Contour measurement system and contour measurement method

Abstract

To efficiently measure the dimensions of an object to be measured.SOLUTION: A contour measurement system has a contour measurement device 20, a parallel light irradiation device 23, an imaging unit 5, and a screen 60. The parallel light irradiation device 23 has two parallel light irradiation units 23a, 23b, and a single-axis robot 24 that has a movable part 24a movable in the vertical direction on a drawing. The parallel light irradiation units 23a, 23b are fixed to the movable part 24a by using a fixture 40. The contour measurement device 20 irradiates an object to be measured 50 with linear parallel light from the parallel light irradiation device 23, moves the linear parallel light to transfer the shadow of the object to be measured 50 onto the screen 60, picks up an image of the shadow by using the imaging unit 25, performs strain correction on the picked-up image to create a corrected image, and calculates the dimensions of the object to be measured 50 on the basis of the corrected image.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an outer shape measurement system and an outer shape measurement method for efficiently measuring the dimensions of an object to be measured.

Background Art

[0002] Conventionally, a technique for measuring the outer diameter of an object to be measured using laser light has been known. For example, in Patent Document 1, a plurality of laser units that irradiate linear laser light, a screen on which the laser light is irradiated, and an observation unit that observes the laser light projected on the screen when a moving body moves between the laser unit and the screen are provided, and the length of the laser light projected on the screen is observed to recognize the outer shape of the object to be measured.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the case of the above Patent Document 1, since it is necessary to arrange a plurality of laser units that irradiate linear laser light, the larger the object to be measured, the more laser units are required, which is not efficient.

[0005] The present invention has been made to solve the above problems (drawbacks) of the prior art, and an object thereof is to provide an outer shape measurement system and an outer shape measurement method for efficiently measuring the dimensions of an object to be measured.

Means for Solving the Problems

[0006] In order to solve the above-described problems and achieve the object, the present invention is characterized by comprising a parallel light irradiation device that outputs parallel light to a measurement object, a movement control device that controls the movement of the parallel light irradiation device in a direction perpendicular to the parallel light, an imaging device that images a shadow of the measurement object projected on a predetermined screen, and an outer shape measurement device that measures the dimensions of the measurement object from the shadow of the measurement object included in at least the image captured by the imaging device.

[0007] Further, in the present invention, in the above invention, the parallel light irradiation device is characterized by comprising a laser light source that irradiates laser light in a line shape and a lens that makes the line-shaped laser light irradiated from the laser light source into parallel light.

[0008] Further, in the present invention, in the above invention, the imaging device is characterized in that the shutter is controlled to be opened until the parallel light irradiation device is controlled to move from a predetermined movement start position to a predetermined movement end position by the movement control device.

[0009] Further, in the present invention, in the above invention, when the average luminance of the image captured by the imaging device is equal to or higher than a predetermined threshold value, the outer shape measurement device controls the adjustment amount of the movement speed of the parallel light irradiation device by the movement control device and the shutter opening time determined by the movement speed of the parallel light irradiation device to be displayed on a predetermined display unit.

[0010] Further, in the present invention, in the above invention, the screen is provided with a grid having a predetermined scale or a predetermined size, and the outer shape measurement device measures the dimensions of the measurement object based on the scale or the grid provided on the screen included in the image captured by the imaging device and the size of the shadow of the measurement object included in the image.

[0011] The present invention also relates to an outer shape measurement method in an outer shape measurement system including a parallel light irradiation device that outputs parallel light to an object to be measured, a movement control device that controls the movement of the parallel light irradiation device in a direction perpendicular to the parallel light, an imaging device that captures an image of the shadow of the object to be measured projected on a predetermined screen, and an outer shape measurement device that measures the dimensions of the object to be measured. The method includes a control step in which the imaging device controls the opening of the shutter until the parallel light irradiation device is controlled by the movement control device to move from a predetermined movement start position to a predetermined movement end position, and a measurement step in which the outer shape measurement device measures the dimensions of the object to be measured from at least the shadow of the object to be measured included in the image captured by the imaging device.

Advantages of the Invention

[0012] According to the present invention, the dimensions of an object to be measured can be efficiently measured.

Brief Description of the Drawings

[0013]

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Mode for Carrying Out the Invention

[0014] Hereinafter, embodiments of the external shape measurement system and the external shape measurement method according to the present invention will be described in detail with reference to the drawings.

