruction light projector 21A, the projection state of the marker position instruction light is changed from the state of FIG. It is possible to switch alternately to the state in time.

  Even if the first position indicating light 23 and the second position indicating light 24 have the same mode (luminance, pattern of each indicating light, etc.), if this switching operation is repeated, the marker position indicating light is projected. The state becomes the light projection state shown in FIG.

  FIG. 12 shows the indicator light projector 21A of the three-dimensional digitizer 30A (FIG. 12) for the markers of interest f1 to f3 and f5 in the measurement range n1 on the object 50 and the reference markers f1 to f4 of the measured range n2. It is a figure which shows the example of the 1st position instruction | indication light 23 and the 2nd position instruction | indication light 24 which are marker position instruction | indication light projected from 2).

  As shown in FIG. 12, even if the first position instruction light 23 and the second position instruction light 24 have the same mode, the first position instruction light 23 and the second position instruction are displayed in the common markers f1 to f3. Since both of the lights 24 are projected, the brightness of the reference marker f4 belonging to only the measured region n2 and the common markers f1 to f3 are different, and the measurer can use the reference marker f4 and the common markers f1 to f3. And the marker of interest f5 belonging only to the measurement range n1 and the common markers f1 to f3 can be distinguished.

  In addition, if the ratio of the period during which the first position indicating light 23 and the second position indicating light 24 are respectively projected is changed from 1: 1, the measurer is given a common marker f1 to f3, a reference marker f4, Since the target marker f5 is observed as if it is projected in a mutually different manner, the efficiency of setting work of the measurement range n1 by the measurer is improved.

  As described above, if a method of alternately switching the first position indicating light 23 and the second position indicating light 24 in terms of time is adopted, the light source provided in the light projecting optical system 9 of the instruction light projecting unit 21A is used. The measurer is irradiated with the common markers f1 to f3 in a different manner from the other markers only by switching the images displayed on the image display unit 8 temporally alternately while keeping the light quantity constant. For example, the common markers f1 to f3 are identified from the other markers, and the common markers f1 to f3 generate an indicator light image having a different aspect from the other markers, and the indicator light image Based on this, the same effect as in the case of projecting the indicator light can be obtained, the identification of various markers provided on the object 50 can be improved, and the efficiency of setting the measurement range n1 by low-cost control and configuration To improve It can be.

  It should be noted that the light projection periods of the first position instruction light 23 and the second position instruction light 24 may overlap in time when switching between the two.

  FIG. 13 shows a three-dimensional digitizer for the marker of interest f5 in the measurement range n1 on the object 50, the common markers f1 to f3 for the measurement range n1 and the measured range n2, and the reference marker f4 in the measured range n2. It is a figure which shows the example of the light position instruction | indication light 25, 26, and 27 projected from 21 A instruction | indication light projection part 21A (FIG. 2).

  The light position indicating lights 25, 26, and 27 shown in FIG. 13 are generated based on the indicating light images in different modes, and are projected on the object 50. The measurer uses the common marker. f1 to f3 can be distinguished from other markers.

  As described above, even if the common markers f1 to f3 are projected in a different manner from the other markers in the indicator light image, the efficiency of setting the measurement range n1 can be improved without detracting from the usefulness of the present invention. Can do.

[Regarding marker position indicating light when wrong marker correspondence R1 is acquired:]
Next, the marker position indicating light when an incorrect marker correspondence R1 is acquired by the correspondence acquisition unit 15 will be described.

  FIG. 14 is a diagram illustrating an example of the second position indicating light 24 that is the marker position indicating light based on the erroneous marker correspondence R1.

  Reference markers f1 to f8 are provided in the measured range n2 on the object 50 shown in FIG. 14, and second position data d6 (FIG. 2) indicating the three-dimensional positions of the markers of the reference markers f1 to f8. Is expressed in the reference coordinate system C3.

  Further, the marker position shapes represented by the reference markers f1 to f3 and the marker position shapes represented by the reference markers f4 to f6 have a substantially congruent relationship.

  The measurement range of the three-dimensional digitizer 30A is set to the measurement range n1, and the reference markers f1 to f3 are common markers that are also the focus markers f1 to f3.

  The measuring machine coordinate system C1 is defined for the three-dimensional digitizer 30A, and the projector coordinate system C2 is defined by the projector arrangement information CP1 that gives the arrangement of the projector coordinate system C2 with respect to the measuring machine coordinate system C1.

  The second detection light 22 (FIG. 2) is projected from the instruction light projector 21A (FIG. 2) into a range including the measurement range n1, and an image of the reflected light is imaged d2 by the measurement unit 10A (10B). When acquired, first position data d4 (3) indicating the three-dimensional position of each marker of interest markers f1 to f3 expressed in the measuring machine coordinate system C1 based on the image data d2 in the marker position acquisition unit 12 (FIG. 2). FIG. 2) is obtained.

  In the correspondence relationship acquisition unit 15 (FIG. 2), all marker position shapes that can be expressed by the respective markers of interest f1 to f3 are compared with all marker position shapes that can be expressed by the reference markers f1 to f8. A marker correspondence R1 (FIG. 2) is obtained.

  When the marker correspondence R1 is obtained, the coordinate conversion unit 16 obtains coordinate conversion information M1 (FIGS. 2 and 6) based on the marker correspondence R1.

  When the marker correspondence relationship R1 is correctly obtained, the marker correspondence relationship R1 becomes a marker correspondence relationship that associates the target markers f1 to f3 with the reference markers f1 to f3, respectively, and a coordinate conversion unit is based on the marker correspondence relationship R1. In FIG. 16, coordinate conversion information M1t which is correct coordinate conversion information M1 is obtained.

