Three-dimensional measurement system

Abstract

A three-dimensional measurement system capable of removing a background with high precision is provided. The three-dimensional measurement system includes a measurement unit (20) that photographs a measurement object, the measurement unit having a light projecting device that projects a projection light (PL) toward the measurement object and a light receiving device that receives a reflection light (RL). The three-dimensional measurement system includes a mirror surface reflection member (31) that constitutes a placement surface on which the measurement object is placed, and reflects the projection light at a specific angle. The three-dimensional measurement system includes a data acquisition unit that acquires photographic data, and a coordinate calculation unit that calculates three-dimensional coordinates for a portion of the photographic data in which the brightness is greater than a lower limit brightness, and does not calculate three-dimensional coordinates for a portion in which the brightness is less than or equal to the lower limit brightness. The light receiving device is disposed at a position at which the brightness of a portion that photographs the mirror surface reflection member is less than or equal to the lower limit brightness.

Description

[0001] Cross Reference to Related Applications

[0002] This application is based on Japanese Patent Application No. 2021-27774 filed in Japan on February 24, 2021, and the entire contents of the base application are incorporated by reference. TECHNICAL FIELD

[0003] The disclosure in this specification relates to a three-dimensional measurement system. BACKGROUND

[0004] Patent Literature 1 discloses an image processing method for acquiring image data of an object. The contents of the prior art document are incorporated by reference as a description of technical elements in this specification.

[0005] Prior Art Documents

[0006] Patent Literature

[0007] Patent Literature 1: Japanese Patent Application Publication No. 2019-145177 SUMMARY

[0008] In the configuration of the prior art document, a background removal process is disclosed, which pre-stores a background image of an unphotographed member and a robot arm in a memory, and removes the background by calculating the difference between a photographed image and the stored background image. However, in the case of removing the background by calculating the difference from the background image, the time point of photographing the background is different from the time point of photographing the object. Therefore, even the same background can have a slight error due to the influence of the current deviation of the camera during photographing and the like. Therefore, the accuracy of the background removal is likely to decrease. In the above-mentioned point or in other points not mentioned, the three-dimensional measurement system needs to be further improved.

[0009] One object of the disclosure is to provide a three-dimensional measurement system capable of removing a background with high accuracy.

[0010] The three-dimensional measurement system disclosed herein is a three-dimensional measurement system that performs shape measurement for measuring the three-dimensional shape of a measurement object, and includes:

[0011] a measurement unit that photographs the measurement object, has a light projecting device that projects projection light to the measurement object, and a light receiving device that receives reflected light that is light reflected by the projection light;

[0012] a reflection member that constitutes a placement surface on which the measurement object is placed, and reflects the projection light at a specific angle;

[0013] a data acquisition unit that acquires photographed data photographed using the measurement unit; and

[0014] The coordinate calculation section calculates three-dimensional coordinates for a portion of the captured data having a luminance greater than a lower limit luminance and does not calculate three-dimensional coordinates for a portion having a luminance less than or equal to the lower limit luminance.

[0015] The light receiving device is disposed at a position such that a portion of the reflected member captured has a luminance less than or equal to a lower limit luminance.

[0016] According to the disclosed three-dimensional measurement system, the light receiving device is disposed at a position such that a portion of the reflected member captured has a luminance less than or equal to a lower limit luminance. Therefore, it is possible to suppress the light received by the light receiving device that includes the light of the background portion, i.e., the placement surface reflected light. Therefore, it is possible to reduce the influence of light other than the reflected light of the measurement target object, i.e., the object reflected light, and calculate the three-dimensional point group of the measurement target object with high precision. Thus, it is possible to provide a three-dimensional measurement system capable of removing the background with high precision.

[0017] In addition, the three-dimensional measurement system disclosed herein is a three-dimensional measurement system that performs shape measurement for measuring the three-dimensional shape of a measurement target object, and includes:

[0018] a measurement unit that captures the measurement target object and has a light projecting device that projects projection light toward the measurement target object and a light receiving device that receives reflected light that is light reflected by the projection light;

[0019] a diffusing member that constitutes a placement surface on which the measurement target object is placed and diffuses the projection light;

[0020] a data acquisition section that acquires captured data captured using the measurement unit; and

[0021] a coordinate calculation section that calculates three-dimensional coordinates for a portion of the captured data having a luminance less than an upper limit luminance and does not calculate three-dimensional coordinates for a portion having a luminance greater than or equal to the upper limit luminance;

[0022] The light receiving device is disposed at a position such that a portion of the diffusing member captured has a luminance greater than or equal to an upper limit luminance.

[0023] According to the disclosed three-dimensional measurement system, the light receiving device is disposed at a position such that a portion of the diffusing member captured has a luminance greater than or equal to an upper limit luminance. Therefore, it is possible to easily make the luminance of the light of the background portion, i.e., the placement surface reflected light, in the reflected light received by the light receiving device greater than or equal to a saturation luminance. Therefore, it is possible to calculate the three-dimensional point group by removing the luminance greater than or equal to the saturation luminance and calculate the three-dimensional point group of the measurement target object with high precision. Thus, it is possible to provide a three-dimensional measurement system capable of removing the background with high precision.

[0024] In the disclosed three-dimensional measurement system, a measurement unit that photographs a measurement object is provided, and the measurement unit has a light projecting device that projects a near-infrared projection light (PL) to the measurement object and a light receiving device that receives a reflection light (RL) that is a light reflected by the measurement object.

[0025] In the disclosed three-dimensional measurement system, a net-shaped structure that constitutes a placement surface on which the measurement object is placed and through which the projection light passes, and a reflection member that reflects light that has passed through the net-shaped structure toward a direction in which the light does not return to the net-shaped structure are further provided.

[0026] In the disclosed three-dimensional measurement system, a data acquisition unit that acquires photographing data photographed by the measurement unit, and a coordinate calculation unit that calculates three-dimensional coordinates for a portion in the photographing data in which the luminance is greater than a lower limit luminance and does not calculate three-dimensional coordinates for a portion in which the luminance is less than or equal to the lower limit luminance are further provided.

[0027] In the disclosed three-dimensional measurement system, since light that has passed through the net-shaped structure is reflected toward a direction in which the light does not return to the reflection member net-shaped structure, the measurement can be performed with high accuracy while avoiding the influence of interference by the reflection light. In particular, since the projection light and the reflection light are near-infrared, the influence of interference by ambient light can be suppressed.

[0028] In the disclosed three-dimensional measurement system, a measurement unit that photographs the measurement object is further provided, and the measurement unit has a light projecting device that projects a projection light (PL) to the measurement object and a light receiving device that receives a reflection light (RL) that is a light reflected by the measurement object.

[0029] In the disclosed three-dimensional measurement system, a light absorbing member that constitutes a placement surface on which the measurement object is placed and that absorbs the projection light, a data acquisition unit that acquires photographing data photographed by the measurement unit, and a coordinate calculation unit that calculates three-dimensional coordinates for a portion in the photographing data in which the luminance is greater than a lower limit luminance and does not calculate three-dimensional coordinates for a portion in which the luminance is less than or equal to the lower limit luminance are further provided.