[0015] [Embodiment 1] <Outline of the External Shape Measurement System> The outline of the external shape measurement system according to Embodiment 1 will be described. FIG. 1 is a diagram showing the outline of the external shape measurement system according to Embodiment 1. The external shape measurement system according to Embodiment 1 irradiates a linear parallel light onto the measurement object 50, moves the linear parallel light, transfers the shadow of the measurement object 50 onto the screen 60, images the shadow with the imaging unit 25, and calculates the dimensions of the measurement object 50 based on the image of the captured shadow.

[0016] As shown in FIG. 1, the external shape measurement system includes an external shape measurement device 20, a parallel light irradiation device 23, an imaging unit 25, and a screen 60. The parallel light irradiation device 23 includes two parallel light irradiation units 23a and 23b, and a single-axis robot 24 (corresponding to the movement control device in the claims) having a movable part 24a movable in the vertical direction of the drawing. The parallel light irradiation units 23a and 23b are fixed to the movable part 24a using a fixing jig 40.

[0017] The parallel light irradiation units 23a and 23b irradiate a linear parallel light onto the measurement object 50 and image the shadow 70 of the measurement object 50 projected onto the screen 60. First, as shown in FIG. 2(a), when the parallel light irradiation units 23a and 23b are located at the uppermost part (L1) of the measurement object 50, the shadow 70a of the upper shape of the measurement object 50 is projected onto the screen 60, and the image G captured by the imaging unit 25 records the shadow 71a.

[0018] Then, the external shape measurement device 20 moves the movable part 24a of the single-axis robot 24 while irradiating the parallel light of the parallel light irradiation parts 23a and 23b. When the movable part 24a is moved to the middle part (L2) of the measurement object 50, as shown in FIG. 2(b), a shadow 70b in the shape of the width of the linear parallel light of the middle part (L2) of the measurement object 50 is projected onto the screen 60. Since the imaging unit 25 is set to record an image with the shutter open while the movable part 24a is moving, from the shadow 70a when the movable part 24a is located at the upper part (L1) of the measurement object 50, the cumulative image G until it reaches the middle part (L2) of the measurement object 50 is recorded as the shadow 71b.

[0019] After that, the external shape measurement device 20 moves the movable part 24a of the single-axis robot 24 while irradiating the parallel light of the parallel light irradiation parts 23a and 23b. When the movable part 24a is moved to the lower part (L3) of the measurement object 50, as shown in FIG. 2(c), a shadow 70c in the shape of the width of the linear parallel light of the lower part (L3) of the measurement object 50 is projected onto the screen 60. Since the imaging unit 25 is configured to record an image with the shutter open while the movable part 24a is moving, from the shadow 70a when the movable part 24a is located at the upper part (L1) of the measurement object 50, through the position of the middle part (L2) of the measurement object 50, the cumulative image G until it reaches the lower part (L3) of the measurement object 50 is recorded as the shadow 71c.

[0020] When the movement of the movable part 24a is completed, the external shape measurement device 20 records the shadow 71c of the image G as the image data 26b. Here, although the influence of distortion on the projected image is not considered for the purpose of explaining the principle, actually, an image with distortion added based on the installation position of the imaging unit 25 is captured.

[0021] The contour measurement device 20 installs the object 50 to be measured between the parallel light irradiation device 23 and the screen 60. Then, the contour measurement device 20 irradiates parallel light from the parallel light irradiation parts 23a and 23b of the parallel light irradiation device 23 (S1). After that, the contour measurement device 20 starts imaging by the imaging part 25 (S2). The contour measurement device 20 moves the movable part 24a of the single-axis robot 24 downward from the drawing plane (S3). And when the movable part 24a has moved to the lowermost part, the contour measurement device 20 ends the imaging by the imaging part 25 (S4) and ends the irradiation of the parallel light from the parallel light irradiation parts 23a and 23b (S5). After that, the contour measurement device 20 corrects the distortion of the captured image (S6). And the contour measurement device 20 calculates the dimensions of the object 50 to be measured based on the captured image (S7).

[0022] In this way, the contour measurement system according to the present invention irradiates the object 50 to be measured with line-shaped parallel light from the parallel light irradiation device 23, transfers the shadow of the object 50 to be measured to the screen 60 by moving the line-shaped parallel light, captures an image of the shadow using the imaging part 25, performs distortion correction on the captured image to generate a corrected image, and calculates the dimensions of the object 50 to be measured based on the corrected image. Therefore, even if the material of the object 50 to be measured is black, has a high surface reflectance, or is at a high temperature, the dimensions can be calculated efficiently.