  When the coordinate conversion information M1t is obtained, as described with reference to FIG. 6, the first position indicating light 23 (FIGS. 2 and 6) based on the third position data d5 is focused on based on the combined conversion CP1 * M1t. The second position indicating light 24 (FIGS. 2 and 6) based on the second position data d6 is appropriately projected onto the markers f1 to f3, respectively.

  However, since the marker position shapes represented by the reference markers f1 to f3 and the marker position shapes represented by the reference markers f4 to f6 are substantially congruent, the target markers f1 to f3 are referred to as the reference markers f4 to f6, respectively. There is a case where an incorrect marker correspondence R1 corresponding to is acquired.

  According to the incorrect marker correspondence R1, coordinate conversion information M1f, which is incorrect coordinate conversion information M1, is obtained in the coordinate conversion unit 16, and an incorrect measuring machine coordinate system C1f is determined based on the coordinate conversion information M1f. Further, an incorrect projector coordinate system C2f is determined based on the measuring machine coordinate system C1f and the projector arrangement information CP1.

  In this case, the marker three-dimensional positions of the target markers f1 to f3 in the third position data d5 coincide with the marker three-dimensional positions of the reference markers f4 to f6 in the second position data d6, respectively.

  Therefore, the first position indicating light 23 (FIGS. 2 and 6) based on the third position data d5 is determined by the wrong measuring machine coordinate system C1f and the wrong projector coordinate system C2f based on the composite conversion CP1 * M1f. Light is projected toward the reference markers f4 to f6 from an imaginary indicator light projector in the imaginary three-dimensional digitizer 30Av. The measurement range n3 is an imaginary measurement range for the imaginary three-dimensional digitizer 30Av.

  Similarly, the second position indicating light 24 based on the second position data d6 is also projected from the imaginary indicating light projecting unit toward the reference markers f1 to f8.

  In this case, since the actual instruction light projecting unit 21A exists for the actual three-dimensional digitizer 30A shown in FIG. 14, the third position data d5 that should be accidentally projected onto the reference markers f4 to f6. The first position indicating light 23 based on is projected onto the imaginary reference markers f4v to f6v shown in FIG.

  Here, since the fictitious reference markers f4v to f6v coincide with the reference markers f1 to f3, respectively, the first position indication light 23 projected toward the reference markers f4 to f6 by the incorrect marker correspondence R1 is Eventually, the reference markers f1 to f3 are mistakenly recognized as the reference markers f4 to f6 with respect to the reference markers f1 to f3 in the same manner as the first position indicating light 23 when the correct marker correspondence R1 is obtained. Is done.

  That is, the first position indicating light 23 projected based on the third position data d5 when the incorrect marker correspondence R1 is obtained is in the same correct position as when the correct marker correspondence R1 is obtained. Although it is projected, the marker is projected in the wrong state.

  In addition, the method which can determine acquisition of the incorrect marker corresponding | compatible relationship R1 using the misrecognition of this marker is later mentioned using FIG.

  On the other hand, the second position indicating light 24 projected based on the second position data d6 is also projected to f1v to f8v corresponding to the reference markers f1 to f8, respectively, similarly to the first position indicating light 23 described above. It will be.

  As in the example shown in FIG. 14, in many cases, the fictitious reference markers f1v to f3v and f7v to f8v are located where no marker actually exists on the object 50, so the second position data Of the second position indicating light 24 projected based on d6, the position indicating light projected toward a marker other than the common marker is often projected at a position where no marker exists.

  Accordingly, the processing apparatus 100A itself recognizes that the incorrect marker correspondence R1 is the correct correspondence without recognizing it, and performs subsequent processing, and thus issues a warning signal or the like for the correspondence error. However, the measurer can recognize that the incorrect marker correspondence R1 has been acquired by confirming the phenomenon in which the second position indicating light 24 is projected to a place where the marker does not exist. It becomes easy to reset the range n1 to a range in which the correct marker correspondence R1 is acquired.

  FIG. 15 is a diagram illustrating an example of the first position indicating light 23 which is the marker position indicating light based on the erroneous marker correspondence R1.

  15, reference coordinate system C3, three-dimensional digitizer 30A, measuring machine coordinate system C1, projector coordinate system C2, coordinate transformation information M1t, fictitious three-dimensional digitizer 30Av, fictitious measuring machine coordinate system C1, fictional projector coordinate system C2 The projector arrangement information CP1, incorrect coordinate conversion information M1f, and measurement ranges n1 to n3 are the same as those in FIG.

  The reference markers f1 to f6 in FIG. 15 are provided at the same positions as the reference markers f1 to f6 in FIG. 14, and the reference markers f1 to f3 are also focus markers in the measurement range n1, and the reference marker (focus marker) f1 The marker position shape for ˜f3 and the marker position shape for the reference markers f4 to f6 are substantially congruent.

  However, in FIG. 14, the mode of each marker is the same, whereas in FIG. 15, the modes of the reference markers f1 to f6 are different.

  Here, when the first position indicating light 23 based on the third position data d5 is projected on each marker in a mode corresponding to the marker mode, the measurer obtains an incorrect marker correspondence R1. A method that can be recognized will be described.

  Here, the three-dimensional digitizer 30A shown in FIG. 15 responds to the form of each reference marker by the function of the marker form acquisition unit 14 provided in the marker position acquisition part 12 according to the setting from the operation unit 33 in advance. The acquired form information is added to the second position data d6 shown in Table 1.

  Of the first position indicating light 23 indicating the position of each marker of interest based on the third position data d5, the position indicating light for each common marker is the shape of each reference marker corresponding to each common marker. The position indicating light having a similar shape to is projected from the indicating light projecting unit 21A.

