JP7493474B2 - Shape measurement device and method - Google Patents

Description

This disclosure relates to a shape measurement device and method for three-dimensionally measuring the shape of a measurement target component.

Radioactive waste generated in nuclear reactors is stored, for example, underwater in a waste storage facility. Radioactive waste stored in the storage facility is removed as needed by a remotely operated robot. A large amount of radioactive waste is stored in the storage facility, and a robot located at the top of the storage facility grasps and removes the radioactive waste. At this time, since the radioactive waste has been dumped and stored and is piled up in a disorderly manner, it is necessary to measure its shape in advance. Technologies for measuring the shape of components are described in the following patent documents.

JP 2008-111780 A JP 2014-098602 A

As mentioned above, radioactive waste stored in a repository is stored speculatively and is piled up in a disorderly manner, so the shape of the pile needs to be measured before it is removed. One shape measurement method, for example, is the light-cutting method using a laser light source and a camera. In this case, a laser is irradiated from a laser light source onto the radioactive waste, and a camera captures the laser line of the laser light, and the shape is identified based on the captured image. However, when radioactive waste is stored in a repository, not only its shape but also its position is uncertain. This makes it difficult to accurately irradiate the radioactive waste with a laser, posing the problem of longer work times.

The present disclosure aims to solve the above-mentioned problems and provide a shape measurement device and method that improves workability by shortening the shape measurement time.

To achieve the above object, the shape measurement device disclosed herein includes a light irradiation device capable of irradiating a line light toward a measurement object, a drive device capable of scanning the line light by moving the light irradiation device, an imaging device capable of photographing the measurement object to obtain a bright line image, a position and angle setting unit that sets the irradiation position and irradiation angle of the light irradiation device based on the line light in the bright line image when the line light is scanned, and a three-dimensional shape calculation unit that calculates the three-dimensional shape of the measurement object based on the irradiation position and irradiation angle of the light irradiation device and the line light in the bright line image.

The shape measurement method disclosed herein for achieving the above object includes the steps of irradiating a line of light from a light irradiation device toward a measurement object and scanning the line of light, photographing the measurement object to obtain an adjustment bright line image, setting the irradiation position and irradiation angle of the light irradiation device based on the line of light in the adjustment bright line image, irradiating a line of light toward the measurement object from the light irradiation device with the irradiation position and irradiation angle set, photographing the measurement object to obtain a shape measurement bright line image, and calculating the three-dimensional shape of the measurement object based on the irradiation position and irradiation angle of the light irradiation device and the line of light in the shape measurement bright line image.

The shape measurement device and method disclosed herein can improve workability by shortening the shape measurement time.

FIG. 1 is a schematic configuration diagram showing a shape measuring device according to the first embodiment. FIG. 2 is a flowchart showing the shape measuring method according to the first embodiment. FIG. 3 is an explanatory diagram showing a scanning method of the laser projector. FIG. 4 is an explanatory diagram showing a modified example of the scanning method of the laser projector. FIG. 5 is a side view showing the positional relationship between the laser projector and the CCD camera with respect to the object to be measured. FIG. 6 is a schematic diagram showing a luminance image. FIG. 7 is a schematic diagram illustrating a radioactive waste repository. FIG. 8 is a plan view showing the positional relationship between a laser projector and a CCD camera with respect to a measurement object in the shape measuring apparatus of the second embodiment. FIG. 9 is a side view showing the positional relationship between the laser projector and the CCD camera with respect to the object to be measured. FIG. 10 is a rear view showing the positional relationship between the laser projector and the CCD camera with respect to the object to be measured. FIG. 11 is a schematic diagram showing a luminance image.

Below, a preferred embodiment of the present disclosure will be described in detail with reference to the drawings. Note that the present disclosure is not limited to these embodiments, and when there are multiple embodiments, the present disclosure also includes configurations that combine the various embodiments. Furthermore, the components in the embodiments include those that a person skilled in the art would easily imagine, those that are substantially the same, and those that are within the so-called equivalent range.

[First embodiment]
<Radioactive waste storage facility>
FIG. 7 is a schematic diagram illustrating a radioactive waste repository.