[0023] <Configuration of the contour measurement device 20> Next, the configuration of the contour measurement device 20 shown in FIG. 1 will be described. FIG. 3 is a functional block diagram showing the configuration of the contour measurement device 20 shown in FIG. 1. As shown in FIG. 3, the contour measurement device 20 has a storage part 26 and a control part 27, and the display part 21, the input part 22, the parallel light irradiation device 23, and the imaging part 25 are connected. The display part 21 is a display device such as a liquid crystal display for displaying various information. The input part 22 is an input device such as a mouse or a keyboard.

[0024] The parallel light irradiation device 23 includes parallel light irradiation units 23a and 23b and a movable part 24a of the uniaxial robot 24. The parallel light irradiation units 23a and 23b, details of which will be described later, convert the irradiation light from the line laser into parallel light through a convex lens and irradiate the measurement object 50. The movable part 24a moves the parallel light irradiation units 23a and 23b so as to irradiate the entire measurement object 50 with the linear parallel light irradiated from the parallel light irradiation units 23a and 23b.

[0025] The imaging unit 25 is a camera installed at a position between the parallel light irradiation device 23 and the screen 60, at a position where it does not obstruct the parallel light irradiated from the parallel light irradiation units 23a and 23b.

[0026] The storage unit 26 is a storage device such as a hard disk device or a non-volatile memory, and stores a strain correction parameter 26a, image data 26b, corrected image data 26c, and dimension data 26d. The strain correction parameter 26a is a parameter calculated in advance to correct strain by trapezoidal correction or the like from the shape of the distorted shadow of the measurement object 50 projected onto the screen from the installation position of the imaging unit 25. The image data 26b is the data of the image obtained by imaging the shadow of the measurement object 50 projected onto the screen 60 with the imaging unit 25. The corrected image data 26c is the data of the image corrected for strain based on the strain correction parameter 26a and the image data 26b. The dimension data 26d is the data of the dimension calculated based on the corrected image data 26c.

[0027] The control unit 27 is a control unit that controls the entire external dimension measurement device 20, and includes a parallel light control unit 27a, an imaging processing unit 27b, a robot control unit 27c, a strain correction processing unit 27d, and a dimension calculation unit 27e. Actually, by loading and executing these programs in the CPU, processes corresponding to the parallel light control unit 27a, the imaging processing unit 27b, the robot control unit 27c, the strain correction processing unit 27d, and the dimension calculation unit 27e are respectively executed.

[0028] The parallel light control unit 27a is a processing unit that controls the on / off states of the parallel light irradiation units 23a and 23b of the parallel light irradiation device 23. The imaging processing unit 27b is a processing unit that controls the imaging unit 25 to irradiate the measurement object 50 with parallel light from the parallel light irradiation units 23a and 23b, captures the shadow projected on the screen 60, and stores the captured image as image data 26b in the storage unit 26.

[0029] The robot control unit 27c is a processing unit that controls the movable part 24a of the single-axis robot 24. The strain correction processing unit 27d is a processing unit that performs strain correction on the shadow image of the measurement object 50 captured using the imaging unit 25 by using the previously calculated strain correction parameter 26a. Note that the strain correction can be performed by performing a homography transformation or the like that deforms a certain plane into another plane using projective transformation.

[0030] The dimension calculation unit 27e is a processing unit that calculates the dimension of the shadow based on the corrected image data 26c obtained by performing strain correction on the captured image data 26b. Since the positional relationship between the imaging unit 25 and the screen 60 is determined in advance, if the positional relationship and the number of pixels of the imaging unit 25 are known, the physical distance between pixels can be calculated, and thus the dimension of the shadow can be calculated from the positions of the coordinates of the boundary portion of the shadow in the image.

[0031] <Configuration of the parallel light irradiation unit 23a> Next, the configuration of the parallel light irradiation unit 23a shown in FIG. 1 will be described. FIG. 4 is an explanatory diagram for explaining the structure of the parallel light irradiation unit 23a shown in FIG. 1. Note that the parallel light irradiation unit 23b has the same structure.