  When the wrong marker correspondence R1 is acquired, as described in the example of FIG. 14, the first position indicating light 23 projected based on the third position data d5 has the correct marker correspondence R1. Although the light is projected at the correct position as in the case where it is obtained, the recognition of the marker is incorrect, and the first position indicating light 23 is projected in a manner corresponding to the form of each reference marker that is erroneously associated. To be lighted.

  In this case, in the example of FIG. 15, the second position indicating light 24 for the reference markers f4 to f6 is projected onto the reference markers f1 to f3.

  Therefore, the aspect of the second position indicating light 24 actually projected onto f1 to f3 does not correspond to the reference markers f1 to f3.

  Accordingly, the processing apparatus 100A itself recognizes that the incorrect marker correspondence R1 is the correct correspondence without recognizing it, and performs subsequent processing, and thus issues a warning signal or the like for the correspondence error. However, the measurer confirms the phenomenon in which the first position indicating light 23 in a mode that does not correspond to the actual form of the target marker is projected onto the target marker, so that the incorrect marker correspondence R1 is obtained. It can be recognized that it has been acquired, and it is easy to reset the measurement range n1 to a range in which the correct marker correspondence R1 is acquired.

  According to the configuration of the three-dimensional measurement system 500A, information useful for determining the suitability of the measurement range, such as whether or not the correspondence between the marker of interest and the reference marker is correctly obtained, Can be presented on the object 50 as an interrelation with the aspect of the first position indicating light 23 indicating the position of each of the target markers, and an efficient measurement range setting operation can be supported.

[Measurement workflow of 3D measurement system 500A:]
Next, a measurement work flow of the three-dimensional measurement system 500A will be described with reference to FIGS.

  16 and 17 are diagrams illustrating a flowchart showing an outline of the measurement operation.

  First, in FIG. 16, when the measurement work is started, the measurer sets the measurement range n1 by adjusting the relative positional relationship between the object 50 and the three-dimensional digitizer 30A (step S10).

  When the measurement range n1 is set, the three-dimensional digitizer 30A projects the second detection light 22 to the range containing the measurement range n1 and measures each marker of interest provided in the measurement range n1 by the measurement person's operation. Then, the image data d2 is acquired (step S12).

  When the measurement of the marker of interest is completed and the image data d2 is acquired, the marker position acquisition unit 12 of the processing device 100A acquires the first position data d4 indicating the marker three-dimensional position of the marker of interest in the local coordinate system. (Step S14).

  When the first position data d4 is acquired, the instruction light image acquisition unit 17A of the processing apparatus 100A on the image display unit 8 of the instruction light image 23d corresponding to the first position instruction light 23 indicating each position of the marker of interest. Is acquired in the projector coordinate system C2 (step S16).

  When the image position of the instruction light image 23d is acquired, the instruction light image acquisition unit 17A of the processing device 100A acquires the aspect of the instruction light image 23d (step S18), and based on the image position and the aspect of the instruction light image. The instruction light image 23d is acquired (step S20).

  When the instruction light image 23d is acquired, the first position instruction light 23 is emitted from the instruction light projector 21A (step S22).

  When the first position indicating light 23 is projected, the measurer confirms whether the desired marker of interest is irradiated by the first position indicating light 23 (step S24).

If the desired reference marker is not irradiated, the measurer returns to step S10 to redo the setting operation of the measurement range n1, and if the desired reference marker is irradiated, the measurer uses the three-dimensional measurement system. The three-dimensional measurement is performed by operating 500A (step S26), and the three-dimensional measurement for the measurement range n1 is completed.

  Next, in the measurement work shown in FIG. 17, when the measurement work is started, the measurer sets the measurement range n1 by adjusting the relative positional relationship between the object 50 and the three-dimensional digitizer 30A. (Step S30).

  When the measurement range n1 is set, the three-dimensional digitizer 30A projects the second detection light 22 to the range containing the measurement range n1 and measures each marker of interest provided in the measurement range n1 by the measurement person's operation. Then, the image data d2 is acquired (step S32).

  When the measurement of the marker of interest is completed and the image data d2 is acquired, the marker position acquisition unit 12 of the processing device 100A acquires the first position data d4 indicating the marker three-dimensional position of the marker of interest in the local coordinate system. (Step S34).

  The marker position acquisition unit 12 sets a temporary marker ID in the first position data d4 (step S36).

  Next, the correspondence relationship acquisition unit 15 extracts a marker set (common marker) whose marker position shape is closest to the congruence relationship from the first position data d4 and the second position data d6, and acquires the marker correspondence relationship R1. (Step S38).

  The processing device 100A checks whether the number of markers of interest corresponding to the reference marker is 3 or more (step S40).

  When the number of markers of interest corresponding to the reference marker is less than 3, the processing device 100A detects it and outputs a warning signal or the like, and the measurer sets the measurement range n1 shown in step S30.

  When the number of markers of interest corresponding to the reference marker is three or more, the coordinate conversion unit 16 expresses the first position data d4 expressed in the measuring machine coordinate system C1 based on the marker correspondence R1 in the reference coordinate system C3. The coordinate conversion information M1 to be converted into the third position data d5 is obtained, the first position data d4 is coordinate-converted to the third position data d5 using the coordinate conversion information M1 (step S42), and according to the marker correspondence R1 The marker ID considering the marker ID of the second position data d6 is set in the third position data d5 (step S44).

  When the third position data d5 is acquired, the instruction light image acquisition unit 17A indicates the instruction light corresponding to the first position instruction light 23 and the second position instruction light 24, which indicate the positions of the focus markers and the reference markers, respectively. The image positions of the images 23d and 24d on the image display unit 8 are acquired by the projector coordinate system C2 (step S46).