As shown in FIG. 7, the storage facility 100 has a storage container 101 and a top lid 102. The top of the storage container 101 is open, and the top lid 102 is attached so as to be easily attached and detached. Water is stored inside the storage container 101, and a large amount of radioactive waste M is stored in the water and contained therein. The top lid 102 is attached to a removal device 103 and a shape measuring device 10. The removal device 103 is disposed on the top of the top lid 102, and has a multi-joint arm 104 that hangs down from an opening (not shown) of the top lid 102 into the inside of the storage container 101. The multi-joint arm 104 is attached to a hand unit 105 at its tip that can grasp the radioactive waste M.

The shape measuring device 10 measures the shape of the radioactive waste M. Since the radioactive waste M is stored in a cumbersome manner inside the storage container 101, when the removal device 103 grasps the radioactive waste M, it is necessary to identify the position and orientation. The shape measuring device 10 is attached to the tip of a multi-joint arm 107 that hangs down from a moving device 106 attached to the top lid 102 into the inside of the storage container 101.

When the removal device 103 removes radioactive waste M contained in the storage container 101 to the outside, the shape measurement device 10 first identifies the position and orientation of the radioactive waste M. Next, the articulated arm 104 of the removal device 103 is activated, and the hand unit 105 grasps the identified radioactive waste M.

<Configuration of shape measuring device>
FIG. 1 is a schematic configuration diagram showing a shape measuring device according to the first embodiment.

In the first embodiment, as shown in FIG. 1, a shape measurement device 10 is described as measuring the three-dimensional shape of radioactive waste M in water, which is the measurement object M. The shape measurement device 10 includes a laser projector (light irradiation device) 11, a driving device 12, an output adjustment device 13, a CCD camera (imaging device) 14, a control device 15, an operation device 16, and a display device 17. The control device 15 includes a position angle setting unit 21, an output setting unit 22, and a three-dimensional shape calculation unit 23.

The laser projector 11 can irradiate laser light L, which is a line light, toward the measurement object M. The driving device 12 can scan the laser light L by moving the laser projector 11. The output adjustment device 13 can adjust the output of the laser light L irradiated by the laser projector 11. The CCD camera 14 can capture the measurement object M and obtain a bright line image S (see FIG. 6).

The control device 15 is connected to the laser projector 11, the driving device 12, and the output adjustment device 13. The control device 15 can irradiate the laser light L by controlling the laser projector 11. The control device 15 can control the driving device 12 and the output adjustment device 13. The control device 15 is also connected to the CCD camera 14. The control device 15 can process images captured by the CCD camera 14. The operation device 16 is connected to the control device 15. The operation device 16 can input various command signals to the control device 15 by being operated by an operator. The display device 17 is connected to the control device 15. The display device 17 can display the bright line image S captured by the CCD camera 14, the processing results processed by the control device 15, etc.

The position and angle setting unit 21 sets the irradiation position and irradiation angle of the laser projector 11 based on the laser light L in the bright line image S acquired when the laser light L is scanned. The output setting unit 22 sets the output of the laser light L of the laser projector 11 based on the brightness of the bright line image S when the laser light L is scanned. Specifically, the output setting unit 22 sets the output of the laser light L of the laser projector 11 based on the width of the laser light L in the bright line image S when the laser light L is scanned. The three-dimensional shape calculation unit 23 calculates the three-dimensional shape of the measurement object M based on the irradiation position and irradiation angle of the laser projector 11 and the laser light L in the bright line image S.

<Shape measurement method>
FIG. 2 is a flowchart showing the shape measurement method of the first embodiment, FIG. 3 is an explanatory diagram showing the scanning method of the laser projector, FIG. 4 is an explanatory diagram showing a modified example of the scanning method of the laser projector, FIG. 5 is a side view showing the positional relationship between the laser projector and the CCD camera with respect to the object to be measured, and FIG. 6 is a schematic diagram showing a brightness image.