[0030] In the disclosed three-dimensional measurement system, since the placement surface on which the measurement object is placed is constituted by the light absorbing member that absorbs the projection light, the influence of interference by the reflection light from the placement surface can be avoided. Therefore, the problem of multipath can be solved, and the measurement can be performed with high accuracy.

[0031] The plurality of modes disclosed in the present specification employ mutually different technical means in order to achieve respective objects. The claims and the marks in parentheses described in the item exemplify the correspondence between the parts of the embodiments to be described later, and are not intended to limit the technical scope. The objects, features, and effects disclosed in the present specification will become more fully understood from the following detailed description, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a block diagram showing an outline structure of the recognition system.

[0033] Figure 2 is a block diagram relating to control of the recognition system.

[0034] Figure 3 is a flowchart relating to control of the recognition system.

[0035] Figure 4 is an explanatory diagram for explaining adjustment of a measurement angle.

[0036] Figure 5 is a diagram showing a display screen before adjustment of a measurement distance.

[0037] Figure 6 is a diagram showing a display screen after adjustment of the measurement distance.

[0038] Figure 7 is an explanatory diagram for explaining reflected light.

[0039] Figure 8 is a diagram showing a display screen displaying a measured luminance.

[0040] Figure 9 is a block diagram showing an outline structure of the recognition system in the second embodiment.

[0041] Figure 10 is a flowchart relating to control of the recognition system in the second embodiment.

[0042] Figure 11 is an explanatory diagram for explaining adjustment of a measurement position in the second embodiment.

[0043] Figure 12 is an explanatory diagram for explaining reflected light in the second embodiment.

[0044] Figure 13 is a block diagram showing an outline structure of the recognition system in the third embodiment.

[0045] Figure 14 is a flowchart relating to control of the recognition system in the third embodiment.

[0046] Figure 15 is an explanatory diagram for explaining adjustment of a measurement angle in the third embodiment.

[0047] Figure 16 is an explanatory diagram for explaining reflected light in the third embodiment.

[0048] Figure 17This is a diagram showing a display screen representing the brightness measured in the third embodiment.

[0049] Figure 18 This is a structural diagram showing the schematic structure of the identification system in the fourth embodiment.

[0050] Figure 19 This is a structural diagram showing the schematic structure of the identification system in the fifth embodiment.

[0051] Figure 20 This is a structural diagram showing the light-absorbing component in the fifth embodiment. Detailed Implementation

[0052] Several embodiments will be described with reference to the accompanying drawings. In these embodiments, functionally and / or structurally corresponding and / or related parts are given the same reference numerals or reference numerals with different numbers of hundreds or more. Corresponding and / or related parts can be referred to in the description of other embodiments.

[0053] First Implementation Method

[0054] exist Figure 1 In this system, recognition system 1 is a system with the functions of a three-dimensional measurement system. Recognition system 1 is used to identify the position and orientation of a measurement object 41 with a known shape. The position and orientation of the measurement object 41 refers to both its location and its posture. However, it is not necessarily necessary to recognize both position and orientation; it can also be a structure that recognizes only one of them.

[0055] The recognition system 1 performs shape measurement, in which it calculates the three-dimensional coordinates of the object 41 being measured using the measurement unit 20, with respect to multiple measurement points. Furthermore, the recognition system 1 stores model data, which shows the shape of the object 41. Thus, the recognition system 1 identifies the position and pose of the object 41 by matching the three-dimensional coordinates obtained from the shape measurement with the model data. Details of the measurement unit 20 will be explained later.

[0056] The identification system 1 can be applied to various tasks using the robot 10. Examples of tasks using the robot 10 include assembly tasks where parts are assembled into specific positions, selection tasks where parts are picked, visual inspection tasks where parts are inspected for damage or defects, and gripping tasks where parts are held. However, the identification system 1 can also be used in tasks where the robot 10 is not used.

[0057] The robot 10 has a base 11, a robot arm 15, and a robot hand 16. The robot 10 is a vertically multi-joint robot. However, as the robot 10, a horizontally multi-joint robot or the like can be adopted. The base 11 is fixed to a setting surface on which the robot 10 is set, using a bolt or the like.

[0058] The robot arm 15 is configured by connecting a plurality of shaft members through joint members. The joint members include a motor therein, and the angle of the joint members can be freely controlled by controlling the motor. The plurality of shaft members are connected to each other in a manner that they can relatively rotate with respect to each other, with the joint members. The robot arm 15 is connected to the base 11.

[0059] The robot hand 16 is installed at the front end portion of the robot arm 15. The robot hand 16 includes a motor therein. The robot hand 16 is configured to relatively rotate with respect to the shaft of the shaft member provided to the robot arm 15 by controlling the motor.

[0060] The robot hand 16 has a claw portion. The claw portion rotates with the rotation axis of the robot hand 16 as the center. The robot hand 16 is configured to hold the measurement target object 41 placed on the mirror surface reflecting member 31 by performing opening and closing operation of expanding and reducing the interval between the claw portions. In addition, the robot 10 can move the robot arm 15 or the robot hand 16 in a state where the robot hand 16 holds the measurement target object 41. Thereby, the position or posture of the measurement target object 41 can be changed. However, in order to hold the measurement target object 41, the position or posture of the measurement target object 41 needs to be correctly recognized.

[0061] The measurement target object 41 is placed on the mirror surface reflecting member 31. In the mirror surface reflecting member 31, the surface on which the measurement target object 41 is placed, that is, the upper surface is a mirror surface, and thus, the light projected to the mirror surface reflecting member 31 is totally reflected. Therefore, the reflection angle can be controlled by controlling the incident angle of the light projected to the mirror surface reflecting member 31. As the mirror surface reflecting member 31, a metal plate to which mirror surface processing is applied by polishing or the like, which is a member for a vehicle body, can be adopted. The mirror surface reflecting member 31 provides an example of a reflecting member.

[0062] The mirror surface reflecting member 31 is black, which easily absorbs the energy of the projected light. However, in a case where the color of the measurement target object 41 and the mirror surface reflecting member 31 is the same, it is difficult to distinguish the measurement target object 41 and the mirror surface reflecting member 31. Therefore, the color of the mirror surface reflecting member 31 is preferably selected from colors that easily absorb light, among colors different from the measurement target object 41.

[0063] The mirror surface reflecting member 31 is a plate member of a quadrangular shape. However, the shape of the mirror surface reflecting member 31 is not limited to the above example as long as it is large enough compared to the measurement target object 41. However, as the mirror surface reflecting member 31, a member case of a box shape in which a plate member to which mirror surface processing is applied is laid on the bottom surface can be adopted.

[0064] The number of measurement objects 41 placed on the mirror surface reflecting member 31 is not limited to one. For example, a plurality of measurement objects 41 can be placed on the mirror surface reflecting member 31 in a state of overlapping each other. The measurement object 41 is located at a standard position set at the center of the placement surface, that is, the mirror surface reflecting member 31. The standard position refers to a standard position at which the measurement object 41 is placed.