  When the image positions of the instruction light images 23d and 24d are acquired, the instruction light image acquisition unit 17A acquires the forms of the instruction light images 23d and 24d (step S48), and the image positions and aspects of the instruction light images are obtained. Based on this, the instruction light images 23d and 24d are acquired (step S50).

  When the instruction light images 23d and 24d are acquired, the first position instruction light 23 and the second position instruction light 24 are projected from the instruction light projector 21A based on these (step S52).

  When the first position indicating light 23 and the second position indicating light 24 are projected, the measurer determines that each target marker illuminated by the first position indicating light 23 in the desired measurement range is the second position indicating light 24. It is confirmed whether or not a desired arrangement is obtained for each reference marker illuminated by (step S54).

  If the desired marker of interest is not suitably irradiated in the desired measurement range n1, the measurer returns to step S10 and redoes the setting operation for the measurement range n1.

  If the desired reference marker is irradiated, the measurer operates the three-dimensional measurement system 500A to perform three-dimensional measurement (step S56).

  When the three-dimensional measurement for the measurement range n1 ends, the second position data d6 is updated using the third position data d5 in preparation for the next measurement (step S58), and the three-dimensional measurement for the measurement range n1 ends. .

  According to the configuration of the three-dimensional measurement system 500A described above, each of the plurality of markers of interest in the measurement range n1 is based on the image data d2 when the second detection light 22 is projected onto the measurement range n1 of the object 50. Since the first position data d4 expressing the position is obtained, and the first position indicating light 23 indicating the position of each of the plurality of markers of interest is projected toward the object 50 based on the first position data d4. Information useful for determining whether or not the measurement range n1 is a desired measurement range, and whether or not the number of markers necessary for alignment is recognized by the three-dimensional measurement system. Further, it is possible to present on the object 50 as a mutual relationship between the marker provided on the object 50 and the first position indicating light 23, and it is possible to support an efficient setting operation of the measurement range.

  Further, according to the configuration of the three-dimensional measurement system 500A, the first position data d4 representing the respective positions of the plurality of markers of interest in the measurement range n1 of the object 50 is represented by each of the plurality of reference markers in the measured region. The third position data d5 represented by the reference coordinate system C3 of the existing second position data d6 representing the position is converted into three or more markers in the measurement range n1 and the measured area, The first position indicating light 23 indicating the positions of the plurality of markers of interest and the plurality of reference markers so as to be illuminated in a different manner in at least one of temporally and morphologically from markers other than the three or more markers. The second position indicating light 24 indicating the position is projected toward the object 50 based on the third position data d5 and the second position data d6, respectively. Therefore, information useful for determining whether or not the measurement range n1 is a desired measurement range and whether or not the correspondence relationship between the marker of interest and the reference marker is correctly determined is appropriate. The marker provided on the object 50, the first position indicating light 23, and the second position indicating light 24 can be presented on the object 50 as interrelationships, and an efficient measurement range setting operation can be supported.

  Further, according to the configuration of the three-dimensional measurement system 500A, the first position indicating light 23 indicating the position of each of the plurality of markers of interest is an object in a mode corresponding to each reliability for each of the positions of the plurality of markers of interest. It is projected toward 50.

  Therefore, information regarding the reliability of the position acquisition of the marker of interest, which is useful for determining the suitability of the measurement range, can be presented on the object 50, and efficient measurement range setting work can be supported.

  Further, according to the configuration of the three-dimensional measurement system 500A, the second detection light 22 used for detecting each marker of interest and the first position indicating light 23 indicating the position of each detected marker of interest alternately in time. Therefore, information useful for determining whether or not the position of the marker of interest is appropriately determined is useful for determining whether or not the measurement range is appropriate. Each of the second detection light 22 and the first position indication light 23 is irradiated with information. It can be presented on the object 50 as the degree of coincidence of the regions, and the setting work of the efficient measurement range can be supported.

  Further, according to the configuration of the three-dimensional measurement system 500A, the second detection light 22 used for detecting each target marker and the first position indicating light 23 indicating the position of each detected target marker are projected in different colors. Therefore, information useful for determining the suitability of the measurement range, such as whether or not the position of the marker of interest is appropriately determined, is provided for each irradiation region of the second detection light 22 and the first position indication light 23. It can be presented on the object 50 as the degree of coincidence, and can support an efficient measurement range setting operation.

<About modification:>
[About the three-dimensional measurement system 500B:]
FIG. 18 is a diagram illustrating the configuration of a three-dimensional measurement system 500B according to a modified example, and FIG. 19 is a block diagram illustrating the functional configuration of each unit constituting the three-dimensional measurement system 500B according to the modified example. In FIG. 19, main information exchanged between the functional units is described together with the functional units. In addition, descriptions of control signals and the like are omitted.

  A three-dimensional measurement system 500B shown in FIGS. 18 and 19 mainly includes a processing apparatus 100B, a three-dimensional digitizer 30B, an indicator light projector 40A, an arrangement reference unit 31, and a measurement stand 32.

  The main difference between the three-dimensional measurement system 500A and the three-dimensional measurement system 500B is that, in the three-dimensional measurement system 500A, known projector arrangement information CP1 that gives a relative arrangement relationship of the projector coordinate system C2 with respect to the measuring machine coordinate system C1. In contrast, the projector coordinate system C2 is always determined relative to the measuring machine coordinate system C1 (FIG. 5 and the like), whereas in the three-dimensional measurement system 500B, the projector coordinate system C2 is , Given by the known projector arrangement information CP2 that gives the relative arrangement information of the projector coordinate system C2 with respect to the reference coordinate system C3. The projector coordinate system C2 is a coordinate system independent of the measuring machine coordinate system C1. (FIG. 19, FIG. 20, etc.).