The shape measurement method of the first embodiment includes the steps of irradiating a laser beam (line beam) L from a laser projector 11 toward a measurement object M and scanning the laser beam L, photographing the measurement object M to obtain an adjustment bright line image, setting the irradiation position and irradiation angle of the laser projector 11 based on the laser beam L in the adjustment bright line image, irradiating the laser beam L toward the measurement object M from the laser projector 11 whose irradiation position and irradiation angle have been set, photographing the measurement object M to obtain a shape measurement bright line image, and calculating the three-dimensional shape of the measurement object M based on the irradiation position and irradiation angle of the laser projector 11 and the laser beam L in the shape measurement bright line image.

The shape measurement method of the first embodiment will be described in detail below. As shown in Figs. 1 and 2, in step S11, the operator outputs a measurement start command signal to the control device 15 using the operation device 16. The control device 15 then executes a shape measurement process for the measurement object M in the water. In step S12, the control device 15 controls the laser projector 11 to irradiate the measurement object M with laser light L. The control device 15 also controls the drive device 12 to move the laser projector 11 at high speed and start scanning with the laser light L.

As shown in FIG. 3, the CCD camera 14 is placed above the measurement object M in the Z direction, which is the vertical direction, and an imaging range A is set that can image a predetermined area including the measurement object M. In this case, since the position and shape of the measurement object M are unknown, it is preferable to set the imaging range A of the CCD camera 14 wide. In addition, the laser projector 11 is placed above the measurement object M in the Z direction, at a predetermined distance to one side in the Y direction, which is horizontal to the CCD camera 14. The laser projector 11 is capable of irradiating the measurement object M with laser light L at a predetermined angle.

The driving device 12 moves the laser projector 11 by a predetermined distance along the Y direction while maintaining the position (height) of the laser projector 11 in the Z direction and the irradiation angle of the laser light L by the laser projector 11 constant. Then, the laser light La of the laser projector 11 moves to the laser light Lb, and the measurement object M is scanned with the laser light L. Note that the scanning direction of the measurement object M with the laser light L of the laser projector 11 by the driving device 12 is not limited to this direction. As shown in FIG. 4, the driving device 12 changes the irradiation angle of the laser light L by the laser projector 11 by a predetermined angle while maintaining the position of the laser projector 11 in the Y direction and the Z direction constant. Then, the laser light Lc of the laser projector 11 moves to the laser light Ld, and the measurement object M is scanned with the laser light L.

Here, it is preferable that the scanning of the laser light L by the laser projector 11 is performed at high speed. That is, as shown in FIG. 2, the scanning speed of the measurement object M by the laser light L of the laser projector 11 in step S12 is set to be faster than the scanning speed of the laser light L when the three-dimensional shape calculation unit 23 described later calculates the three-dimensional shape of the measurement object M.

As shown in FIG. 1 and FIG. 2, in step S13, when the laser projector 11 scans the laser light L at high speed, the CCD camera 14 captures the measurement object M and the laser light L projected onto the measurement object M. The control device 15 acquires the measurement object M and the adjustment luminance image S of the measurement object M captured by the CCD camera 14. In this case, the control device 15 may acquire the adjustment luminance image S captured by the CCD camera 14 as a moving image, or may acquire it as a still image at predetermined intervals. In step S14, the control device 15 determines whether the acquired adjustment luminance image S contains the laser light L irradiated toward the measurement object M, i.e., a laser line.

Here, if it is determined that there is no laser line in the adjustment brightness image S (No), the process returns to step S12 and continues. On the other hand, if it is determined that there is a laser line in the adjustment brightness image S (Yes), in step S15, the laser irradiation position (angle) when the laser line is found in the adjustment brightness image S is detected. For example, as shown in FIG. 3, when the laser projector 11 is moved along the Y direction by the driving device 12, the laser light La of the laser projector 11 is not irradiated onto the surface of the measurement object M. Then, when the laser light La of the laser projector 11 is moved toward the laser light Lb side, the laser light L of the laser projector 11 is irradiated onto the surface of the measurement object M on the way. At this time, the control device 15 determines that there is a laser line of the measurement object M in the adjustment brightness image S. Then, in step S15, the position of the laser projector 11 in the Y direction at this time is detected. As shown in FIG. 4, when the driving device 12 changes the irradiation angle of the laser light L from the laser projector 11, the control device 15 detects the irradiation angle of the laser light L from the laser projector 11 when it is determined that the laser line of the measurement object M is present in the adjustment brightness image S.

