Depth measurement device, depth measurement method and depth measurement program

Abstract

To provide a depth measurement device, a depth measurement method and a depth measurement program capable of measuring the depth of a member.SOLUTION: A depth measurement device includes: a radiation source; a detector of radiation irradiated by the radiation source; a first acquisition unit for acquiring a third distance between a third position of an image of an object imaged by the detector on the detector and a fourth position on the detector facing the radiation source when the object is located at a second position away from a first position (which is a position away from the radiation source by a first distance in a depth direction heading from the radiation source toward the detector) by a second distance along a detection surface of the detector; a second acquisition unit for acquiring a fifth distance between the fourth position and a sixth position which is a position of the image of the object imaged by the detector on the detector when the object is located at a fifth position away from the second position by a fourth distance in the depth direction; and a third acquisition unit for acquiring the first distance on the basis of the third distance acquired by the first acquisition unit, the fifth distance acquired by the second acquisition unit, and the fourth distance.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a depth measurement device, a depth measurement method, and a depth measurement program. [Background technology]

[0002] Conventionally, the CT apparatus described in Patent Document 1 calibrates the shooting distance (FCD) and detection distance (FDD) by performing calculations based on the sizes of cross-sectional images of a reference object acquired at two different shooting distances (FCD). The shooting distance (FCD) is the distance between a radiation source and a subject, and the detection distance (FDD) is the distance between the radiation source and a radiation detection unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-185859 Summary of the Invention [Problem to be solved by the invention]

[0004] The CT device described in Patent Document 1 calibrates the shooting distance (FCD) and the detection distance (FDD). There are cases where the depth of a component (for example, a void inside a component) is determined using radiation, but Patent Document 1 does not disclose a method for determining the depth of a component.

[0005] The present disclosure provides a depth measurement device, a depth measurement method, and a depth measurement program capable of measuring the depth of a member. [Means for solving the problem]

[0006] One embodiment of the depth measurement device includes a radiation source, a detector for radiation emitted from the radiation source, and a first acquisition unit that acquires a third distance between a third position on the detector of an image of the object captured by the detector and a fourth position on the detector facing the radiation source when an object is located at a second position that is a second distance away from the first position along the detection surface of the detector, where the first position is a first distance away from the first position; a second acquisition unit that acquires a fifth distance between a sixth position on the detector of an image of the object captured by the detector and the fourth position when the object is located at a fifth position that is a fourth distance away from the second position in the depth direction; and a third acquisition unit that acquires the first distance based on the third distance acquired by the first acquisition unit, the fifth distance acquired by the second acquisition unit, and the fourth distance. [Effects of the Invention]

[0007] The depth measurement device, depth measurement method, and depth measurement program of the present disclosure can measure the depth of a member. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating a depth measurement device according to an embodiment. [Figure 2] FIG. 2 is a block diagram for explaining a depth measurement device (processing unit) according to an embodiment. [Figure 3] 10 is a diagram for explaining the relationship between a plurality of positions and a plurality of distances when obtaining a calculation formula for a first distance. FIG. [Figure 4] 10 is a diagram for explaining a schematic configuration of the depth measurement device when explaining a control pattern (first pattern) of a position control unit. FIG. [Figure 5] 10 is a diagram for explaining a schematic configuration of the depth measurement device when explaining a control pattern (second pattern) of a position control section. FIG. [Figure 6] 1 is a flowchart illustrating a depth measurement method according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] An embodiment will be described below.

[0010] [Outline of Depth Measurement Device 1] First, an overview of a depth measurement device 1 according to an embodiment will be described. FIG. 1 is a diagram for explaining a depth measurement device 1 according to an embodiment.

[0011] The depth measurement device 1 may be, for example, a device that measures the depth of an object 400 (e.g., a component, a void inside the component, etc.). The depth measurement device 1 is not limited to the above-described example device, and may constitute various devices, etc. Here, the depth may be the distance from the radiation source 200 to the object 400 along the depth direction Y from the radiation source 200 toward the detector 300 (a first distance L1, which will be described later).

[0012] The depth measuring device 1 includes, for example, a radiation source 200, a detector 300, and a processing unit 100.

[0013] The radiation source 200 may be, for example, an X-ray source that emits X-rays. Note that the radiation emitted by the radiation source 200 is not limited to X-rays, and may be radiation of other wavelengths different from X-rays (for example, gamma rays, alpha rays, beta rays, neutron rays, etc.).

