JPS62255813A - Coordinate measuring instrument - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention is a coordinate measuring device, and more specifically, a method for measuring three-dimensional coordinates of an object from a set of stereo photographs taken from different directions. Measurement seat e: 4 Concerning the measuring device.

(Prior art) In a conventional coordinate measuring device, a pair of stereo photographs is enlarged and observed with the naked eye, corresponding measurement points are extracted from both, and 3 is calculated from the coordinate values of the corresponding measurement points on the photograph.
dimension#! Devices for calculating target values are known.

(Problems to be Solved by the Invention) In the conventional three-dimensional coordinate measuring device described above, the corresponding measurement points are extracted with the naked eye, which requires skill and time, and extremely inefficient work.

In particular, when the shape of the object to be measured is complex and there are many measurement points, the fatigue of the operator is considerable.

(Means for Solving the Problems) The present invention has been made in view of the problems of the conventional coordinate measuring device described above, and its features are as follows: A set of images of an object taken from different directions. a light-receiving section that includes a sensor that outputs a signal corresponding to the image formed on the light-receiving surface and outputs first and second detection data respectively corresponding to the stereo-photo; and an image of the stereo-photo; a moving part that moves the sensor relatively; an optical part that forms a low-magnification image and a high-magnification image of the stereo photograph on the light receiving surface; and a low-magnification and high-magnification image formed by the optical part; a setting unit that sets a set point regarding the first detection data related to the image of the stereo photograph; a corresponding point detection unit that determines a corresponding point corresponding to the set point regarding the second detection data; and an output of the corresponding point detection unit. and an arithmetic unit that calculates the coordinates of the object.

(Function) According to the present invention, low magnification and high magnification images are formed from a set of stereo photographs, the first detection data and the second detection data are obtained from each, and the set point set in the first detection data is set. The coordinates of the object can be determined by determining the corresponding points from the second detection data.

(Example) Hereinafter, an example of the coordinate measuring device according to the present invention will be described with reference to the drawings.

In Fig. 1, 1a and 1b are a pair of stereo photographs taken of an object from different directions, and 3a and 3b are variable lenses corresponding to the optical part consisting of a zoom lens with two movable convex lenses centered around a concave lens. In the double optical section, 5a and 5b are area sensors corresponding to the light receiving section.

Stereo photo 1a shows the X-axis direction and Y-axis direction depending on the motor.
The stereo photograph 1b is placed on a table (not shown) that is movable in the axial direction, and the stereo photograph 1b is moved along the X axis by a motor M4.

It is placed on a table (not shown) that is movable in the Y-axis and Z-axis directions and rotatable around each axis.

The stereo photographs 1a and 1b are placed in a state in which the inclination and the like at the time of photographing have been corrected by the motors M3 and M.

The variable magnification optical sections 3a and 3b are configured to form an image of substantially the entire stereo photographs 1a and 1b on the light receiving surfaces of the area sensors 5a and 5b as shown by the solid lines at low magnification by the motor skin and motor M9, respectively, and at high magnification. Sometimes, a portion of the stereo photographs 1a, 1b indicated by dotted lines is enlarged and the area sensor 5a
, 5b.

The area sensor 5a and the area sensor 5b receive a clock signal φ1. φ,′,φ1
．． It is scanned by φ2'.

By this scanning, the area sensor 5a and the area sensor 5b
means that the contents of each pixel are extracted and sent to the A/D converter 2.
0a and A/D converter 20b as first and second detection data, respectively.

The A/D converter 20a and the A/D converter 20b start A/D conversion in response to a signal from the timing signal generator 10, and when this is completed, they indicate the completion of A/D conversion to the timing signal generator 10. In addition to outputting signals, A/D
The converted detection data from the area sensor 5a and the area sensor 5b is output to the control calculation section 30.

The control calculation unit 30 sends and receives timing signals to and from the timing signal generator 10 to control the motors N0 to M4.
A/D converter 20
It receives and receives first and second detection data from the A/D converter 20b, performs predetermined processing, and writes and reads data to and from the memory 40.

The first and second detection data are alternately output to the display 50.