1 and 2, in step S16, the distance (height) from the laser projector 11 to the surface of the measurement object M is calculated based on the irradiation angle of the laser light L from the laser projector 11. That is, the position of the laser projector 11 in the Z direction, that is, the height from the surface of the measurement object M to the laser projector 11, is calculated based on the position of the laser projector 11 in the Y direction and the irradiation angle of the laser light L from the laser projector 11. Then, in step S17, the position angle setting unit 31 sets the angle and height of the laser projector 11 calculated in steps S15 and S16 as the irradiation angle and irradiation position when performing the three-dimensional shape measurement.

In steps S18 to S22, the output setting unit 22 sets the output of the laser light of the laser projector 11 based on the brightness of the adjustment bright line image. That is, in step S18, a binarization process is performed on the adjustment bright line image. Here, a threshold value for performing the binarization process is set in advance. When the adjustment bright line image is binarized, the irradiation position of the laser light L is displayed in white as a laser line, and the rest is displayed in black. In step S19, the width of the laser line displayed in white is measured. In step S20, it is determined whether the measured width of the laser line is equal to or less than a predetermined value set in advance.

The water in which the measurement object M is stored may have low transparency, and if the output of the laser light L of the laser projector 11 is low, the laser light L does not reach the measurement object M sufficiently, and the laser line of the laser light L becomes unclear. Therefore, the clarity of the laser line of the laser light L obtained by binarizing the adjustment bright line image is used to estimate the transparency (turbidity) of the water. If the output of the laser light L is appropriate, the width of the laser line becomes narrower and darker, and the clarity becomes higher. In step S20, it is determined whether the display of the laser line is clear or not at a predetermined value or more. Here, if it is determined that the clarity of the laser line is smaller than the predetermined value (No), in step S21, the laser output of the laser projector 11 is adjusted to be higher, and the process proceeds to step S22. On the other hand, if it is determined that the clarity of the laser line is equal to or higher than the predetermined value (Yes), the process proceeds to step S22, and the laser output of the laser projector 11 is set to the current output or the adjusted output. Then, in step S23, the three-dimensional shape calculation unit 23 performs three-dimensional shape measurement of the measurement object M.

That is, as shown in FIG. 5 and FIG. 6, first, the laser projector 11 is set to the irradiation angle and irradiation position of the laser light L set in step S17. Next, the laser projector 11 is moved at a low speed by the driving device 12 to scan the measurement object M with the laser light L. Then, a luminance image S for measuring the shape of the measurement object M captured by the CCD camera 14 when the laser projector 11 scans the laser light L is acquired. The laser lines L1, L2, and L3 of the laser light L are displayed in the luminance image S for measuring the shape. Here, the length (height) Z1 of the measurement object M in the Z direction is calculated based on the irradiation angle θ of the laser light L and the distance Y1 between the laser line L1 and the laser lines L2 and L3 in the Y direction. The same process is performed on the multiple acquired luminance images S for measuring the shape to calculate the three-dimensional shape of the measurement object M.

[Second embodiment]
Fig. 8 is a plan view showing the positional relationship between the laser projector and the CCD camera with respect to the measurement object in the shape measuring device of the second embodiment, Fig. 9 is a side view showing the positional relationship between the laser projector and the CCD camera with respect to the measurement object, Fig. 10 is a rear view showing the positional relationship between the laser projector and the CCD camera with respect to the measurement object, and Fig. 11 is a schematic diagram showing a luminance image. Note that the basic configuration of the second embodiment is almost the same as that of the first embodiment described above, and will be described using Fig. 1, and members having the same functions as those of the first embodiment described above will be given the same reference numerals and detailed description will be omitted.

In the second embodiment, as shown in Fig. 1 and Fig. 8, the shape measurement device 10 includes laser projectors 11 and 18, a driving device 12, an output adjustment device 13, a CCD camera (imaging device) 14, a control device 15, an operation device 16, and a display device 17. The control device 15 includes a position angle setting unit 21, an output setting unit 22, and a three-dimensional shape calculation unit 23.