  Differences in structure and function between the functional units in the three-dimensional measurement system 500B and the functional units in the three-dimensional measurement system 500A are mainly structural and functional differences to cope with the above-described differences. Is a point.

  Hereinafter, among the functional units of the three-dimensional measurement system 500B shown in FIGS. 18 and 19, the functional units having the same configuration and functions as those of the three-dimensional measurement system 500A shown in FIGS. The same reference numerals as those in FIG. 1 and FIG. 2 are assigned and description thereof is omitted, and only functional units different from the three-dimensional measurement system 500A among the functional units of the three-dimensional measurement system 500B according to the modification will be described.

[About 3D digitizer 30B:]
As shown in FIGS. 18 and 19, the three-dimensional digitizer 30B of the three-dimensional measurement system 500B mainly includes a measurement unit 10A (10B), and corresponds to the first detection light 21A in the three-dimensional measurement system 500A. The indicator light projector 21B is not provided, and the relationship between the measuring machine coordinate system C1 and the projector coordinate system C2 is not defined.

  The measurement unit 10A (measurement unit 10B) has the same configuration as that in the three-dimensional measurement system 500A, and gives shape data representing the three-dimensional shape of the measurement range n1 in the measuring machine coordinate system C1 (FIG. 20). .

[Regarding Arrangement Reference Unit 31:]
The arrangement reference unit 31 is composed of an indoor GPS transmitter or the like, and the arrangement of the arrangement reference unit 31 with respect to the reference coordinate system C3 (FIG. 20) is fixed.

  The arrangement reference unit 31 also causes the arrangement detection unit 29 to detect projector arrangement information CP2 (FIG. 20) that provides arrangement information of the projector coordinate system C2 with respect to the reference coordinate system C3.

[Regarding the indicator light projector 40A:]
○ Indicator light projector 40A:
The indicator light projector 40A is provided outside the three-dimensional digitizer 30B without being defined with respect to the three-dimensional digitizer 30B.

  The indicator light projector 40A mainly includes an indicator light projector 21B and an arrangement detector 29.

  The indicator light projector 21B is a functional unit corresponding to the indicator light projector 21A of the three-dimensional measurement system 500A, and the indicator light images 23d and 24d projected on the image display unit 8 expressed by the projector coordinate system C2. The function of projecting the first position instruction light 23 and the second position instruction light 24 based on the same is the same as that of the instruction light projector 21A.

  The difference from the indicator light projector 21A is that the indicator light projector 21B sends the projector arrangement information CP2 of the measuring machine coordinate system C1 with respect to the reference coordinate system C3 supplied from the arrangement detector 29 to the processing device 100B. In order to supply, an input / output unit 28 is provided instead of the input unit 7.

○ Arrangement detection unit 29:
The arrangement detection unit 29 is configured by an indoor GPS receiver or the like, and is fixed to the instruction light projecting unit 21 </ b> B. Based on a signal from the arrangement reference unit 31, an arrangement detection unit for the arrangement reference unit 31. 29 is detected and converted into projector arrangement information CP2 that gives the arrangement information of the projector coordinate system C2 with respect to the reference coordinate system C3, and supplied to the input / output unit 28 of the indicator light projector 21B.

  With the configuration described above, even when the indicator light projector 40A moves with respect to the reference coordinate system C3, the projector placement information CP2 that always indicates the placement information of the projector coordinate system C2 with respect to the reference coordinate system C3 is acquired.

  The projector arrangement information CP2 is supplied to the processing apparatus 100B via the input / output unit 28 and stored in the storage unit 34.

  In the three-dimensional measurement system 500B, the arrangement reference unit 31 and the arrangement detection unit 29 are provided so that the instruction light projector 40A can move. For example, the instruction light projection unit 21B includes the reference coordinate system. If the projector arrangement information CP2, which is fixed with respect to C3 and is previously fixed to the reference coordinate system C3 and the projector coordinate system C2, is measured by design information, a three-dimensional measuring device, or the like. The arrangement detection unit 29 and the arrangement reference unit 31 are not necessary.

[About the processing apparatus 100B:]
The difference between the processing device 100B and the processing device 100A in the three-dimensional measurement system 500A is that the control processing unit 20A and the instruction light image acquisition unit 17A in the processing device 100A are replaced with the control processing unit 20B and the instruction light image acquisition unit 17B, respectively. Therefore, the function of the processing apparatus 100B as a whole is the same as that of the processing apparatus 100A.

  Hereinafter, the control processing unit 20B and the instruction light image acquisition unit 17B will be described.

Control processing unit 20B:
The control processing unit 20B differs only in function from the control processing unit 20A due to differences in the installed control programs and the like.

  This difference is that the projector arrangement information CP2 supplied from the instruction light projector 21B and stored in the storage unit 34 is acquired from the storage unit 34 and supplied to the instruction light image acquisition unit 17B.

◎ Indicating light image acquisition unit 17B:
The instruction light image acquisition unit 17B is a functional unit corresponding to the instruction light image acquisition unit 17A in the three-dimensional measurement system 500A, and includes first position data d4, third position data d5, and second position data d6 from the control processing unit 20B. Then, upon receiving the projector arrangement information CP2 and the coordinate conversion information M1, the image position calculation unit 18B calculates the image positions of the instruction light images 23d and 24d, and the image mode acquisition unit 19 calculates the images of the instruction light images 23d and 24d. By obtaining the mode, the instruction light images 23d and 24d are generated.

  The generated instruction light images 23d and 24d are supplied to the instruction light projector 21B via the control processing unit 20B, and the first position instruction light 23 and the plurality of reference markers respectively indicating the positions of the plurality of markers of interest. Are used for projecting the second position indicating light 24 indicating the positions of.