Images of the stereo photographs 1a and Ib are alternately formed on the monitor screen, a display signal is outputted to display the measurement results, a control signal is outputted to the separation glasses 60, and the field of view is alternately blocked by a shutter, It receives signals from the light pen 70 and receives various commands from the operating section 80.

The person taking the measurement should put on the 1-separation glasses 60 and look at the monitor screen of the display 50! It is possible to stereoscopically view the images of stereo photographs 1a and 1b using Jl, and in the case of manual measurement described later, the set point to be measured can be set by pointing the stereo photograph image on the monitor screen with the light pen 70. Ru.

This control calculation unit 30 plays the roles of a setting unit, a corresponding point detection unit, and a calculation unit, as will be described later.

Next, the operation of the coordinate measuring device according to the present invention will be explained with reference to the flowcharts shown in FIGS. 2 to 5 and FIGS. 6 to 8 showing the correlation processing range.

When the measurement is started, a stereo photograph is set in step S-100, the stereo photographs 1a and 1b are placed on the table, and the motor M3M is appropriately driven under the control of the control calculation section 30, and the stereo photograph is set. 1a,
1b to enable stereoscopic viewing, and the process proceeds to step S-200. In step S-200, a measurement mode is selected, and the measurer sets a set point to be measured using the light pen 70. Either manual mode, which calculates the coordinate values for this, or auto mode, where the device automatically sets a set point with an appropriate density and sequentially calculates the coordinate values for this, allows you to know the approximate shape of the object. It is selected and the process proceeds to step S-300.

In step S-300, a low-magnification corresponding point search is performed to determine the approximate position of the corresponding point corresponding to the set point on the stereo photograph and designate a search range. This result is utilized in step S-400.

In step S-400, a search for corresponding points is performed with high magnification, and based on the approximate positions of the corresponding points obtained in step S-300, the vicinity thereof is detected with high magnification.

Corresponding points are determined with higher accuracy and the process proceeds to step S-500.

In step 5-soo, marker insertion is performed, and the first marker, which is a bright spot, is inserted at the set point position of the image of the stereo photograph 1a appearing on the monitor screen of the display device 50, and the second marker, which is also a bright spot A marker is inserted into the image of the stereo photograph 1b appearing on the monitor screen at the position of the corresponding point determined in step S-400.

In step 5-soo, it is determined whether or not there is mismatching, and the monitor screen on which the marker has been inserted is observed through the separation glasses 60, and it is determined whether the inserted marker appears on the surface of the stereoscopic object. to decide.

If the inserted marker appears on the surface of the stereoscopically viewed object, no mismatching has occurred and the measurement is correct, and the process proceeds to step S-700.

On the other hand, if the inserted marker is significantly floating or sinking from the surface of the object viewed stereoscopically, mismatching has occurred, and the measurement result is erased by the measurer's operation etc. in step S-800. , the process advances to step S-1000 and it is determined whether or not to end the measurement.

In step S-700, coordinate calculation is performed to obtain three-dimensional coordinates from the data of the set point and the data of the corresponding point determined in step S-400, and the process proceeds to step S-900.

In steps S-900, coordinate display is performed, and the three-dimensional coordinates obtained in step S-800 are displayed on the display 50, and the process proceeds to step 5-iooo. If such a determination is made and the measurement continues, the process returns to step S-100;
This completes the measurement.

Step S of the processing of the coordinate measuring device of the present invention described above
- Searching for corresponding points at low magnification at 300, step S-4
High magnification corresponding point search at 00 and steps sg
The process of displaying coordinates in oo will be described in detail below.

The search for corresponding points at low magnification in step S-300 is performed according to the flowchart shown in FIG.

When the measurement mode selection in step S-200 is completed, the process advances to step S-301.

In step S-301, initial value setting is performed,
Set @ to the maximum correlation coefficient I and optimal set point coordinates based on the detection data obtained at low magnification, and set the initial value O to Qm, and step S
Proceed to -302.

In step S-302, a low magnification setting is performed, and the variable magnification optical sections 3a and 3b are set to a low magnification by the motors □ and M2, and the process proceeds to step S-303.