In the second embodiment, as shown in Figures 8 to 10, the shape measurement device 10 has two laser projectors 11 and 18. The driving device 12, the output adjustment device 13, the CCD camera 14, the operation device 16, and the display device 17 are almost the same as those in the first embodiment. The two laser projectors 11 and 18 can irradiate the measurement object M with laser light L from a plurality of different directions. The laser projector 11 is disposed on one side of the CCD camera 14 in the Y direction, and is set to an irradiation angle θ1 of the laser light L. The laser projector 18 is disposed on one side of the CCD camera 14 in the X direction, and is set to an irradiation angle θ2 of the laser light L. In other words, the laser projector 11 and the laser projector 18 irradiate the measurement object M with laser light L from positions that are 90 degrees apart. The position of the laser projector 18 is not limited to the above, and it may be arranged on the other side of the CCD camera 14 in the Y direction as shown by the two-dot chain line in FIG. 8, and the laser light L may be irradiated onto the measurement object M from a position shifted by 180 degrees from the laser projector 11. Also, three or more laser projectors may be arranged. The laser projectors 11 and 18 irradiate laser light L of different colors (e.g., red and green).

The shape measurement method using the shape measurement device 10 is almost the same as in the first embodiment. That is, in the processing of the flowchart in FIG. 2, in steps S11 to S22, the setting of the irradiation angle and irradiation height of the laser projectors 11 and 18 may be performed for both or one of the laser projectors 11 and 18 in the same manner as in the first embodiment. In addition, the processing of the three-dimensional shape measurement in step S23 may be performed in the following manner.

As shown in FIG. 9 to FIG. 11, first, the laser projector 11 is set to the irradiation angle and irradiation position of the laser light L that has been set. Next, the laser projector 11 is moved at a low speed by the driving device 12 to scan the measurement object M with the laser light L. Then, a luminance image S for measuring the shape of the measurement object M captured by the CCD camera 14 when the laser projector 11 scans the laser light L is obtained. The laser lines L1, L2, and L3 of the laser light L are displayed in the luminance image S for measuring the shape. Similarly, the laser projector 18 is set to the irradiation angle and irradiation position of the laser light L that has been set. Next, the laser projector 18 is moved at a low speed by the driving device 12 to scan the measurement object M with the laser light L. Then, a luminance image S for measuring the shape of the measurement object M captured by the CCD camera 14 when the laser projector 181 scans the laser light L is obtained. The laser lines L4, L5, and L6 of the laser light L are displayed in the luminance image S for measuring the shape.

Then, the length (height) Z1 of the measurement object M in the Z direction is calculated based on the irradiation angle θ1 of the laser light L and the distance Y1 between the laser line L1 and the laser lines L2 and L3 in the Y direction. The length (height) Z2 of the measurement object M in the Z direction is calculated based on the irradiation angle θ1 of the laser light L and the distance X1 between the laser line L4 and the laser lines L5 and L6 in the X direction. The three-dimensional shape of the measurement object M is calculated by performing the same process on the multiple acquired shape measurement luminance images S.

[Effects of this embodiment]
The shape measurement device of the first aspect includes a laser projector (light irradiation device) 11 capable of irradiating laser light (line light) L toward a measurement object M, a driving device 12 capable of scanning the laser light L by moving the laser projector 11, a CCD camera (imaging device) capable of photographing the measurement object M and obtaining a bright line image, a position and angle setting unit 21 that sets the irradiation position and irradiation angle of the laser projector 11 based on the laser light L in the bright line image when the laser light L is scanned, and a three-dimensional shape calculation unit 23 that calculates the three-dimensional shape of the measurement object M based on the irradiation position and irradiation angle of the laser projector 11 and the laser light L in the bright line image.

According to the shape measuring device of the first aspect, before performing the three-dimensional shape measurement process of the measurement object M, the laser light L is scanned and the position of the measurement object M is identified based on the bright line image at this time, so that the irradiation position and irradiation angle of the laser projector 11 when performing the three-dimensional shape calculation process can be set. In other words, by identifying the position of the object M in advance by scanning the laser light L, and the position angle setting unit 21 sets the irradiation position and irradiation angle of the laser light L when calculating the two-dimensional shape, it becomes easier to prevent the laser light L from being irradiated to a position other than the measurement object M when calculating the three-dimensional shape, which would result in a long shape measurement time. As a result, the shape measurement time when measuring the three-dimensional shape of the measurement object M can be shortened, thereby improving workability.