[0065] The measurement object 41 can adopt an arbitrary shape, but as an example, an object in which two disks having different diameters are arranged adjacent to each other on the same axis is adopted. The measurement object 41 is placed on the mirror surface reflecting member 31 in a manner in which the disk portion having a small diameter is located on the upper side.

[0066] The measurement unit 20 is a device for measuring the shape of the measurement object 41. As the measurement unit 20, a function of capturing a surface image of the measurement object 41 and a function of calculating a three-dimensional point group of the measurement object 41 are provided. The three-dimensional point group refers to a collection of data in which three-dimensional coordinates of a measurement point of the measurement object 41 are calculated with respect to a plurality of measurement points. In other words, the measurement point is each point expressing the coordinates of the measurement object 41. The three-dimensional coordinates have an X coordinate, a Y coordinate, and a Z coordinate as coordinate components. As the measurement unit 20, for example, a distance image sensor using a triangulation principle such as a phase shift method to calculate a distance can be adopted.

[0067] The measurement unit 20 is provided to the robot 16. Therefore, the position of the measurement unit 20 can be adjusted by controlling the position of the robot arm 15 or the robot 16.

[0068] In the Figure 2 In the

[0069] The display device 29 is a device that displays a position and posture recognition-related display with respect to the user. The display device 29 displays, for example, a captured image captured by the measurement unit 20. The user can confirm the captured range or the brightness of the captured image of the measurement unit 20 by visually confirming the content displayed on the display device 29. The control section 70 controls the presence or absence of display or the display content of the display device 29.

[0070] The measurement unit 20 is provided with a light projecting device 21 and a light receiving device 22. As the light projecting device 21, a projector capable of projecting pattern light for a phase shift method can be used. As the light projecting device 21, a device capable of projecting light such as laser light, which is directional, can be used. The light projected from the light projecting device 21 is preferably distinguishable from the light of a fluorescent lamp or sunlight in terms of intensity and wavelength. As the light receiving device 22, a camera that captures the state of the measurement target 41 to which the pattern light is projected can be used.

[0071] The light projecting device 21 and the light receiving device 22 of the measurement unit 20 are housed in one housing. Therefore, the distance between the light projecting device 21 and the light receiving device 22 is always constant. The control section 70 acquires the measurement results of the shape measurement performed by the measurement unit 20. The control section 70 performs the shape measurement by controlling the measurement unit 20.

[0072] The control section 70 is provided with a position control section 71, a data acquisition section 72, a data extraction section 73, a coordinate calculation section 75, and a recognition execution section 79. The position control section 71 controls the position of the measurement unit 20 with respect to the measurement target 41 by controlling the movement of the robot 10. The data acquisition section 72 acquires the measurement results measured by the measurement unit 20. The data extraction section 73 extracts data for three-dimensional point group calculation from the measurement results acquired by the data acquisition section 72. The coordinate calculation section 75 calculates a three-dimensional point group from the data extracted by the data extraction section 73. The recognition execution section 79 performs position and posture recognition by matching the three-dimensional point group calculated by the coordinate calculation section 75 with model data.

[0073] The control section 70 is provided with a robot operation section 81 and a display control section 82. The robot operation section 81 performs control of opening and closing the claw section of the robot hand 16 and the like, and performs a picking operation and the like. The display control section 82 controls the presence or absence of display or the display content of the display device 29.

[0074] Next, the flow of position and posture recognition for recognizing the position and posture of the measurement target 41 using the recognition system 1 will be described. In the Figure 3 recognition-related control of the robot 10 is started by the user or the like, the position control section 71 adjusts the measurement angle in step S101. The measurement angle refers to the angle of the measurement unit 20 with respect to the mirror surface reflection member 31. More specifically, the angle of the measurement unit 20 is adjusted so that the light projecting direction of the measurement unit 20 becomes a position relationship in which the upper surface, i.e., the placement surface, of the mirror surface reflection member 31 is not orthogonal.

[0075] In Figure 4In the present embodiment, the direction in which the light projecting unit 20 projects light is inclined at an angle a from the direction orthogonal to the upper surface of the mirror surface reflection member 31, i.e., the placement surface. The projection light PL projected from the light projecting unit 20 is totally reflected at the mirror surface reflection member 31. Thus, the reflected light RL advances in a direction in which the light projecting unit 20 is not present, without returning to the light projecting unit 20. It can be said that the light projecting unit 20 is disposed at a position avoiding the advancing direction of the reflected light RL after reflection at the mirror surface reflection member 31.

[0076] In the angle adjustment of the light projecting unit 20, it is only necessary to adjust to a position in which the reflected light RL after reflection at the mirror surface reflection member 31 does not return to the light projecting unit 20. Thus, the angle a is not limited to a particular angle. However, when the angle a is too small, a part of the reflected light RL returns to the light projecting unit 20, and the brightness based on the reflected light RL is easily detected. On the other hand, when the angle a is too large, in the case where the shape of the measurement target 41 is thin, the area of the measurement target 41 included in the captured range easily becomes small, and the measurement accuracy easily decreases. Thus, it is preferable to adjust to an angle in which the measurement accuracy can be improved as much as possible in a range in which the reflected light RL after reflection at the mirror surface reflection member 31 is not measured. After the measurement angle is adjusted, the process proceeds to step S102.

[0077] In step S102, the position control unit 71 adjusts the measurement distance. The measurement distance refers to the distance between the light projecting unit 20 and the mirror surface reflection member 31. The measurement distance is preferably a distance at which the entire measurement target 41 can be captured and the structure other than the measurement target 41, i.e., the background, is reduced as much as possible.

[0078] In Figure 5 The state in which the display screen 29v displayed on the display device 29 includes the structure other than the measurement target 41 and the mirror surface reflection member 31 is a state in which the measurement target 41 is not entirely included in the display screen 29v. Thus, it can be said that the distance between the light projecting unit 20 and the mirror surface reflection member 31 is too large.

[0079] In Figure 6 The state in which the display screen 29v displayed on the display device 29 does not include the structure other than the measurement target 41 and the mirror surface reflection member 31 is a state in which the entire measurement target 41 falls within the display screen 29v. Thus, it can be said that the distance between the light projecting unit 20 and the mirror surface reflection member 31 is appropriate. After the measurement distance is adjusted, the process proceeds to step S111.

[0080] In step S111, the control section 70 causes the measurement unit 20 to measure the measurement object 41. In more detail, pattern light such as a fringe is projected with respect to the measurement object 41, and the pattern light reflected by the measurement object 41 is received. At this time, the light projection and the light reception are repeated by changing the phase of the projected pattern light. Thus, the three-dimensional shape of the measurement object 41 is measured based on the difference between the projected pattern light and the received pattern light.

[0081] In Figure 7 part of the projection light PL projected from the light projection device 21 of the measurement unit 20 is reflected by the measurement object 41, and the remaining part is reflected by the mirror surface reflection member 31. Hereinafter, the reflected light RL reflected by the measurement object 41 will be referred to as object reflected light RL1, and the reflected light RL reflected by the placement surface, i.e., the mirror surface reflection member 31 will be referred to as placement surface reflected light RL2.