[0014] The detector 300 detects radiation emitted from the radiation source 200. As an example, the detector 300 may be an X-ray detector that detects X-rays emitted from the radiation source 200 (X-ray source). When an object 400 (member) is present between the detector 300 and the radiation source 200, the detector 300 generates information (transmission image information (transmission X-ray image information)) related to a transmission image (transmission X-ray image) based on the radiation (X-rays) that have passed through the object 400.

[0015] The processing unit 100 may be, for example, a computer (information processing device) such as a server, a desktop, a laptop, a tablet, or a smartphone. The processing unit 100 is capable of transmitting and receiving information to and from the radiation source 200 and the detector 300, for example, and controls the radiation source 200 and the detector 300. The processing unit 100 also performs various arithmetic processing using image information generated by the detector 300, etc. An example of the arithmetic processing may be a process of acquiring the depth of the object 400 in the depth direction Y.

[0016] First, the object 400 (member) is disposed at a position (second position P2, described later) away from an axis (e.g., the center line and central axis) in the depth direction Y along which the radiation source 200 and the detector 300 face each other. That is, if a position at a first distance L1 in the depth direction Y from the radiation source 200 toward the detector 300 is defined as a first position P1 (first position P1 at the first distance L1 from the radiation source 200 along the center line), the object 400 is disposed at a second position P2 at a second distance L2 away from the first position P1 along the detection surface 301 (X axis) of the detector 300.

[0017] The processing unit 100 controls the radiation source 200 to emit radiation when the object 400 is located at the second position P2. In response to the radiation emitted from the radiation source 200, the detector 300 generates a transmission image (first transmission image) (transmission image information) of the radiation that has passed through the object 400. The processing unit 100 acquires the transmission image information and acquires the position (third position P3) of the image of the object 400 recorded in the transmission image (first transmission image), i.e., the third position P3 on the detector 300 of the image of the object 400 captured by the detector 300. The processing unit 100 also acquires a position (fourth position P4) on the detector 300 facing the radiation source 200, i.e., a third distance L3 between the third position P3 and the position (fourth position P4) of the center line and central axis of the detector 300.

[0018] Next, the object 400 (member) is moved to a fifth position P5, which is a fourth distance L4 away from the second position P2 in the depth direction Y (negative direction (see FIG. 1) or positive direction).

[0019] As in the case described above, the processing unit 100 controls the radiation source 200 to emit radiation when the object 400 is located at the fifth position P5. In response to the radiation emitted from the radiation source 200, the detector 300 generates a transmission image (second transmission image) (transmission image information) of the radiation that has passed through the object 400. The processing unit 100 acquires the transmission image information and acquires the position (sixth position P6) of the image of the object 400 recorded in the transmission image (second transmission image), i.e., the sixth position P6 on the detector 300 of the image of the object 400 captured by the detector 300. The processing unit 100 also acquires a position (fourth position P4) on the detector 300 facing the radiation source 200, i.e., a fifth distance L5 between the sixth position P6 and the position of the center line and central axis of the detector 300 (fourth position P4).

[0020] The processing unit 100 acquires the first distance L1 based on the third distance L3, the fifth distance L5, and the fourth distance L4. Specifically, the processing unit 100 calculates the first distance L1 by the following formula (1).

[0021]

number

[0022] [Details of Depth Measurement Device 1] Next, the depth measuring device 1 according to an embodiment will be described in detail. Here, the processing unit 100 will be particularly described. FIG. 2 is a block diagram for explaining the depth measurement device 1 (processing unit 100) according to one embodiment.

[0023] The depth measurement device 1 (processing unit 100) includes, for example, a communication unit 121, a storage unit 122, a display unit 123, and a control unit 110. The communication unit 121, the storage unit 122, and the display unit 123 may be an embodiment of an output unit. The control unit 110 includes, for example, a radiation source control unit 111, a first acquisition unit 112, a second acquisition unit 113, a third acquisition unit 114, a position control unit 115, and an output control unit 116. The control unit 110 may be configured, for example, by an arithmetic processing unit of the depth measurement device 1. The control unit 110 (for example, an arithmetic processing unit) may realize the functions of each unit (for example, the radiation source control unit 111, the first acquisition unit 112, the second acquisition unit 113, the third acquisition unit 114, the position control unit 115, and the output control unit 116) by, for example, appropriately reading and executing various programs stored in the storage unit 122. That is, the functions of each unit may be realized by computer implementation.

[0024] The communication unit 121 is, for example, a communication interface capable of transmitting and receiving various information to and from a device (external device) outside the depth measurement device 1. The external device may be, for example, the radiation source 200, the detector 300, a server (not shown), a user terminal (not shown), etc.

[0025] The storage unit 122 may store, for example, various information and programs. Examples of the storage unit 122 may be a memory, a solid state drive, a hard disk drive, etc. Note that the storage unit 122 may be, for example, a storage area or a server on a cloud.