  Since the difference from the instruction light image acquisition unit 17A is that an image position calculation unit 18B is provided instead of the image position calculation unit 18A in the instruction light image acquisition unit 17A, in the following, referring to FIG. The function of the image position calculation unit 18B will be described.

○ Image position calculation unit 18B:
In the three-dimensional measurement system 500B, the projector arrangement information CP2 that gives the arrangement relationship of the projector coordinate system C2 with respect to the reference coordinate system C3 is a known value as described above.

  The projector arrangement information CP2 is stored in advance in the storage unit 34, for example, and is used when the image position calculation unit 18B obtains the position of the instruction light image corresponding to the marker position instruction light.

  FIG. 20 corresponds to the first position indicating light 23 and the second position indicating light 24, which are marker position indicating lights, based on the third position data d5 and the second position data d6 expressed in the reference coordinate system C3. It is a figure explaining the method of acquiring the instruction | indication light images 23d and 24d.

  The object 50 shown in FIG. 20 is provided with three focus markers TM1 and three reference markers TM2, and the indicator light image displayed on the image display unit 8 of the indicator light projector 21B (FIG. 19). The first position indicating light 23 and the second position indicating light 24 generated based on 23d and 24d are respectively projected onto the target marker TM1 and the reference marker TM2 via the principal point 9a of the light projecting optical system 9. Yes.

  The third position data d5 and the second position data d6 indicating the marker three-dimensional positions of each marker of interest TM1 and each of the reference markers TM2 are given by the reference coordinate system C3, respectively. The coordinates of the point 9a are given by the projector coordinate system C2.

  Further, the coordinate conversion information M1 is acquired by the coordinate conversion unit 16 and gives the arrangement information of the measuring machine coordinate system C1 with respect to the reference coordinate system C3, and the first position expressed in the measuring machine coordinate system C1. This is used when the coordinate converter 16 converts the data d4 and the like into the reference coordinate system C3.

Accordingly, the arrangement of the projector coordinate system C2 with respect to the reference coordinate system C3 is given by the projector arrangement information CP2. Note that the arrangement of the projector coordinate system C2 with respect to the measuring machine coordinate system C1 is given by a combined transformation CP2 * M1 ⁻¹ using an inverse transformation M1 ⁻¹ of the coordinate transformation information M1. When it is necessary to convert to the projector coordinate system C2 in the unit 18A and calculate the image position of the instruction light image 23d, it is calculated based on the coordinate relationship given by this composite conversion.

  Here, since the image generated on the image display unit 8 is generated in the projector coordinate system C2, the positions of the indicator light images 23d and 24d need to be expressed in the projector coordinate system C2.

  Therefore, the image position calculation unit 18B can indicate the instruction light image 23d that can project the first position instruction light 23 and the second position instruction light 24 that appropriately indicate the positions of the respective markers of interest TM1 and the reference markers TM2. And 24d, the third position data d5 and the second position data d6 are expressed in the projector coordinate system C2 using the projector arrangement information CP2 that gives the arrangement relationship of the projector coordinate system C2 with respect to the measuring machine coordinate system C3. The coordinates are converted into the marker position data, and the straight line connecting the positions of the respective markers of interest TM1 and reference markers TM2 and the principal point 9a respectively expressed by the marker position data and the image display unit 8 are expressed by the projector coordinate system C2. The image positions of the indicator light images 23d and 24d on the image display unit 8 are obtained by obtaining the coordinates of the intersection with the plane to be That.

  With the above-described configuration, the three-dimensional measurement system 500B has the same operations and effects as the three-dimensional measurement system 500A except when the marker correspondence R1 obtained by the correspondence relationship acquisition unit 15 is incorrect.

[Regarding marker position indicating light when wrong marker correspondence R1 is acquired:]
Next, the marker position indicating light when an incorrect marker correspondence R1 is acquired by the correspondence acquisition unit 15 will be described.

  FIG. 21 is a diagram illustrating an example of the first position indicating light 23 which is the marker position indicating light based on the erroneous marker correspondence R1.

  Reference markers f1 to f6 are provided in the measured range n2 on the object 50 shown in FIG. 21, and second position data d6 (FIG. 19) indicating the three-dimensional positions of the markers of the reference markers f1 to f6. Is expressed in the reference coordinate system C3.

  Further, the marker position shapes represented by the reference markers f1 to f3 and the marker position shapes represented by the reference markers f4 to f6 have a substantially congruent relationship.

  The measurement range of the three-dimensional digitizer 30A is set to the measurement range n1, and the markers of interest f1 to f3 are common markers that are also reference markers f1 to f3. The focus marker f7 is a focus marker that is not a reference marker.

  A measuring machine coordinate system C1 is defined for the three-dimensional digitizer 30B, and a projector coordinate system C2 is defined for the indicator light projector 40A.

  The arrangement relationship between the projector coordinate system C2 and the reference coordinate system C3 is determined by the projector arrangement information CP2.

  The second detection light 22 (FIGS. 21 and 19) is projected from the instruction light projector 21B (FIG. 19) to a range including the measurement range n1, and an image of the reflected light is imaged by the measurement unit 10A (10B). When acquired as the data d2, the first position indicating the three-dimensional position of each of the markers of interest f1 to f3 expressed in the measuring machine coordinate system C1 based on the image data d2 in the marker position acquisition unit 12 (FIG. 19). Data d4 (FIG. 19) is acquired.

  In the correspondence relationship acquisition unit 15 (FIG. 19), all marker position shapes that can be expressed by the respective markers of interest f1 to f4 are compared with all marker position shapes that can be expressed by the reference markers f1 to f6. A marker correspondence R1 (FIG. 19) is obtained.