[0082] The object reflected light RL1 is diffused on the surface of the measurement object 41 and propagates in various directions. However, only the object reflected light RL1 going to the measurement unit 20 is illustrated in the figure. On the other hand, there is also a small amount of light diffused on the surface of the mirror surface reflection member 31 in the placement surface reflected light RL2, but most of the light is totally reflected and advances in a specific direction. Only the placement surface reflected light RL2 totally reflected on the surface of the mirror surface reflection member 31 is illustrated in the figure.

[0083] Part of the energy of the projection light PL projected on the mirror surface reflection member 31 is absorbed by the mirror surface reflection member 31. At this time, the mirror surface reflection member 31 is black, and absorbs more energy than a color such as white. Therefore, even in the case where part of the projection light PL is diffused on the mirror surface reflection member 31, the energy of the diffused light is easily reduced.

[0084] The light reception device 22 of the measurement unit 20 receives the object reflected light RL1 and acquires information on the brightness for each measurement point of the measurement object 41. On the other hand, since the mirror surface reflection member 31 is disposed at a position avoiding the advancing direction of the placement surface reflected light RL2, the placement surface reflected light RL2 is hardly received. That is, the energy of the placement surface reflected light RL2 going to the light reception device 22 is lower than the lower limit value of the light reception sensitivity of the light reception device 22, and the brightness obtained by the light reception device 22 is zero.

[0085] In Figure 8In the figure, the portion where the luminance is zero is shown by a dot. The portion where the measurement object 41 is shown has a luminance value greater than zero. On the other hand, the portion where the specular reflection member 31 is shown has a luminance of zero. In summary, the portion of the measurement object 41 has a luminance greater than zero, and the portion of the background other than the measurement object 41 has a luminance of zero. After the measurement of the measurement object 41, the process proceeds to step S121.

[0086] In step S121, the data acquisition section 72 acquires the captured data obtained in the measurement of the measurement object 41. In the captured data, information of two-dimensional coordinates and luminance is included for each pixel that is the minimum unit of an image. In the captured data, there are portions where the measurement object 41 is captured and portions where the background around the measurement object 41 is captured. Hereinafter, the portions where the measurement object 41 is captured in the captured data are referred to as object data, and the portions where the background around the measurement object 41 is captured are referred to as background data.

[0087] The light receiving device 22 is disposed at a position where the object reflected light RL1 is received but the placement surface reflected light RL2 is not received. Therefore, the object data is composed of pixels having a luminance greater than zero, and the background data is composed of pixels having a luminance of zero. After the captured data is acquired, the process proceeds to step S122.

[0088] In step S122, the data extraction section 73 extracts calculation data for the calculation of three-dimensional coordinates for each pixel from the captured data. In more detail, pixels having a luminance greater than or equal to an upper limit luminance or less than or equal to a lower limit luminance are removed from the captured data, and only pixels showing a luminance between the upper limit luminance and the lower limit luminance are left. In the case where the light receiving device 22 detects luminance in 256 levels from 0 to 255, the upper limit luminance can be set to the saturated luminance, i.e., 255, and the lower limit luminance can be set to zero.

[0089] The upper limit luminance can be set to a value at least greater than the lower limit luminance. For example, the upper limit luminance can be set to a value less than the saturated luminance, and the lower limit luminance can be set to a value greater than zero. Hereinafter, a case where the upper limit luminance is set to the saturated luminance and the lower limit luminance is set to zero is described as an example. The background data having a luminance of zero is not included in the calculation data, and only the object data is extracted. After the calculation data is extracted, the process proceeds to step S125.

[0090] In step S125, the coordinate calculating section 75 calculates the three-dimensional point group using the calculation-use data. In the calculation-use data, the pixels having the luminance of the saturation luminance and the pixels having the luminance of zero are not included. In other words, in the calculation-use data, the pixels of the object data are included but the pixels of the background data are not included. Therefore, although the three-dimensional coordinates of the measurement object 41 are calculated, the three-dimensional coordinates of the background other than the measurement object 41 are not calculated. In other words, in the calculated three-dimensional point group, the three-dimensional coordinates of the background other than the measurement object 41 are not included. After the three-dimensional point group is calculated, the process proceeds to step S131.

[0091] In step S131, the recognition executing section 79 executes the position posture recognition of the measurement object 41. In more detail, the three-dimensional point group of the measurement object 41 is matched with the model data. In the matching, the three-dimensional coordinates of the plurality of measurement points included in the three-dimensional point group obtained in the shape measurement are made to coincide with the three-dimensional coordinates of the plurality of points included in the model data. For example, after the coordinates of a certain point are made to coincide, the process of making the coordinates of the points adjacent to the point to coincide is repeated, so that the coordinates of all the points are made to coincide. However, since some errors are included in the three-dimensional point group, it is not necessary to make the coordinates of the points to completely coincide. For example, the position posture in which the sum of the distances between the points corresponding to the model data and the three-dimensional point group is the smallest can be used as the matching result. After the position posture recognition is executed, the control related to the position recognition posture is ended.

[0092] After the position posture recognition is ended, the robot operating section 81 operates the robot 10 to perform the necessary work. In more detail, for the measurement object 41 for which the position posture recognition is completed, the robot operating section 81 performs the work such as the selection work. In a case where there are other measurement objects 41 for which the position posture recognition is to be performed after the work using the robot 10 is completed, the control related to the position posture recognition is repeated.

[0093] Next, the effects of the above-described embodiment will be described. According to the above-described embodiment, the mirror surface reflection member 31 is disposed at a position at which the luminance of the portion of the photographing placement surface is made to be equal to or less than the lower limit luminance. Therefore, it is possible to suppress the light of the background portion, i.e., the placement surface reflection light RL2, from being included in the reflection light RL received by the light receiving device 22. Therefore, it is possible to calculate the three-dimensional point group of the measurement object 41 with high accuracy by reducing the influence of the light other than the object reflection light RL1. Thus, it is possible to provide a three-dimensional measurement system capable of accurately removing the background.

[0094] The reflection member, i.e., the mirror surface reflection member 31 is black. Therefore, even in a case where the mirror surface slightly diffuses light, it is easy to reduce the energy of the diffused light. Therefore, it is difficult for the light receiving device 22 to receive the light other than the object reflection light RL1. Thus, it is easy to suppress the three-dimensional coordinates of the measurement object 41 from being calculated in error due to the light other than the object reflection light RL1.

[0095] The light receiving device 22 is arranged at a position that avoids the advancing direction of the light reflected by the reflection member, i.e., the mirror reflection member 31, i.e., the placement surface reflected light RL2. Therefore, the background can be removed without performing processing such as removing the background based on the difference between the background data taken in advance and the captured data. In other words, it can be said that the background is removed from the captured data at the time point when the measurement target object 41 is captured. Therefore, the processing load in the background removal is reduced, and it is easy to shorten the time required for the background removal.

[0096] The display device 29 displays the luminance of the captured data. Therefore, the user can perform the alignment of adjusting the angle or distance of the measurement unit 20 or the like by confirming the luminance of the captured data.