In the shape measurement device according to the second aspect, the driving device 12 scans the laser light L by moving the irradiation position of the laser light L in the horizontal direction. This makes it possible to detect the measurement object M by scanning the laser light L over a wide range.

In the shape measuring device according to the third aspect, the driving device 12 scans the laser light L by changing the irradiation angle of the laser light L. This makes it possible to detect the measurement object M by scanning the laser light L over a wide range.

In the shape measurement device according to the fourth aspect, the scanning speed of the laser light L when the position and angle setting unit 121 sets the irradiation position and irradiation angle of the laser projector 11 is set to be faster than the scanning speed of the laser light L when the three-dimensional shape calculation unit 23 calculates the three-dimensional shape of the measurement object M. This shortens the scanning time of the laser light L, making it possible to detect the measurement object M in a short time.

In the shape measurement device according to the fifth aspect, the position and angle setting unit 21 sets the position and angle of the laser projector 11 when the laser light L is irradiated onto the surface of the measurement object M based on the bright line image to the irradiation position and irradiation angle. This allows the laser light L to be accurately scanned over the measurement object M when the three-dimensional shape calculation process is performed.

The shape measurement device according to the sixth aspect is provided with an output setting unit 22 that sets the output of the laser light L of the laser projector 11 based on the brightness of the bright line image when the laser light L is scanned. This allows the output of the laser light L of the laser projector 11 to be adjusted to an appropriate value according to the environment around the measurement object M, improving the accuracy of the three-dimensional shape measurement of the measurement object M. For example, even if the measurement object M is placed underwater, the laser light L can be appropriately irradiated onto the measurement object M by adjusting the output of the laser light L.

In the shape measurement device according to the seventh aspect, the output setting unit 22 sets the output of the laser light L of the laser projector 11 based on the clarity of the laser light L in the bright line image when the laser light L is scanned. This makes it possible to easily set the output of the laser light L to an appropriate value.

The shape measurement device according to the eighth aspect has multiple laser projectors 11, 18 that can irradiate the measurement object M with laser light L from multiple different directions. This allows for three-dimensional shape measurement with fewer blind spots.

In the shape measurement device according to the ninth aspect, the multiple laser projectors 11, 18 can irradiate different colors of laser light L. This makes it possible to clearly identify which laser projector 11, 18 irradiated the multiple laser lights L irradiated to the measurement object M, and therefore, by irradiating the laser lights L simultaneously from the multiple laser projectors and shortening the shape measurement time when measuring the three-dimensional shape of the measurement object M, it is possible to improve workability.

The shape measurement method according to the tenth aspect includes a step of irradiating a laser beam (line beam) L from a laser projector 11 toward a measurement object M and scanning the laser beam L, a step of photographing the measurement object M to obtain an adjustment bright line image, a step of setting the irradiation position and irradiation angle of the laser projector 11 based on the laser beam L in the adjustment bright line image, a step of irradiating the measurement object M with the laser beam L from the laser projector 11 whose irradiation position and irradiation angle are set, a step of photographing the measurement object M to obtain a shape measurement bright line image, and a step of calculating the three-dimensional shape of the measurement object M based on the irradiation position and irradiation angle of the laser projector 11 and the laser beam L in the shape measurement bright line image. This shortens the shape measurement time when measuring the three-dimensional shape of the measurement object M, thereby improving workability.

In the above embodiment, the measurement object is described as radioactive waste, but the present invention is not limited to this. Also, the measurement object is stored underwater, but it may be stored in air. Furthermore, the measurement object is configured to measure the shape while it is stationary, but it may be configured to measure the shape while it is moving, for example, on a conveyor.