  When the marker correspondence R1 is obtained, the coordinate conversion unit 16 obtains coordinate conversion information M1 (FIGS. 19 and 20) based on the marker correspondence R1.

  When the marker correspondence relationship R1 is correctly obtained, the marker correspondence relationship R1 becomes a marker correspondence relationship that associates the target markers f1 to f3 with the reference markers f1 to f3, respectively, and a coordinate conversion unit is based on the marker correspondence relationship R1. In FIG. 16, coordinate conversion information M1t which is correct coordinate conversion information M1 is obtained.

  When the coordinate conversion information M1t is obtained, the first position data d4 is converted into the third position data d5 expressed in the reference coordinate system C3 by using the coordinate conversion information M1t in the coordinate conversion unit 16, and further the image position calculation unit 18A. In FIG. 19, the third position data d5 is correctly converted from the third position data d5 into the marker position data expressed by the projector coordinate system C2 using the projector position information CP2, and the first position indicating light 23 (FIG. 19, FIG. 19) based on the third position data d5. 20) is appropriately projected onto the target markers f1 to f3, and the second position indicating light 24 (FIGS. 19 and 20) based on the second position data d6 is appropriately projected onto the reference markers f1 to f8.

  However, since the marker position shapes represented by the reference markers f1 to f3 and the marker position shapes represented by the reference markers f4 to f6 are substantially congruent, the target markers f1 to f3 are referred to as the reference markers f4 to f6, respectively. There is a case where an incorrect marker correspondence R1 corresponding to is acquired.

  According to the incorrect marker correspondence R1, when the coordinate conversion information M1f which is the incorrect coordinate conversion information M1 is obtained in the coordinate conversion unit 16, the attention in the third position data d5 is based on the incorrect coordinate conversion information M1f. Each marker three-dimensional position of the markers f1 to f3 (FIG. 21) is associated with each marker three-dimensional position of the reference markers f4 to f6 (FIG. 21) in the second position data d6, and the marker f7 of interest is an imaginary Each reference marker f7v is erroneously associated.

  Further, the actual arrangement of the three-dimensional digitizer 30B is mistakenly recognized as being in the arrangement of the fictitious three-dimensional digitizer 30Bf having the measuring machine coordinate system C1f by the coordinate conversion information M1f.

  However, the projector arrangement information CP2 is not affected by the coordinate conversion information M1f, and is always in the correct arrangement state with respect to the reference coordinate system C3.

  Therefore, the first position indicator light 23 from the indicator light projector 40A is projected onto the misidentified reference markers f4 to f6 and the imaginary reference marker f7v shown in FIG.

  As described above, when the incorrect marker correspondence R1 is acquired, the first position indicating light 23 projected toward the marker of interest is based on the third position data d5, and each reference that is erroneously associated is made. In addition to being projected to the marker, the target marker that is not a common marker (the target marker f7 in FIG. 21) is often projected to a position where the marker does not exist (the position of the imaginary reference marker f7v in FIG. 21). The

  Here, the measurer can assume an approximate range of the measurement range n1 on the object 50 based on the arrangement state of the three-dimensional digitizer 30B.

  When an incorrect marker correspondence R1 is obtained, as shown in FIG. 21, the first position indicating light 23 is normally projected at a position deviated from the assumed measurement range n1. The deviation of the first position indicating light 23 can be recognized, and it can be recognized that the erroneous marker correspondence R1 has been acquired.

  Further, the measurer has an erroneous marker correspondence R1 because the target position marker that is not the reference marker in the first position indicating light 23 is normally projected at a location where the reference marker does not exist. You can recognize that it was acquired.

  Further, since the second detection light 22 and the first position indication light 23 are different in projection destination, if the second detection light 22 and the first position indication light 23 are alternately projected temporally, the afterimage effect is caused. Since the measurer can simultaneously confirm the projection of the second detection light 22 and the projection of the first position indicating light 23, the measurer can detect the positional deviation between the measurement range n1 and the first position indicating light 23. Can be more easily recognized on the object 50.

  Note that the term “alternate in time” here includes a case where the light projecting period of the second detection light 22 and the light projecting period of the first position indicating light 23 overlap each other.

  In addition, if the second detection light 22 and the first position indication light 23 can be identified by changing the color, brightness, and other aspects of the second detection light 22 and the first position indication light 23, an error will occur. When the marker correspondence relationship R1 is acquired, the measurement range n1 that is the projection destination of the second detection light 22 and the first position indication light 23 can be easily identified.

  Therefore, the processing apparatus 100B itself recognizes that the incorrect marker correspondence R1 is the correct correspondence without recognizing it, and performs subsequent processing, and therefore issues a warning signal or the like for the correspondence error. However, the measurer may cause a phenomenon in which the first position indicating light 23 is projected to a location deviated from the measurement range, or a phenomenon in which the first position indicating light 23 is projected to a location where no marker exists. By confirming the above, it can be recognized that an incorrect marker correspondence R1 has been acquired, and it becomes easy to reset the measurement range n1 to a range in which the correct marker correspondence R1 is acquired.

  Further, according to the configuration of the three-dimensional measurement system 500B, the second detection light 22 used for detecting each marker of interest and the first position indicating light 23 indicating the position of each detected marker of interest are temporally alternated. Therefore, information useful for determining whether or not the position of the marker of interest is appropriately determined is useful for determining whether or not the measurement range is appropriate. Each of the second detection light 22 and the first position indication light 23 is irradiated with information. It can be presented on the object 50 as the degree of coincidence of the regions, and the setting work of the efficient measurement range can be supported.