[0032] As shown in Fig. 4(a), the parallel light irradiation unit 23a includes frames 30a, 30b, a frame fixing jig 31, a convex lens 32, a line laser 33, and a line laser fixing jig 34. The frames 30a, 30b are fixed by the frame fixing jig 31 at an interval where the convex lens 32 and the line laser 33 can be installed. Then, the convex lens 32 is installed on the end face between the frames 30a, 30b. The line laser 33 is fixed to the frame fixing jig 31 using the line laser fixing jig 34 such that the light emitting portion of the line laser 33 is located at the focal point position of the convex lens 32 on the end face facing the end face where the convex lens is set.

[0033] Fig. 4(b) shows a side view as seen from arrow A in Fig. 4(a). As shown in Fig. 4(b), the linear radiation light R irradiated from the line laser 33 is irradiated as parallel light P through the convex lens.

[0034] <Imaging of the shadow of the measurement object 50> Next, the imaging of the shadow by the imaging unit 25 of the external shape measurement device 20 will be described. Fig. 5 is an explanatory diagram for explaining the imaging of the shadow of the measurement object 50 by the imaging unit 25. As shown in Fig. 5, the measurement object 50 is installed between the parallel light irradiation device 23 and the screen 60. Then, the external shape measurement device 20 irradiates the measurement object 50 with parallel light P from the parallel light irradiation units 23a, 23b arranged in the parallel light irradiation device 23.

[0035] The parallel light P forms parallel light from the linear radiation light irradiated from the line laser 33a arranged in the parallel light irradiation unit 23a by the convex lens 32a and irradiates the measurement object 50. The same applies to the parallel light irradiation unit 23b. When the parallel light P irradiates the measurement object 50, the shadow 70 of the measurement object 50 is projected onto the screen 60, and the imaging unit 25 images the shadow 70.

[0036] The shadow 70 projected onto the screen 60 is the shadow of the width of the line laser 33. As the movable part 24a to which the parallel light irradiation parts 23a and 23b are fixed moves from the upper part to the lower part of the single-axis robot 24, the shadow 70 from the upper part to the lower part of the measurement object 50 is transferred. Note that while the movable part 24a is moving from the upper part to the lower part of the single-axis robot 24, the shutter of the imaging part 25 is open, so the shadow 70 of the measurement object 50 transferred to the screen 60 can be imaged.

[0037] <Regarding Strain Correction> Next, the strain correction of the shadow 72 imaged by the contour measurement device 20 will be described. FIG. 6 is an explanatory diagram for explaining the strain correction of the imaged shadow. As shown in FIG. 6, when the shadow of the measurement object 50 transferred to the screen 60 is imaged by the imaging part 25 installed at the position between the parallel light irradiation device 23 and the screen 60, an image with a distorted shape like the shadow 72 is obtained. This is caused because the imaging part is not directly facing the screen 60. The contour measurement device 20 stores the image as image data 26b in the storage part 26.

[0038] Then, the contour measurement device 20 reads out the image data 26b, performs strain correction based on the strain correction parameter 26a, and generates an image (corrected image data 26c) of the shadow 73 with the strain of the measurement object 50 corrected. Note that the strain correction parameter 26a is calculated in advance based on the installation position of the imaging part 25. Note that a projective transformation method or the like is used for the calculation of the strain correction parameter 26a.

[0039] <Processing Procedure of the Contour Measurement Device 20> Next, the processing procedure of the contour measurement device 20 will be described. FIG. 7 is a flowchart showing the processing procedure of the contour measurement device shown in FIG. 3. As shown in FIG. 7, the contour measurement device 20 turns on the light source of the parallel light irradiation device 23 (step S101).

[0040] Then, the external shape measurement device 20 opens the shutter of the imaging unit 25 (step S102). After that, the external shape measurement device 20 moves the movable part 24a of the single-axis robot 24 (step S103). The external shape measurement device 20 determines whether the movement of the movable part 24a is completed (step S104).

[0041] If the movement of the movable part 24a has not been completed (step S104: No), the external shape measurement device 20 waits until the movement of the movable part 24a is completed. If the movement of the movable part 24a is completed (step S104: Yes), the external shape measurement device 20 closes the shutter of the imaging unit 25 (step S105).