In step S-303, the detection data (a) and the detection data (b) are stored, and the stereo photographs 1a,
1b is imaged on the light-receiving surfaces of area sensors 5a and 5b at low magnification, the outputs of area sensors 5a and 5b are AID-converted by A/D converters 20a and 20b, and then the detection data at low magnification ( A) and (b) are stored in the memory 40, and the process proceeds to step S-304.

In step S-304, monitor display is performed,
The images of the stereo photographs 1a and 1b are alternately formed on the monitor screen of the display device 50 from the detection data (a) and (b) at low magnification stored in step S-304, and the images are By outputting the timing signal to the separation glasses 60, the measurement person wearing the separation glasses 60 can stereoscopically view the images of the stereo photographs 1a and 2b. Then, the process advances to step S-305.

In step S-305, it is determined whether or not the auto mode is set, and if the auto mode is set, steps S-306, S-307, and S-30
If the auto mode is not set, or in other words, if the manual mode is set, the process proceeds to steps S-309, S-310, and S-311 in order.

If the auto mode is set and the process proceeds to step S-306, initial values of set points are set. The initial value of this set point is set to 2ω1 in width at the far left corner of the stereo photograph 1a detected at low magnification, as shown in FIG. 6(a). Height width 2
Center coordinates (j□, jl) when ω2 window is provided
is set as the set point ('+j).

When this setting is completed, the process advances to step S-307.

In step S-307, window data is extracted from the detected data (a), and the data within a window of width [2ω□ and height 2ω2 centered around the set point (i, j) is extracted. The detection data stored in the memory 40 (
Extract from a) as wind data ωa(i, j),
Proceed to step S-308.

In step S-308, the initial values of the corresponding points are set, and as shown in FIG. 6(b), the left corner of the stereo photograph 1b detected at low magnification has a width of 2ω1 in width and a width of 2ω in height.
Center coordinates (kl.) when two windows are provided.

Ql) is set as the set point (k, Q), and when this setting is completed, the process advances to step 5-312.

On the other hand, manual mode is set and step S
-309, the measurement operator sets a set point.

This setting point is set by the measurement person at a point (
Xx+y□) is set as the set point (i, j), and when this setting is completed, the process advances to step S-310.

In step S-310, the wind data ω
, (1+, ]) is extracted, and the horizontal width 2ω1. is centered around the set point baj). Data within a window with a vertical width of 2ω2 is extracted from the detection data (a) stored in the memory 40 as window data ωa (itj),
The process advances to step S-311.

In step S-311, the initial values of the corresponding points are set, and as shown in FIG. 7(b), the coordinate values in the Y-axis direction of the set point (Xxyyi) are When a window with width 2ω1 and height 2ω2 is provided at the left end with y, the center coordinate Ckx*Qz) is set as the initial value of the corresponding point, and when this setting is completed, step S
Proceed to -312.

In step S-312, Indian data ωb(k, 12) is extracted from the detected data (b), and the data within a window with a width of 2ω1 and a width of 2ω2 centered on the corresponding point (k, Q) is is extracted from the detection data (b) stored in the memory 40 as wind data ω, (k, Q), and the process proceeds to step S-313. In step S-313, the correlation coefficient g at low magnification is calculated. is performed, and the correlation coefficient g between the wind data ωa (iJ and the wind data ωb (k, Q) is obtained by the following formula, and step S-3
Proceed to step 14.

``L-*I・を櫃'b4. je〜-υ1.!,・Noω.

LD"A-ω- J・1toω2 4ω1°ω2 λO;λ-υ+ J6 bow-ν)a
(+J+ is the coordinate (io+j0
) and bt++1+ are detection data corresponding to the coordinates (ko*fla) of the stereo photograph 1b.

In step S-314, the determined correlation coefficient g
It is determined whether or not is larger than the already determined maximum correlation coefficient gm. If g>gm, the process proceeds to step S-315; and if g>gm does not, the process proceeds to step S-316.

In step S-315, the correlation coefficient g obtained this time is
The value of is set as the value of the maximum correlation coefficient gm, and β is stored as the coordinate value of the optimum corresponding point km, (l m) as the coordinate value of the current corresponding point, and the process proceeds to step S-316.