  Further, according to the configuration of the three-dimensional measurement system 500B, the second detection light 22 used for detecting each target marker and the first position indicating light 23 indicating the position of each detected target marker are projected in different colors. Therefore, information useful for determining the suitability of the measurement range, such as whether or not the position of the marker of interest is appropriately determined, is provided for each irradiation region of the second detection light 22 and the first position indication light 23. It can be presented on the object 50 as the degree of coincidence, and can support an efficient measurement range setting operation.

500A, 500B Three-dimensional measurement system 100A, 100B Processing unit 10A, 10B Measurement unit 21A, 21B Indicator light projector 30A, 30B Three-dimensional digitizer 40A Indicator light projector 1, 11, 28 Input / output unit 2 Control unit 3 Detection light projector Light part 4A, 4B Image photographing part 4a, 4c Light receiving optical system 4b, 4d Light receiving element part 5 Shape calculating part 6, 14 Storage part 7 Input part 8 Image display part 9 Light projecting optical system 9a Main point 10 Display part 12 Marker position Acquisition unit 13 Reliability acquisition unit 14 Marker form acquisition unit 15 Correspondence relationship acquisition unit 16 Coordinate conversion unit 17A, 17B Indicator light image acquisition unit 18A, 18B Image position calculation unit 19 Image mode acquisition unit 20A, 20B Control processing unit 21 1st Detection light 22 Second detection light 23 First position indication light 23d, 24d Instruction light image 24 Second position indication light 25, 26, 27 Position indicating light 29 Arrangement detection unit 31 Arrangement reference unit 32 Measurement stand 32a Arm unit 33 Operation unit 34 Storage unit n1, n2, n3 Measurement range C1, Measuring machine coordinate system C2 Projector coordinate system C3 Reference coordinate system CP1, CP2 Projector arrangement information TM1, TM2, TM3, f1, f2, f3, f4, f5, f6, f7, f8 Marker d1, d2 Image data d3, d3 ′, d7 Shape data d4 First position data d5 Third position data d6 Second position data R1 marker correspondence M1 coordinate conversion information

Claims (8)

A three-dimensional measurement system for measuring a three-dimensional shape,
A detection light projecting means for sequentially projecting the first detection light and the second detection light in time in the first region of the three-dimensional shape of the object provided with a plurality of identification points;
Image capturing means for capturing an image of the first region illuminated by the light projected from the detection light projecting means;
Shape acquisition means for acquiring three-dimensional shape data representing the three-dimensional shape of the first region based on the image when the first detection light is projected;
Based on the image when the second detection light is projected, first position data representing each position of a plurality of identification points of interest provided in the first region among the plurality of identification points is acquired. Position acquisition means for
Based on the first position data, indicator light projecting means for projecting first position indicator light indicating the position of each of the plurality of target identification points toward the object;
A three-dimensional measurement system comprising: A three-dimensional measurement system for measuring a three-dimensional shape,
A detection light projecting means for sequentially projecting the first detection light and the second detection light in time in the first region of the three-dimensional shape of the object provided with a plurality of identification points;
Image capturing means for capturing an image of the first region illuminated by the light projected from the detection light projecting means;
Shape acquisition means for acquiring three-dimensional shape data representing the three-dimensional shape of the first region based on the image when the first detection light is projected;
Based on the image when the second detection light is projected, first position data representing each position of a plurality of identification points of interest provided in the first region among the plurality of identification points is acquired. Position acquisition means for
An existing representation that represents each position of a plurality of reference identification points among the plurality of identification points provided in the second region of the object having three or more identification points in a portion overlapping with the first region. Conversion means for converting the first position data into third position data expressed in the reference coordinate system, using the coordinate system of the second position data as a reference coordinate system;
The plurality of identification points of interest such that the three or more identification points are illuminated in a manner different from the identification points other than the three or more identification points among the plurality of reference identification points in at least one of time and form. First position indicating light indicating the position of each point and second position indicating light indicating the position of each of the plurality of reference identification points are applied to the object based on the third position data and the second position data, respectively. Indicator light projecting means for projecting toward the
A three-dimensional measurement system comprising: The three-dimensional measurement system according to claim 1,
The position acquisition means includes a reliability acquisition means for acquiring the respective reliability for the positions of the plurality of identification points of interest in the first position data,
The three-dimensional measurement system, wherein the first position indicating light is projected in a manner corresponding to each of the reliability levels. The three-dimensional measurement system according to claim 1,
The position acquisition means includes form information acquisition means for acquiring form information of each of the plurality of identification points of interest,
The three-dimensional measurement system, wherein the first position indicating light is projected in a manner corresponding to each of the form information. The three-dimensional measurement system according to claim 1 or 2, wherein
The three-dimensional measurement system, wherein the image photographing means includes a plurality of photographing means each having a region including the first region as a photographing region. The three-dimensional measurement system according to claim 1 or 2, wherein
The three-dimensional measurement system, wherein the second detection light and the first position indication light are projected alternately in time. The three-dimensional measurement system according to claim 1 or 2, wherein
The three-dimensional measurement system, wherein the second detection light and the first position indication light are projected with different colors. A three-dimensional measurement method for measuring a three-dimensional shape,
A step of sequentially projecting the first detection light and the second detection light to the first region among the three-dimensional shape of the object provided with a plurality of identification points in time,
Capturing an image of the first region illuminated by the light projection in the step of projecting;
Obtaining three-dimensional shape data representing the three-dimensional shape of the first region based on the image when the first detection light is projected;
Based on the image when the second detection light is projected, first position data representing each position of a plurality of identification points of interest provided in the first region among the plurality of identification points is acquired. And a process of
Projecting first position indicating light indicating the position of each of the plurality of identification points of interest toward the object based on the first position data;
A three-dimensional measurement method comprising:

Images