10 Shape measuring device 11 Laser projector (light irradiation device)
12 Drive device 13 Output adjustment device 14 CCD camera (photographing device)
REFERENCE SIGNS LIST 15 Control device 16 Operation device 17 Display device 21 Position angle setting unit 22 Output setting unit 23 Three-dimensional shape calculation unit 100 Storage 101 Storage container 102 Top cover 103 Removal device 104 Articulated arm 105 Hand unit 106 Moving device 107 Articulated arm L Laser light (line light)
M Measurement object (radioactive waste)

Claims (9)

a light irradiation device capable of irradiating a line of light toward a measurement object;
a driving device capable of scanning the line light by moving the light irradiation device;
An imaging device capable of photographing the measurement object and acquiring a bright line image;
a position and angle setting unit that sets an irradiation position and an irradiation angle of the light irradiation device based on the line light in the bright line image obtained by scanning the line light;
a three-dimensional shape calculation unit that calculates a three-dimensional shape of the measurement object based on an irradiation position and an irradiation angle of the light irradiation device and the line light in the bright line image;
Equipped with
a scanning speed of the line light when the position and angle setting unit sets the irradiation position and irradiation angle of the light irradiation device is set to be faster than a scanning speed of the line light when the three-dimensional shape calculation unit calculates the three-dimensional shape of the measurement object.
Shape measurement device. a light irradiation device capable of irradiating a line of light toward a measurement object;
a driving device capable of scanning the line light by moving the light irradiation device;
An imaging device capable of photographing the measurement object and acquiring a bright line image;
a position and angle setting unit that sets an irradiation position and an irradiation angle of the light irradiation device based on the line light in the bright line image obtained by scanning the line light;
a three-dimensional shape calculation unit that calculates a three-dimensional shape of the measurement object based on an irradiation position and an irradiation angle of the light irradiation device and the line light in the bright line image;
Equipped with
an output setting unit that sets an output of the line light of the light irradiation device based on the brightness of the bright line image when the line light is scanned;
the output setting unit sets an output of the line light of the light irradiation device based on a width of the line light in the bright line image when the line light is scanned.
Shape measurement device. The driving device moves an irradiation position of the line light in a horizontal direction to scan the line light.
The shape measuring device according to claim 1 or 2. The driving device scans the line light by changing an irradiation angle of the line light.
The shape measuring device according to claim 1 or 2. the position and angle setting unit sets the position and angle of the light irradiation device when the line light is irradiated onto the surface of the measurement object based on the bright line image to the irradiation position and irradiation angle.
The shape measuring device according to any one of claims 1 to 4. a plurality of the light irradiation devices capable of irradiating the measurement object with line light from a plurality of different directions;
The shape measuring device according to any one of claims 1 to 5. The plurality of light irradiation devices are capable of emitting line lights of different colors.
The shape measuring device according to claim 5 . a step of irradiating a line of light from a light irradiation device toward a measurement object and scanning the line of light;
A step of photographing the measurement object to obtain an adjustment bright line image;
setting an irradiation position and an irradiation angle of the light irradiation device based on the line light in the adjustment bright line image;
irradiating the measurement object with line light from the light irradiation device in which the irradiation position and the irradiation angle are set;
A step of photographing the measurement object to obtain a bright line image for shape measurement;
calculating a three-dimensional shape of the measurement object based on an irradiation position and an irradiation angle of the light irradiation device and the line light in the shape measurement bright line image;
having
a scanning speed of the line light when setting the irradiation position and the irradiation angle is set to be faster than a scanning speed of the line light when calculating a three-dimensional shape of the measurement object.
Shape measurement method. a step of irradiating a line of light from a light irradiation device toward a measurement object and scanning the line of light;
A step of photographing the measurement object to obtain an adjustment bright line image;
setting an irradiation position and an irradiation angle of the light irradiation device based on the line light in the adjustment bright line image;
irradiating a line of light from the light irradiation device in which the irradiation position and the irradiation angle are set, toward the measurement object;
A step of photographing the measurement object to obtain a bright line image for shape measurement;
calculating a three-dimensional shape of the measurement object based on an irradiation position and an irradiation angle of the light irradiation device and the line light in the shape measurement bright line image;
having
The output of the line light can be set based on the brightness of the adjustment bright line image when the line light is scanned, and the output of the line light is set based on the width of the line light in the adjustment bright line image when the line light is scanned.
Shape measurement method.

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