[0097] The measurement unit 20 is provided to the robot 10. Therefore, the user can perform the alignment of adjusting the angle or distance of the measurement unit 20 or the like by controlling the operation of the robot 10. Therefore, it is possible to achieve fine adjustment compared to the case where the measurement unit 20 is adjusted by hand. In addition, by storing the appropriate position of the measurement unit 20 in the robot 10, it is easy to quickly complete the alignment.

[0098] Although the example of adjusting the measurement angle and the measurement distance of the measurement unit 20 in such a manner that the luminance of the entire background portion becomes zero is described, it is also possible to adjust the amount other than the measurement angle and the measurement distance. For example, it is also possible to control the luminance of the entire captured data by controlling the length of the exposure time. In this case, it is possible to reduce the luminance of the entire captured data by shortening the exposure time. Therefore, the exposure time is shortened within the range where the luminance of the portion that receives the object reflected light RL1 is not zero, and thus it is easy to make the luminance of the entire background portion zero. In addition, it is possible to shorten the time required for the capturing by shortening the exposure time, and it is easy to shorten the time required until the position and posture recognition ends.

[0099] Although the case where the angle at which the brightness of the entire portion of the part of the mirror surface reflecting member 31 is equal to or less than the lower limit brightness is set as the measurement angle is described as an example, the measurement angle is not limited to the above example. For example, the angle at which the brightness of only a part of the part of the mirror surface reflecting member 31 is equal to or less than the lower limit brightness can be set as the measurement angle. In this case, the measurement target object 41 is placed at a position in the mirror surface reflecting member 31 at which the brightness of the surface reflecting light RL2 is equal to or less than the lower limit brightness. In more detail, a case where the light projecting direction of the measurement unit 20 is orthogonal to the surface of the mirror surface reflecting member 31 is assumed. In this case, the intensity of the surface reflecting light RL2 in the mirror surface reflecting member 31 is the highest at a position directly opposite the measurement unit 20 in the light projecting direction, and the farther from the position, the lower the intensity of the surface reflecting light RL2. Therefore, by placing the measurement target object 41 at a position away from the position, that is, at a position away from the center of the photographing range, it is possible to make the brightness of the surroundings of the measurement target object 41 locally zero. Thus, the brightness is made zero in a part of the background, and it is possible to remove at least a part of the background before the calculation of the three-dimensional point group.

[0100] There is a case where a part of the light reflected by the mirror surface reflecting member 31 is further reflected at the measurement target object 41 and received by the light receiving device 22. In addition, there is a case where a part of the light reflected by the measurement target object 41 is further reflected at the mirror surface reflecting member 31 and received by the light receiving device 22. The reflected light RL received by the light receiving device 22 after such multiple reflections is also referred to as multi-path, and is a major cause of the decrease in the accuracy of the shape measurement. The closer the distance between the mirror surface reflecting member 31 and the measurement target object 41, the more likely the multi-path is to occur. Therefore, it is preferable to use a holding member that holds the measurement target object 41 in a state of floating from the mirror surface reflecting member 31. Thus, it is possible to ensure that the distance between the mirror surface reflecting member 31 and the measurement target object 41 is long, and it is easy to reduce the occurrence of the multi-path.

[0101] Second Embodiment

[0102] This embodiment is a modification of the first embodiment. In this embodiment, the retroreflective member 231 constitutes a surface for placing the measurement target object 41.

[0103] In the Figure 9 In the

[0104] The measurement object 41 is placed on the retroreflective member 231. The retroreflective member 231 is a member having a property of reflecting incident light in a manner of returning the light toward the direction of incidence. Therefore, the reflection angle can be controlled by controlling the incidence angle of light projected toward the retroreflective member 231. As the retroreflective member 231, a reflection plate provided with a plurality of corner prisms configured in a cubic vertex type in a manner of making three planes of reflected light orthogonal to each other can be employed. However, as the retroreflective member 231, a plate member of a retroreflector that reflects incident light toward a direction parallel to and opposite to the direction of incidence can be employed. Alternatively, as the retroreflective member 231, a member in which a retroreflective paint is applied to a plate member can be employed. The retroreflective member 231 provides an example of a reflection member.

[0105] In a case where the color of the measurement object 41 and the color of the retroreflective member 231 are the same, it is difficult to distinguish the measurement object 41 from the retroreflective member 231. Therefore, the color of the retroreflective member 231 is preferably a color different from that of the measurement object 41.

[0106] The retroreflective member 231 is a quadrangular plate member. However, the shape of the retroreflective member 231 is not limited to the above example as long as it is large enough compared to the measurement object 41. For example, as the retroreflective member 231, a case-shaped member case in which a plate member capable of retroreflection is laid on a bottom surface can be employed.

[0107] Next, a flow of position and posture recognition for recognizing the position and posture of the measurement object 41 using the recognition system 1 will be described. In Figure 10 When the power of the robot 10 is turned on by a user or the like to start control related to position and posture recognition, the position control section 71 adjusts the measurement position in step S201. The measurement position refers to the position of the measurement unit 220 with respect to the retroreflective member 231. More specifically, the position of the light receiving device 222 is adjusted in a manner such that the position of the light receiving device 222 is not located in the light projection direction of the light projecting device 221.

[0108] In Figure 11In the present embodiment, the light projecting direction of the light projecting device 221 is inclined to some extent from the direction orthogonal to the upper surface of the retroreflective member 231, i.e., the placement surface. On the other hand, the light receiving device 222 is positioned just above the measurement target object 41. The projection light PL projected from the light projecting device 221 is retroreflected at the retroreflective member 231. Thereby, the reflected light RL advances in a direction parallel to and opposite to the projection light PL. That is, the reflected light RL advances in a direction in which the light receiving device 222 is not present without returning to the light receiving device 222. It can be said that the light receiving device 222 is provided at a position avoiding the advancing direction of the reflected light RL after being reflected at the retroreflective member 231. After the measurement position is adjusted, the process proceeds to step S211.

[0109] In step S211, the control section 70 measures the measurement target object 41 using the measurement unit 220. More specifically, the three-dimensional shape of the measurement target object 41 is measured using the phase shift method. Here, the position of the light receiving device 222 with respect to the light projecting device 221 is not always fixed. Therefore, when the measurement target object 41 is imaged, the distance between the light projecting device 221 and the light receiving device 222 is calculated for triangulation.

[0110] In Figure 12 Here, a part of the projection light PL projected from the light projecting device 221 of the measurement unit 220 is reflected at the measurement target object 41, and the remaining part is reflected at the retroreflective member 231. Hereinafter, the reflected light RL after being reflected at the retroreflective member 231, i.e., the placement surface, will be referred to as the placement surface reflected light RL2.

[0111] The object reflected light RL1 is diffused on the surface of the measurement target object 41, and thus propagates in various directions. However, only the object reflected light RL1 going to the measurement unit 220 is illustrated in the figure. On the other hand, there is also a very small amount of light of the placement surface reflected light RL2 diffused on the surface of the retroreflective member 231, but most of it is retroreflected and advances in a specific direction. Only the placement surface reflected light RL2 retroreflected on the surface of the retroreflective member 231 is illustrated in the figure.