In step S-316, it is determined whether or not the coordinate value of the right edge window has become ke. If k=ke has not been achieved, the process proceeds to step S-317, in which the value of k is increased by 1, and step Return to S-312 and repeat until k = ke. When ke = ke, the process of searching for corresponding points with low magnification in step S-300 is finished, and the process of searching for corresponding points with high magnification in step S-400 ends. Proceed to processing.

The high-magnification corresponding point search in step S-400 is performed according to the flowchart shown in FIG.

When the low magnification corresponding point search in step S-300 is completed, the process proceeds to step S-401.

In step S-401, an initial value is set, and the maximum correlation coefficient G11 based on the detection data obtained at high magnification is set to an initial value of 0, and the process proceeds to step S-402.

In step S-402, the stereo photograph 1a is moved, and the motor M1 is activated so that the set point (i, j) set in step S-300 is located on the optical axis 01 of the variable magnification optical section 3a. The movement is controlled, and when the movement is finished, the process advances to step S-403.

In step S-403, the stereo image [1b] is moved, and the motor is moved so that the optimum setting point (km, Qm) determined in step S-300 is located on the optical axis 02 of the variable magnification optical section 3b. M4 moves under control, and when finished, the process proceeds to step S-404.

In step S-404, the variable magnification optical sections 3a and 3b
A high magnification setting is performed, and the range extracted as wind data by the motors M1 and M2 is the area sensor 5a.
, 5b, and the process proceeds to step S-405.

In step S-405, the detection data (A) and the detection data CB) are stored, and the area sensor 5a in which the images of the stereo photographs 1a and 1b are formed at high magnification;
After the output of 5b is A/D converted by A/D converters 20a and 20b, the detection data at high magnification (A) and (B) are shown respectively.
is stored in the memory 40, and the process proceeds to step S-406.

In step S-406, monitor display is performed,
A monitor screen on which the images of the stereo photographs 1a and 1b can be viewed stereoscopically at high magnification is formed in the same manner as in step S-304 described above, and the process proceeds to step S-407.

In step S-407, it is determined whether or not the auto mode is set, and if the auto mode is set, steps S-408, S-409, and S-42
If the auto mode is not set, the process proceeds to steps S-411, S-412, and S-413 in order.

If the auto mode is set and the process proceeds to step S-408, initial values of set points are set.

The initial value of this set point is set at the coordinate (I
-9Jl) as the set point (I, J),
When this setting is completed, the process advances to step S-409.

In step S-409, wind data is extracted from the detected data (A), and the data within a window of Ig2ω1 horizontally and 2ω2 vertically centered on the set point (I, J) is stored in the memory 40. Wind data WA (I, J) is extracted from the detected data (A) stored in the window, and the process proceeds to step S-410.

In step S-410, the initial values of the corresponding points are set, and as shown in FIG. 6(d), the left corner of the stereo photograph 1b detected at high magnification is
The center coordinates (Kxtt-i) when the window is provided are set as the set points (K, L), and when this setting is completed, the process advances to step S-414.

On the other hand, manual mode is set and step S
When the process proceeds to -411, the measurement operator sets a set point. This set point setting by the measurer is performed by changing the point (X, Yl) indicated by the measurer using the light pen 70 on the monitor screen that forms a high magnification image again to the set point (I, J).
When this setting is completed, step S
Proceed to -412.

In step S-412, the wind data WA (
I.

J) is extracted and set point (I, J)
Data in a window with a horizontal width of 2ω1 and a vertical width of 2ω2 centered on is stored in the memory 4 as window data WA (I, J).
The detection data (Ill) stored in 0 is extracted, and the process proceeds to step S-413.

In step S-413, initial values of corresponding points are set, and as shown in FIG. 7(d), step S-300
On the stereo photo lb detected at high magnification centered on the optimal corresponding point found at low magnification, there is a horizontal image of 2ω0 in the left corner.
Center coordinates when installing a window with vertical width 2ω2 (K-work,
Lo) is set as the set point (K, L), and when this setting is completed, the process advances to step S-414.