[0026] The display unit 123 is a display capable of displaying, for example, various characters, symbols, images, and the like.

[0027] When the object 400 is disposed at a second position P2 (described later), the radiation source control unit 111 controls the radiation source 200 to emit radiation via the communication unit 121. When the object 400 is disposed at a fifth position P5 (described later), the radiation source control unit 111 controls the radiation source 200 to emit radiation via the communication unit 121.

[0028] If the first position P1 is defined as a position that is a first distance L1 away in the depth direction Y from the radiation source 200 toward the detector 300, the second position P2 is a position that is a second distance L2 away from the first position P1 along the detection surface 301 (X-axis) of the detector 300. The fifth position P5 is a position that is a fourth distance L4 away from the second position P2 in the depth direction Y. If the direction from the radiation source 200 toward the detector 300 is defined as the positive depth direction and the direction opposite to the positive direction is defined as the negative depth direction, the fifth position P5 may be a position that is the fourth distance L4 away from the second position P2 in the negative depth direction (see FIG. 1 ), or may be a position that is the fourth distance L4 away from the second position P2 in the positive depth direction.

[0029] The detector 300 generates a transmission image (transmission image information) based on detecting radiation that has passed through the object 400. In this case, the detector 300 may generate a first transmission image (first transmission image information) when the object 400 is disposed at the second position P2. Furthermore, the detector 300 may generate a second transmission image (second transmission image information) when the object 400 is disposed at the fifth position P5. An image of the object 400 is recorded in each of the first transmission image and the second transmission image.

[0030] The first acquisition section 112 acquires a first transmission image (first transmission image information) from the detector 300 via, for example, the communication section 121. When the object 400 is located at the second position P2, the first acquisition section 112 acquires, based on the first transmission image, a third distance L3 between a third position P3 on the detector 300 (on the first transmission image) of the image of the object 400 captured by the detector 300 and a fourth position P4 on the detector 300 (on the first transmission image) facing the radiation source 200. The fourth position P4 may be a position on the detector 300 (on the first transmission image) of the center line and central axis where the radiation source 200 and the detector 300 face each other.

[0031] The second acquisition section 113 acquires a second transmission image (second transmission image information) from the detector 300 via, for example, the communication section 121. When the object 400 is located at a fifth position P5, the second acquisition section 113 acquires a fifth distance L5 between a sixth position P6 on the detector 300 (on the second transmission image) of the image of the object 400 captured by the detector 300 based on the second transmission image and the fourth position P4. The fourth position P4 may be a position on the detector 300 (on the second transmission image) on the center line and central axis where the radiation source 200 and the detector 300 face each other. The fourth position P4 may be a corresponding position (the same position) in the first transmission image and the second transmission image (for example, the center position of the transmission image).

[0032] The third acquisition unit 114 acquires the first distance L1 based on the third distance L3 acquired by the first acquisition unit 112, the fifth distance L5 acquired by the second acquisition unit 113, and the fourth distance L4. That is, the third acquisition unit 114 calculates the first distance L1 using the following formula (2).

[0033]

number

[0034] Here, how to obtain the above formula (2) (the above formula (1)) will be explained. FIG. 3 is a diagram for explaining the relationship between the positions P1 to P8 and the distances L1 to L6 when obtaining the calculation formula for the first distance L1.

[0035] If the distance between the radiation source 200 and the detector 300 is L6 and the position of the radiation source 200 is the seventh position P7, when the object 400 is at the second position P2, the triangle P2P1P7 formed by the second position P2, the first position P1, and the seventh position P7 and the triangle P3P4P7 formed by the third position P3, the fourth position P4, and the seventh position P7 have the relationship of the following formula (3).

[0036]

number

[0037] Furthermore, if the position that is a fourth distance L4 away from the first position P1 in the depth direction Y (the direction along the central axis on which the fifth position P5 is located) is defined as the eighth position P8 (the eighth position P8 on the central axis moved a second distance L2 along the X axis from the fifth position P5), when the object 400 is located at the fifth position P5, the triangle P5P8P7 formed by the fifth position P5, the eighth position P8, and the seventh position P7, and the triangle P6P4P7 formed by the sixth position P6, the fourth position P4, and the seventh position P7, are related by the following equation (4).

[0038]

number

[0039] From the above equation (3), the following equation (5) is obtained.

[0040]

number

[0041] Substituting the above equation (5) into the above equation (4) and converting it into an equation for L1, the following equation (6) is obtained.

[0042]

number

[0043] From the above equation (6), the above equation (2) (the above equation (1)) can be obtained.