[0112] The projection light PL projected onto the retroreflective member 231 is reflected by the retroreflective member 231. At this time, the reflected light RL advances in a direction parallel to and opposite to the incident direction of the projection light PL, and thus advances toward the light projecting device 221 rather than the light receiving device 222.

[0113] The light-receiving device 222 receives the object-reflected light RL1 and acquires information of the luminance for each measurement point of the measurement object 41. On the other hand, the placement surface-reflected light RL2 is hardly received. That is, the energy of the placement surface-reflected light RL2 to the light-receiving device 222 is lower than the lower limit value of the light-receiving sensitivity of the light-receiving device 222, and the luminance obtained by the light-receiving device 222 is zero. Thus, the luminance of the portion where the measurement object 41 is captured is greater than zero, and the luminance of the background portion other than the measurement object 41 is zero. After the measurement of the measurement object 41, the process proceeds to step S121.

[0114] In step S121, the data acquisition unit 72 acquires the captured data. Thereafter, the process proceeds to step S122, and the data extraction unit 73 extracts the data for calculation. Thereafter, the process proceeds to step S125, and the coordinate calculation unit 75 calculates the three-dimensional point group. Thereafter, the process proceeds to step S131, and the recognition execution unit 79 executes the position and posture recognition. In a case where the recognition of the other measurement object 41 is performed after the completion of the position and posture recognition, the series of control related to the position and posture recognition is repeated.

[0115] Next, the effects of the above-described embodiment will be described. According to the above-described embodiment, the light-receiving device 222 is disposed at a position avoiding the advancing direction of the placement surface-reflected light RL2 which is the light reflected by the retro-reflective member 231. Thus, it is possible to suppress the placement surface-reflected light RL2 which is the light of the background portion included in the reflected light RL received by the light-receiving device 222. Thus, it is possible to calculate the three-dimensional point group of the measurement object 41 with high precision by reducing the influence of the light other than the object-reflected light RL1. Thus, it is possible to provide a three-dimensional measurement system capable of removing the background with high precision.

[0116] The measurement object 41 is placed on the retro-reflective member 231. Thus, the placement surface-reflected light RL2 advances in a direction opposite to the projection light PL. Thus, various positions can be employed as the measurement position which is the position avoiding the advancing direction of the placement surface-reflected light RL2. In other words, the adjustment of the measurement position does not require fine angle adjustment. Thus, it is possible to start the shape measurement earlier compared to a case where the measurement object 41 is placed on the specular reflective member 31.

[0117] Third Embodiment

[0118] This embodiment is a modification of the previous embodiment. In this embodiment, the diffusion member 331 constitutes a placement surface for placing the measurement object 41, and the light-receiving device 22 receives light in such a manner that the luminance of the placement surface-reflected light RL2 is greater than or equal to the upper limit luminance.

[0119] In Figure 13In this process, the object to be measured 41 is placed on the diffusion member 331. The diffusion member 331 is a member that has the property of diffusing incident light in all directions through a surface that provides a mounting surface. As the diffusion member 331, a resin member with a surface having fine irregularities can be used. For example, a member with a reflectivity of 90% or greater can be used as the diffusion member 331 as a target member for evaluation tests of cameras or sensors.

[0120] The diffuser 331 is white, which is difficult to absorb the energy of the projected light. However, if the object being measured 41 and the diffuser 331 are the same color, it is difficult to distinguish between the object being measured 41 and the diffuser 331. Therefore, the color of the diffuser 331 is preferably a color that is different from the color of the object being measured 41 and is difficult to absorb the energy of light.

[0121] The diffuser 331 is a quadrilateral plate component. However, the shape of the diffuser 331 is not limited to the above example, as long as it is large enough to be larger than the object being measured 41. For example, the diffuser 331 may also be a box-shaped component box with a plate component on the bottom surface that has been treated to easily diffuse light.

[0122] The following describes the position and pose recognition process for identifying the position and pose of the measurement object 41 using the recognition system 1. Figure 14 In step S301, when the robot 10 starts position and posture recognition-related control by being powered on by the user, the position control unit 71 adjusts the measurement angle. The measurement angle refers to the angle of the measurement unit 20 relative to the diffuser 331. More specifically, the angle of the measurement unit 20 is adjusted so that the light projection direction of the measurement unit 20 is approximately orthogonal to the upper surface, i.e., the mounting surface, of the diffuser 331.

[0123] exist Figure 15 In this diagram, the projection direction of the measuring unit 20 is orthogonal to the upper surface, i.e., the mounting surface, of the diffuser 331. The projection light PL projected from the measuring unit 20 diffuses in all directions through the diffuser 331, resulting in a high intensity of reflected light RL over a wide range. However, since the projection direction is orthogonal to the mounting surface of the diffuser 331, the reflected light RL is highly likely to return to the position of the measuring unit 20. In other words, the intensity of the reflected light RL is highest at the location where the projection light PL was projected, and decreases with distance from the location where the projection light PL was projected. It can be said that the measuring angle of the measuring unit 20 is the angle with the highest brightness when receiving the reflected light RL. Only the reflected light RL heading towards the measuring unit 20 is shown in the figure.

[0124] In the angle adjustment of the measurement unit 20, it is only necessary to adjust to a position at which most of the reflected light RL reflected by the diffusion member 331 returns to the measurement unit 20. For example, an angle slightly inclined from an angle at which the light projection direction of the measurement unit 20 is orthogonal to the placement surface can also be adopted. In addition, the light projection device 21 and the light receiving device 22 can be configured separately, and only the angle of the light receiving device 22 can be adjusted. After the measurement angle is adjusted, the process proceeds to step S102.

[0125] In step S102, the position control section 71 adjusts the measurement distance. Thereby, the entire measurement target object 41 can be imaged, and the distance to a structure other than the measurement target object 41, that is, the background, is adjusted to be as small as possible. Thereafter, the process proceeds to step S311.

[0126] In step S311, the control section 70 measures the measurement target object 41 using the measurement unit 20. More specifically, the three-dimensional shape of the measurement target object 41 is measured using the phase shift method.

[0127] In Figure 16 part of the projection light PL projected from the light projection device 21 of the measurement unit 20 is reflected at the measurement target object 41, and the remaining part is diffused at the diffusion member 331. Hereinafter, the reflected light RL reflected in such a manner as to be diffused at the placement surface, that is, the diffusion member 331, will be referred to as placement surface reflected light RL2.

[0128] The object reflected light RL1 is diffused at the surface of the measurement target object 41, and propagates in various directions. However, the angle of the measurement unit 20 is controlled to the measurement angle, and the brightness of the part receiving the object reflected light RL1 is a brightness lower than the upper limit brightness. In the drawing, only the object reflected light RL1 going to the measurement unit 20 is illustrated.

[0129] The placement surface reflected light RL2 is diffused at the diffusion member 331, and propagates in various directions. The angle of the measurement unit 20 is controlled to the measurement angle, and the brightness of the part receiving the placement surface reflected light RL2 is a brightness equal to or higher than the upper limit brightness. In the drawing, only the placement surface reflected light RL2 going to the measurement unit 20 is illustrated.