In step S-414, window data W, (K, L) are extracted from the detection data (8), and the data within a window with a width of 2ω1 and a width of 2ω2 centered on the corresponding point (K, L) is are extracted from the detection data (B) stored in the memory 40 as wind data W, (K, L), and the process proceeds to step S-415.

In step S-415, the correlation coefficient G at high magnification is
is calculated, and the correlation coefficient between the wind data WA (I, J) and the wind data W, (K-, L) is calculated using the previously mentioned (
It is obtained in the same manner as step S-313 using equations 1) to 4), and the process proceeds to step S-416.

In step S-314, the determined correlation coefficient G
is larger than the already determined maximum correlation coefficient Gffl, and if G) is Gm, step S-417
If G) is not Gm, the process advances to step S-418.

In step S-417, the correlation coefficient G obtained this time is
The value of is set as the value of the maximum correlation coefficient Gm, and L is stored as the coordinate values of the optimum corresponding points Km and Lm in the coordinate values of the current corresponding point, and the process proceeds to step S-418.

In step S-418, it is determined whether the coordinate value K in the X-axis direction of the corresponding point has become the coordinate value Ke in the X-axis direction of the rightmost window on the detected stereo photograph lb; If K=, then step S
Proceed to -419, increase the value of by 1, and step S-4
Return to step 14 and repeat until = is reached.

When K=, the process advances to step S-420, where the Y-axis coordinates of the nearest window on the stereo photo lb are detected, and the Y-axis coordinates of the corresponding points are detected. If the value of L is not equal to L6, the value of L is increased by 1 in step S-421, and in step S-422, the value of Repeat until the corresponding point (K
Find the correlation coefficient up to F, LE). Step S-41
8, when L=L, , step S-
400 high magnification corresponding point search process is completed, step S
Proceed to -500 marker insertion process.

The coordinate calculation process in step S-700 is performed according to the flowchart shown in FIG.

If it is determined in step S-600 that no mismatching has occurred, the process advances to step S-701.

In step S-701, coordinate calculation is performed, and the coordinate values I, J of the set point and the coordinate value Km of the optimal corresponding point are calculated.

The three-dimensional coordinates X, Y, and Z are determined from Lm using the following formula, and when this is completed, the process advances to step S-702.

Stereo photographs 1a, 1b and set points (I.

From the relationship between J) and the optimal corresponding point (Km, Ln+), the three-dimensional coordinates (X, Y, Z) can be found as follows, assuming that the projection center of the variable magnification optical unit 3a is the origin.

Here, I' and J' are the coordinates of the set point taken with the optical axis 01 as the origin, Km' is the coordinate of the optimal corresponding point taken with the optical axis 02 as the origin, and f is the stereo photograph taken from the variable magnification optical sections 3a and 3b. The distance to 1a and 1b, and B is the distance between the optical axes of the variable magnification optical sections 3a and 3b.

In step S-702, the three-dimensional coordinates obtained in step S-701 are stored as measurement results,
Once stored, the process advances to step S-703.

In step S-703, it is determined whether the manual mode is set, and if the manual mode is set, the process proceeds to step 5-aoo, and if the manual mode is not set, that is, the auto mode is set. Step S-70
Proceed to step 4.

In step S-704, it is determined whether the coordinate value i in the X-axis direction of the set point at low magnification has become the coordinate value ie in the X-axis direction of the rightmost window on the detected stereo photograph la. If it is determined that 1=ie is not established, the process proceeds to step S-705, increases the value of i by Δi, returns to step S-307, moves the set point, calculates the three-dimensional coordinate value, and determines that 1=ie. Repeat until done. 1
When it becomes =ie.

The process advances to step S-706, where it is determined whether the coordinate value j of the set point in the Y-axis direction has become the Y# force direction coordinate value je of the window closest to the front on the detected stereo photograph la. If it is determined that j=je is not established, the value of j is increased by Δj in step S-707, and the value of i is set as i in step S-708, and j=je.
Repeat this until the three-dimensional coordinate values for the set point (is, je) are obtained.