[0042] After that, the external shape measurement device 20 turns off the light source of the parallel light irradiation device 23 (step S106). Then, the external shape measurement device 20 performs distortion correction on the captured image (S107). After that, the external shape measurement device 20 calculates the dimensions of the measurement object 50 based on the corrected image (step S108).

[0043] As described above, in the first embodiment, the external shape measurement system includes the external shape measurement device 20, the parallel light irradiation device 23, the imaging unit 25, and the screen 60. The parallel light irradiation device 23 includes two parallel light irradiation units 23a and 23b and a single-axis robot 24 having a movable part 24a that can move in the vertical direction of the drawing. The parallel light irradiation units 23a and 23b are fixed to the movable part 24a using the fixing jig 40. The external shape measurement device 20 irradiates the measurement object 50 with line-shaped parallel light from the parallel light irradiation device 23, transfers the shadow of the measurement object 50 to the screen 60 by moving the line-shaped parallel light, captures an image of the shadow using the imaging unit 25, performs distortion correction on the captured image to generate a corrected image, and calculates the dimensions of the measurement object 50 based on the corrected image. Therefore, even if the material of the measurement object 50 is black, has a high surface reflectivity, or is at a high temperature, the dimensions can be calculated efficiently.

[0044] In the above-described Embodiment 1, the case where the external shape measurement device 20 stores the strain correction parameter 26a in the storage unit 26 in advance based on the installation position of the imaging unit 25 has been described. However, a reference measurement object for calculating the strain correction parameter 26a is prepared. After installing the imaging unit 25, if the reference measurement object is installed between the parallel light irradiation device 23 and the screen 60 and the shadow of the reference measurement object is imaged, the strain correction parameter 26a may be calculated based on the captured image.

[0045] Also, in the above-described Embodiment 1, the case where the shutter of the imaging unit 25 opens and closes according to the movement of the movable part 24a of the single-axis robot 24 has been described. However, the movement time of the movable part 24a may be set in advance, and the shutter time for opening and closing the shutter of the imaging unit 25 may be set corresponding to the movement time. Specifically, the shutter speed of the imaging unit 25 sets the movement speed of the movable part 24a where the parallel light irradiation parts 23a and 23b move from the top to the bottom of the single-axis robot, for example, to 1000 mm / s etc. If the movable range of the single-axis robot 24 is 2000 mm, the shutter speed of the imaging unit 25 is set to 2 seconds.

[0046] Furthermore, the external shape measurement device 20 includes a determination unit that determines the quality of the captured image (whether the average luminance of the captured image is within a predetermined threshold). If it is determined that the quality of the captured image has deteriorated (the average luminance is above the predetermined threshold), the movement speed of the single-axis robot 24 is changed, and based on the change in the movement speed, the shutter speed of the imaging unit 25 is also changed to capture an optimal image. In this case, a correspondence table between the movement speed of the single-axis robot 24 and the shutter speed of the imaging unit 25 may be stored in the external shape measurement device 20 in advance, and a combination of the movement speed and the shutter speed may be selected from this correspondence table. Then, the external shape measurement device 20 may be controlled to display a combination of the movement speed and the shutter speed that is optimal for measurement on the display unit.

[0047] In the above-described Embodiment 1, the parallel light irradiation device 23 has been described for the case where it is installed on the movable part 24a with a space between the parallel light irradiation part 23a and the parallel light irradiation part 23b. However, the parallel light irradiation part 23a and the parallel light irradiation part 23b may be installed on the movable part 24a adjacent to each other.

[0048] Further, in the above-described Embodiment 1, regarding the dimension calculation of the outer shape measurement device 20, the case where the installation position of the imaging unit 25 is determined in advance and the dimension of the shadow of the measurement object 50 is calculated based on the installation position has been described. However, a grid of reference dimensions may be printed on the screen 60, and the dimension of the measurement object 50 may be calculated based on the captured shadow and the reference dimensions. Also, a scale may be attached to the screen 60, and the dimension of the measurement object 50 may be calculated based on the captured shadow and the scale.

[0049] [Embodiment 2] Incidentally, in the above-described Embodiment 1, the imaging unit 25 connected to the outer shape measurement device 20 has been described for the case where the shutter is opened to capture a shadow while the movable part 24a is moving. However, in Embodiment 2, the case where a plurality of images are captured while the movable part 24a is operating, and then the plurality of images are combined to generate an image of the shadow of the measurement object 50 and the dimension is calculated will be described.