[0130] Part of the energy of the projection light PL projected to the diffusion member 331 is absorbed at the diffusion member 331. At this time, the diffusion member 331 is white, and thus absorbs less energy than a color such as black. Therefore, it is easy to increase the energy of the light diffused at the diffusion member 331.

[0131] The light receiving device 22 of the measurement unit 20 receives the placement surface reflected light RL2 to obtain information of the luminance of the diffusion member 331. The energy of the placement surface reflected light RL2 to the light receiving device 22 exceeds the upper limit value of the light receiving sensitivity of the light receiving device 22, and the luminance obtained at the light receiving device 22 becomes the saturated luminance. On the other hand, the light receiving device 22 receives the object reflected light RL1 to obtain information of the luminance for each measurement point of the measurement object 41. At this time, the luminance obtained at the light receiving device 22 becomes the luminance smaller than the saturated luminance.

[0132] In Figure 17 In the display screen 29v, the measurement object 41 and the diffusion member 331 are displayed. In the drawing, the portion of the saturated luminance is shown by a circle dot. The luminance of the portion of the diffusion member 331 around the measurement object 41 is the saturated luminance. However, the luminance of the portion of the diffusion member 331 away from the measurement object 41 is large but does not reach the saturated luminance. On the other hand, the luminance of the portion of the measurement object 41 is the value smaller than the saturated luminance. This is because the projection light PL projected to the measurement object 41 is not diffused in the diffusion member 331 but reflected at the measurement object 41. In summary, the luminance of the portion of the measurement object 41 is smaller than the saturated luminance, and the luminance of at least a portion of the background portion other than the measurement object 41 is the saturated luminance. In more detail, the portion of the placement surface reflected light RL received to the diffusion member 331 at least after the reflection at the standard position reaches the saturated luminance.

[0133] The size of the area in which the luminance of the portion receiving the placement surface reflected light RL2 becomes the saturated luminance can be controlled by adjusting the exposure time. That is, since the longer the exposure time, the more the amount of light received by the light receiving device 22, the luminance easily becomes large, and the area of the saturated luminance can be expanded. However, since the luminance of the portion receiving the object reflected light RL1 easily becomes large by extending the exposure time, it is preferable to adjust the exposure time within the range in which the luminance of the portion receiving the object reflected light RL1 is not the saturated luminance. After the measurement of the measurement object 41, the process proceeds to step S121.

[0134] In step S121, the data acquisition unit 72 acquires the captured data. Then, in step S122, the data extraction unit 73 extracts calculation data. Here, the extracted calculation data does not include pixels with saturation brightness reaching the set upper limit. In other words, the calculation data only includes the object being measured 41 and the background located away from the object being measured 41. Then, in step S125, the coordinate calculation unit 75 extracts a three-dimensional point set. Here, the calculation data includes the object being measured 41 and the background located away from the object being measured 41, therefore the three-dimensional coordinates of the object being measured 41 and a portion of the diffusion member 331 are calculated. Then, in step S131, the recognition execution unit 79 performs position and posture recognition. If other objects being measured 41 are recognized after position and posture recognition is completed, the series of controls related to position and posture recognition are repeated.

[0135] The effects of the above-described embodiments will now be explained. According to the above-described embodiments, the light-receiving device 22 is positioned such that the brightness of the portion of the object 41 being photographed is less than the upper limit brightness, and the brightness of the portion photographed on the mounting surface, i.e., the diffuser 331, is greater than or equal to the upper limit brightness. Therefore, it is easy to ensure that the brightness of the background portion of the reflected light RL received by the light-receiving device 22, i.e., the reflected light RL2 from the mounting surface, is greater than or equal to the saturation brightness. Therefore, by removing the brightness greater than or equal to the saturation brightness when calculating the three-dimensional point set, the three-dimensional point set of the object 41 can be calculated with high accuracy.

[0136] Therefore, a three-dimensional measurement system capable of removing the background with high precision can be provided.

[0137] The diffuser 331 is white. Therefore, light projected onto the diffuser 331 is difficult to absorb, thus easily maintaining the high energy state of the reflected light RL2 from the mounting surface. Consequently, the brightness of the portion of the reflected light RL2 from the illuminated mounting surface is easily saturated. Thus, maintaining high energy of the light reflected by the diffuser 331 ensures a large portion of saturated brightness.

[0138] Fourth Implementation Method

[0139] This embodiment is also a variation based on the prior embodiment. It is specifically designed to address the technical problems related to the multipath implementation described in the first embodiment.

[0140] In the fourth embodiment, such as Figure 18 The object to be measured, 41, is held on a holding platform, 400. The holding platform has a mounting surface supported by four legs, 401. The mounting surface is a honeycomb mesh structure made of metal, capable of fully supporting the weight of the held object to be measured, 41. For example, it is made of aluminum or an aluminum alloy. Furthermore, the mesh structure is coated with a light-absorbing black paint.

[0141] A mirror surface reflecting member 403 is arranged below the holding table 400 of the mesh structure. The holding table 400 and the mirror surface reflecting member 403 have a prescribed angle so that light reflected at the mirror surface reflecting member 403 by the placement surface does not return to the holding table 400 again. The mirror surface reflecting member 403 is the same as the mirror surface reflecting member 31 of the first embodiment, is black, and is a reflecting member that totally reflects light. Thus, light PL1 of the projection light PL that does not go to the measurement object 41 passes through the holding table 400 and is reflected by the mirror surface reflecting member 403 in a direction that does not go to the measurement unit 20.

[0142] The light projecting device 21 of the measurement unit 20 of the fourth embodiment is set to project projection light PL of near-infrared light of around 900 nm. Also, the light receiving device 22 is set to receive reflected light RL of the wavelength of the projection light PL projected from the light projecting device 21.

[0143] Further, the space 402 shown by the broken line in Figure 18 shows the measurement range of the measurement unit 20. That is, the projection light PL from the light projecting device 21 is projected to this space 402, and reflected light RL from this space 402 goes to the light receiving device 22.

[0144] In the present fourth embodiment, the holding table 400 is a mesh structure, and thus the projection light PL passes through. Also, the holding table 400 of the mesh structure is painted black so as to be light-absorbing, and thus a multipath problem caused by the holding table 400 does not occur. Also, the projection light PL1 that has passed through the mesh structure is reflected by the mirror surface reflecting member 403 in a direction that does not return to the holding table 400 of the mesh structure, and thus the placement surface reflected light (RL2) also does not return to the light receiving device 22 of the measurement unit 20. That is, only reflected light RL1 from the measurement object 41 is incident in the measurement unit 20. Thus, a multipath problem caused by the projection light PL that has passed through the placement surface does not occur.

[0145] Natural light outdoors contains near-infrared components, but the measurement unit 20 is set indoors. Thus, in the environment in which the measurement unit 20 is set, ambient light generally does not have near-infrared components. Thus, even if ambient light is reflected by the mirror surface reflecting member 403 and goes to the light receiving device 22 of the measurement unit 20, the light receiving device 22 does not detect the ambient light. Thus, the ambient light does not become a cause of interference, and the measurement unit 20 is able to perform correct measurement.