If it is determined in step S-706 that j=je, the high-magnification corresponding point search process in auto mode ends, and the process proceeds to marker insertion process in step S-500.

Note that Δi and Δj correspond to the interval between the set points, but their values are determined as appropriate depending on the imaging magnification of the stereo photograph and the accuracy required for 'IIJ determination.

In addition, the three-dimensional coordinates obtained by the above equations (7) or 9) are the model coordinates in this device, but by multiplying by the imaging magnification and taking the origin appropriately, the three-dimensional coordinates of the objects in the stereo photographs 1a and 1b can be It can also be the original coordinates.

The present invention is not limited to the configuration of the above embodiment, and allows various modifications.

The optical section for obtaining different magnifications from stereo photographs does not need to be a zoom lens, but instead divides the optical path with a half mirror 100 as shown in FIG.
(a) An image may be formed on the low magnification area sensor 104b to obtain detection data.

Alternatively, as shown in FIG. 10, only one set of an optical section 110 and an area sensor 112 may be provided, and these may be moved as a unit when data and detection are performed on the other stereo photograph.

Further, in the above embodiments, detection at low magnification was explained by covering the entire range of a stereo photograph, but the present invention can also be applied to detection of a portion of a stereo photograph.

(Effects of the Invention) According to the present invention, without placing a heavy burden on the measurer,
- Three-dimensional coordinates can be determined from a set of stereo photographs.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a coordinate measuring device to which the present invention is applied;
FIG. 2 is a flowchart showing the operation of the coordinate measuring device to which the present invention is applied; FIG. 3 is a flowchart showing low-magnification corresponding point search processing; FIG. 4 is a flowchart showing high-magnification matching point search processing; The figure is a flowchart showing coordinate calculation processing, Figure 6 is a diagram showing window settings when auto mode is set, Figure 7 is a diagram showing window settings when manual mode is set, and Figure 8 is a diagram showing three-dimensional coordinate calculation processing. The diagrams illustrating the principle, FIGS. 9 and 10, are diagrams illustrating modified examples. 1a, 1b... Stereo photograph 3a, 3b... Variable magnification optical section 5a, 5b... Area sensor 30... Arithmetic control section 40... Memory 50... Display unit 60... For separation Glasses 70...Light pen M1-M4...Motor No. 6 (a) (b) No. 1 (a) 'Figure (b)

Claims (4)

[Claims] (1) A set of stereo photographs taken of the object from different directions, and a first and second detection system that includes a sensor that outputs a signal according to the image formed on the light-receiving surface, and that corresponds to the stereo photographs, respectively. a light-receiving section that outputs data; a moving section that relatively moves the image of the stereo photograph and the sensor; and an optical system that forms a low-magnification image and a high-magnification image of the stereo photograph on the light-receiving surface. a setting section that provides a set point regarding the first detection data regarding the low-magnification and high-magnification stereo photographic images formed by the optical section; and a corresponding point corresponding to the set point regarding the second detection data. A coordinate measuring device comprising: a corresponding point detecting section for calculating the coordinates of the object; and a calculating section for calculating the coordinates of the object from the output of the corresponding point detecting section. (2) The light receiving unit includes first and second area sensors as sensors, and the optical unit includes a first optical system that forms one image of the stereo photograph on the first area sensor and 2. The coordinate measuring device according to claim 1, further comprising a second optical system that forms the other image of the stereo photograph on the second area sensor. (3) The light receiving section has one area sensor as a sensor, and the moving section moves the one area sensor so that images of the one set of stereo photographs are alternately formed on the light receiving surface of the area sensor.
2. The coordinate measuring device according to claim 1, wherein the coordinate measuring device is configured to move a set of stereo photographs. (4) The optical section first forms an image of the stereo photograph on the light receiving surface at a low magnification and then a high magnification, and the moving section forms an image of the stereo photograph on the light receiving surface at a low magnification. The image of the stereo photograph and the area sensor are moved relative to each other based on the detection results of the corresponding point detection unit when the corresponding points are formed on Coordinate measurement according to claim 2 or 3, characterized in that the coordinates of the object are determined based on the output of the corresponding point detection section when formed on the light receiving surface. Device.