[0050] FIG. 8 is a functional block diagram showing the configuration of the outer shape measurement device 80 according to Embodiment 2. For parts similar to those in Embodiment 1, the same reference numerals will be used and the detailed description thereof will be omitted. As shown in FIG. 8, the outer shape measurement device 80 includes a storage unit 86 and a control unit 87, and is connected to a display unit 21, an input unit 22, a parallel light irradiation device 23, and an imaging unit 25. The display unit 21 is a display device such as a liquid crystal display for displaying various information. The input unit 22 is an input device such as a mouse or a keyboard.

[0051] The storage unit 86 is a storage device such as a hard disk drive or a non-volatile memory, and stores the strain correction parameter 26a, the image data 26b, the corrected image data 26c, the dimension data 26d, and the composite image data 86a. The composite image data 86a is data of an image of the overall shadow of the measurement object 50 obtained by synthesizing the image data 26b of the linear shadow 70 of the measurement object 50 captured multiple times by the imaging unit 25.

[0052] The control unit 87 is a control unit that controls the entire external shape measurement device 80, and includes a parallel light control unit 27a, an imaging processing unit 27b, a robot control unit 27c, a strain correction processing unit 27d, a dimension calculation unit 27e, and a synthesis processing unit 87a. Actually, by loading and executing these programs on the CPU, processes corresponding to the parallel light control unit 27a, the imaging processing unit 27b, the robot control unit 27c, the strain correction processing unit 27d, the dimension calculation unit 27e, and the synthesis processing unit 87a will be executed respectively.

[0053] The synthesis processing unit 87a is a processing unit that synthesizes the overall shadow of the measurement object 50 based on the image data 26b stored in the storage unit 26 by imaging a plurality of images of the linear shadow 70 of the measurement object 50 projected from the parallel light irradiation units 23a and 23b by the parallel light and projected onto the screen 60 by the imaging processing unit 27b.

[0054] Specifically, parallel light P is irradiated from the parallel light irradiation units 23a and 23b onto the measurement object 50, and a plurality of images of the linear shadow 70 of the measurement object 50 projected onto the screen 60 are captured by the imaging unit 25 at regular intervals from the start to the end of the movement of the movable part 24a, and an image of the overall shadow of the measurement object 50 is synthesized from the plurality of images. For example, when the line width of the linear parallel light is 10 mm, the movable range of the movable part 24a is 1800 mm, and the moving speed is 100 mm / second, the imaging interval of the images captured by the imaging unit 25 needs to be 10 images / second or more, so the imaging interval is 0.1 second or less.

[0055] <Processing procedure of the external shape measurement device 80> Next, the processing procedure of the external shape measurement device 80 will be described. FIG. 9 is a flowchart showing the processing procedure of the external shape measurement device 80 shown in FIG. 8. As shown in FIG. 9, the external shape measurement device 80 turns on the light source of the parallel light irradiation device 23 (step S201).

[0056] Then, the external shape measurement device 80 controls the imaging unit 25 to capture an image (step S202). After that, the external shape measurement device 80 moves the movable part 24a of the single-axis robot 24 (step S203). The external shape measurement device 80 determines whether the movement of the movable part 24a is completed (step S204).

[0057] If the movement of the movable part 24a has not been completed (step S204: No), the external shape measurement device 80 proceeds to step S202 and continues to capture images. If the movement of the movable part 24a is completed (step S204: Yes), the external shape measurement device 80 turns off the light source of the parallel light irradiation device 23 (step S205).

[0058] After that, the external shape measurement device 80 performs composite processing on the captured multiple images (step S206). Then, the external shape measurement device 80 performs distortion correction on the composite image (step S207). After that, the external shape measurement device 80 calculates the dimensions of the measurement object 50 based on the corrected image (step S208).