[0146] Fifth Embodiment

[0147] The fifth embodiment is also a modification of the preceding embodiments, and in the present fifth embodiment, as shown in Figure 19 a light-absorbing member 500 is used on the placement surface.

[0148] As a light-absorbing component 500, such as Figure 20 As shown, the incident angle filter 501 and the diffuser / reflector 502 are arranged at a predetermined interval. The incident angle filter 501 has the property of allowing only the projected light PL incident directly in front to pass through while reflecting angled incident light. The object to be measured 41 is placed on this incident angle filter 501. Figure 20 In the diagram, the incident angle filter 501 is shown as a flat plate, but its cross-section is in the shape of an arc centered on the projection device 21, allowing the projected light PL directly facing the incident light to pass through.

[0149] On the other hand, the diffuser / reflector 502 diffuses the incident light without reflecting it in the opposite direction. Therefore, it effectively prevents the projected light PL, which has passed through the incident angle filter 501, from re-passing through the filter 501 and becoming the reflected light RL from the mounting surface. In other words, the projected light PL projected onto the mounting surface formed by the light-absorbing component 500 is trapped between the incident angle filter 501 and the diffuser / reflector 502 on the mounting surface, and is not reflected towards the measurement unit 20.

[0150] Therefore, the object-reflected light RL1 in the projection light PL that only goes towards the object being measured 41 and is reflected back to the object being measured 41 goes towards the light receiving device 22 in the direct direction. The portion of the projection light PL 504 that goes towards the object being measured 41 does not become the reflected light RL.

[0151] Furthermore, a guiding medium component can also be used as the light-absorbing component 500. The guiding medium component can also have extremely low reflection characteristics.

[0152] Other implementation methods

[0153] The disclosure in this specification and accompanying drawings is not limited to the illustrated embodiments. The disclosure includes illustrated embodiments and variations implemented by those skilled in the art based thereon. For example, the disclosure is not limited to combinations of components and / or elements shown in the embodiments. The disclosure can be implemented in various combinations. The disclosure can have additional portions that can be added to the embodiments. The disclosure includes omissions of components and / or elements of embodiments. The disclosure includes substitutions or combinations of components and / or elements between one embodiment and other embodiments. The scope of the disclosure is not limited to the description of the embodiments. The various scopes of the disclosure are shown by the description of the claims and should be further interpreted to include all modifications within the meaning and scope equivalent to the description of the claims.

[0154] The disclosure in the specification and the drawings and the like is not limited to the recitation of the claims. The disclosure in the specification and the drawings and the like contains the technical thought recited in the claims, and further contains more diverse and extensive technical thought than the technical thought recited in the claims. Thus, not limited to the recitation of the claims, various technical thoughts can be extracted from the disclosure in the specification and the drawings and the like.

[0155] The control section and the method thereof according to the present disclosure can also be implemented by a special-purpose computer configured as a processor programmed to execute one or more functions implemented by a computer program. Alternatively, the apparatus and the method thereof according to the present disclosure can also be implemented by a special-purpose hardware logic circuit. Alternatively, the apparatus and the method thereof according to the present disclosure can also be implemented by one or more special-purpose computers configured as a processor executing a computer program in combination with one or more hardware logic circuits. In addition, the computer program as instructions executed by a computer can also be stored in a non-transitory tangible storage medium readable by a computer.

Claims

1. A three-dimensional measurement system that performs shape measurement for measuring a three-dimensional shape of a measurement object, comprising: a measurement unit that photographs the measurement object, and has a light projecting device that projects a projection light toward the measurement object, and a light receiving device that receives a reflected light that is a light reflected by the projection light; a reflection member that constitutes a placement surface on which the measurement object is placed, and reflects the projection light at a specific angle; a data acquisition unit that acquires photographic data photographed by the measurement unit; and a coordinate calculation unit that calculates a three-dimensional coordinate with respect to a portion of the photographic data in which a luminance is greater than a lower limit luminance, and does not calculate the three-dimensional coordinate with respect to a portion in which the luminance is equal to or less than the lower limit luminance, wherein the light receiving device is disposed at a position at which a luminance of a portion of the reflection member photographed is equal to or less than the lower limit luminance.

2. The three-dimensional measurement system according to claim 1, wherein the reflection member is black.

3. The three-dimensional measurement system according to claim 1 or 2, wherein the reflection member is a specular reflection member that totally reflects the projection light, and the light receiving device is disposed at a position that avoids a direction of advance of a placement surface reflection light that is a light reflected by the projection light after being reflected by the specular reflection member.

4. The three-dimensional measurement system according to claim 1, wherein the reflection member is a retroreflective member that retroreflects the projection light, and the light receiving device is disposed at a position that avoids a direction of advance of a placement surface reflection light that is a light reflected by the projection light after being reflected by the retroreflective member.

5. A three-dimensional measurement system that performs shape measurement for measuring a three-dimensional shape of a measurement object, comprising: a measurement unit that photographs the measurement object, and has a light projecting device that projects a projection light toward the measurement object, and a light receiving device that receives a reflected light that is a light reflected by the projection light; a diffusion member that constitutes a placement surface on which the measurement object is placed, and diffuses the projection light; a data acquisition unit that acquires photographic data photographed by the measurement unit; and a coordinate calculation unit that calculates a three-dimensional coordinate with respect to a portion of the photographic data in which a luminance is less than an upper limit luminance, and does not calculate the three-dimensional coordinate with respect to a portion in which the luminance is equal to or greater than the upper limit luminance, wherein the light receiving device is disposed at a position at which a luminance of a portion of the diffusion member photographed is equal to or greater than the upper limit luminance.

6. The three-dimensional measurement system according to claim 5, wherein the diffusion member is white.

7. The three-dimensional measurement system according to any one of claims 1 to 6, comprising a display device that displays a luminance of the photographic data.

8. A three-dimensional measurement system that performs shape measurement for measuring a three-dimensional shape of a measurement object, comprising: a measurement unit that photographs the measurement object, and has a light projecting device that projects a projection light of near-infrared rays toward the measurement object, and a light receiving device that receives a reflected light of near-infrared rays that is a light reflected by the projection light; and a holding table of a mesh structure that constitutes a placement surface on which the measurement object is placed, and through which the projection light passes. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ a reflection member that reflects light that has passed through the mesh structure body in a direction that does not return to the mesh structure body; a data acquisition unit that acquires captured data captured using the measurement unit; and a coordinate calculation unit that calculates three-dimensional coordinates for a portion of the captured data in which the luminance is greater than a lower limit luminance and does not calculate the three-dimensional coordinates for a portion of the captured data in which the luminance is less than or equal to the lower limit luminance, the three-dimensional measurement system is disposed in an indoor space in which a near-infrared light component is not normally present, the projected light reflected by the reflection member does not return to the light receiving device, and the light that is reflected at the reflection member and goes to the light receiving device is not detected by the light receiving device.

9. The three-dimensional measurement system according to claim 8, wherein the mesh structure body is painted black so as to be light-absorbing.

Images