[0059] As described above, in the second embodiment, the outer shape measurement system includes an outer shape measurement device 80, a parallel light irradiation device 23, an imaging unit 25, and a screen 60. The parallel light irradiation device 23 includes two parallel light irradiation units 23a and 23b and a single-axis robot 24 having a movable part 24a that can move in the vertical direction of the drawing. The parallel light irradiation units 23a and 23b are fixed to the movable part 24a using a fixing jig 40. The outer shape measurement device 80 irradiates a linear parallel light from the parallel light irradiation device 23 onto the measurement object 50, projects the shadow 70 of the measurement object 50 formed by the linear parallel light onto the screen 60, and images the shadow 70 using the imaging unit 25. The outer shape measurement device 80 moves the movable part 24a from the uppermost part to the lowermost part of the movable range, images the images of the shadows 70 of a plurality of measurement objects 50 while the movable part 24a is moving, synthesizes the images of the plurality of shadows 70, generates an image of the entire shadow of the measurement object 50, performs strain correction on the generated image to generate a corrected image, and calculates the dimensions of the measurement object 50 based on the corrected image. Therefore, even if the material of the measurement object 50 is black, has a high surface reflectivity, or is at a high temperature, the dimensions can be calculated efficiently.

[0060] Each configuration illustrated in the above embodiments is functionally schematic and does not necessarily have to be physically configured as illustrated. That is, the form of dispersion and integration of each device is not limited to that illustrated, and all or part of it can be functionally or physically dispersed and integrated in any unit according to various loads, usage situations, etc.

Industrial Applicability

[0061] The outer shape measurement system and the outer shape measurement method according to the present invention are suitable for efficiently measuring the dimensions of a measurement object.

Explanation of Reference Numerals

[0062] 20 Outer shape measurement device 21 Display unit 22 Input unit 23 Parallel light irradiation device 23a, 23b Parallel light irradiation units 24 Single-axis robot 24a Movable part 25 Imaging unit 26 Memory unit 26a Strain correction parameter 26b Image data 26c Corrected image data 26d Dimension data 27 Control unit 27a Parallel light control unit 27b Imaging processing unit 27c Robot control unit 27d Strain correction processing unit 27e Dimension calculation unit 30a, 30b Frame 31 Frame fixing jig 32, 32a, 32b Lens 33, 33a, 33b Line laser 34 Line laser fixing jig 40 Fixing jig 50 Object to be measured 60 Screen 70, 70a, 70b, 70c Shadow 71a, 71b, 71c, 72, 73 Shadow 80 External shape measurement device 86 Memory unit 86a Composite image data 87 Control unit 87a Composite processing unit P Parallel light R Emitted light

Claims

1. A parallel light irradiation device that outputs parallel light to the object to be measured, A movement control device that controls the movement of the parallel light irradiation device in a direction perpendicular to the parallel light, An imaging device that captures an image of the shadow of the object to be measured projected on a predetermined screen, An outer shape measurement device that measures the dimensions of the object to be measured from at least the shadow of the object to be measured included in the image captured by the imaging device An outer shape measurement system, characterized by comprising the above.

2. The parallel light irradiation device The outer shape measurement system according to claim 1, characterized by comprising a laser light source that irradiates laser light in a line shape, and a lens that makes the line-shaped laser light irradiated from the laser light source into parallel light.

3. The imaging device Controls the opening of the shutter until the parallel light irradiation device is controlled to move from a predetermined movement start position to a predetermined movement end position by the movement control device. The outer shape measurement system according to claim 1, characterized by the above.

4. The outer shape measurement device When the average luminance of the image captured by the imaging device is equal to or greater than a predetermined threshold value, controls the display on a predetermined display unit the adjustment amount of the movement speed of the parallel light irradiation device by the movement control device and the shutter opening time determined by the movement speed of the parallel light irradiation device. The outer shape measurement system according to claim 3, characterized by the above.

5. The screen Is provided with a grid having a predetermined scale or a predetermined size, The outer shape measurement device Measures the dimensions of the object to be measured based on the scale or the grid provided on the screen included in the image captured by the imaging device and the size of the shadow of the object to be measured included in the image. The outer shape measurement system according to any one of claims 1 to 4, characterized by the above.

6. An outer shape measurement method in an outer shape measurement system having a parallel light irradiation device that outputs parallel light to an object to be measured, a movement control device that controls the movement of the parallel light irradiation device in a direction perpendicular to the parallel light, an imaging device that captures an image of the shadow of the object to be measured projected on a predetermined screen, and an outer shape measurement device that measures the dimensions of the object to be measured, comprising: A control step in which the imaging device controls the opening of the shutter until the parallel light irradiation device is controlled to move from a predetermined movement start position to a predetermined movement end position by the movement control device. A measurement step in which the external shape measurement device measures the dimensions of the measurement object from a shadow of the measurement object included in at least an image captured by the imaging device An external shape measurement method characterized by including the above.

Images