[0044] Next, the fourth distance L4 will be described. FIG. 4 is a diagram for explaining the schematic configuration of the depth measurement device 1 when explaining the control pattern (first pattern) of the position control unit 115. FIG. 5 is a diagram for explaining the schematic configuration of the depth measurement device 1 when explaining the control pattern (second pattern) of the position control unit 115.

[0045] The above-mentioned fourth distance L4 may be a known value. That is, the position control unit 115 may move only the object 400 by a predetermined distance (fourth distance L4) along the depth direction Y while keeping the distance between the radiation source 200 and the detector 300 (sixth distance L6) constant (first pattern (see FIG. 4)). Alternatively, the position control unit 115 may fix the radiation source 200 and the detector 300 to the tip of the robot arm 520, and control the robot arm 520 to move each of the radiation source 200 and the detector 300 by a predetermined distance (fourth distance L4) while keeping the target object 400 fixed (second pattern (see FIG. 5)). That is, the position control unit 115 controls the position of the object 400 between the radiation source 200 and the detector 300 in the depth direction Y to change while keeping the distance between the radiation source 200 and the detector 300 in the depth direction Y constant.

[0046] 4, more specifically, as a first pattern, the positions of the radiation source 200 and the detector 300 may be fixed. In this case, the target object 400 may be placed on a jig 510 that is movable in the depth direction Y (positive depth direction (+) and negative depth direction (-)) between the radiation source 200 and the detector 300. The position control unit 115 may control the jig 510 to move by a preset distance (fourth distance L4).

[0047] 5, as a more specific example of the second pattern, a bifurcated support unit 521 may be provided at the tip of a robot arm 520 (for example, an articulated robot), with the radiation source 200 provided on one support unit 521a and the detector 300 provided on the other support unit 521b. Because the radiation source 200 and the detector 300 are fixed to the robot arm 520, the distance between them (sixth distance L6) is constant. The position controller 115 controls the robot arm 520. That is, the position controller 115 controls the robot arm 520 so that the target object 400 is located between the radiation source 200 and the detector 300 (for example, the second position P2), and further controls the robot arm 520 so that the target object 400 moves a predetermined distance (fourth distance L4) while keeping the position of the target object 400 fixed. Therefore, the object 400 appears to move a fourth distance L4 between the radiation source 200 and the detector 300 (a sixth distance L6 between the radiation source 200 and the detector 300 is constant).

[0048] The output control unit 116 may control the output unit to output the first distance L1 acquired by the third acquisition unit 114. The output unit may be, for example, a communication unit 121, a storage unit 122, a display unit 123, etc. That is, the output control unit 116 may, for example, control the communication unit 121 to transmit information about the first distance L1 acquired by the third acquisition unit 114 to an external device (not shown). The external device here may be, for example, a server, a user terminal, etc. The user terminal is a terminal used by a user of the depth measurement device 1, and specific examples thereof may include a desktop, a laptop, a tablet, a smartphone, etc. The output control unit 116 may control the storage unit 122 to store information about the first distance L1 acquired by the third acquisition unit 114, for example. The output control unit 116 may control the display unit 123 to display the first distance L1 acquired by the third acquisition unit 114, for example.

[0049] [Depth measurement method] Next, a depth measurement method according to an embodiment will be described. FIG. 6 is a flowchart illustrating a depth measurement method according to an embodiment.

[0050] In step ST101, the position control unit 115 fixes the object 400 at a predetermined position (second position P2) between the radiation source 200 and the detector 300 while keeping the distance between the radiation source 200 and the detector 300 in the depth direction Y constant. In this case, the position control unit 115 may place the target object 400 at the second position P2 by controlling the jig 510 as in the first pattern described above. Alternatively, the position control unit 115 may place the target object 400 at the second position P2 by controlling the robot arm 520 as in the second pattern described above. If the first position P1 is defined as a position that is a first distance L1 away in the depth direction Y from the radiation source 200 toward the detector 300, the second position P2 is a position that is a second distance L2 away from the first position P1 along the detection surface 301 (X-axis) of the detector 300.

[0051] In step ST102, when the object 400 is disposed at the second position P2, the radiation source control unit 111 controls the radiation source 200 to emit radiation. The detector 300 generates a transmission image (first transmission image) (first transmission image information) based on the detection of the radiation that has transmitted through the object 400.

[0052] In step ST103, the position control unit 115 moves the object 400 a fourth distance L4 and fixes it at a fifth position P5. The position control unit 115 controls the object 400 to change the position in the depth direction Y of the object 400 located between the radiation source 200 and the detector 300 while keeping the distance in the depth direction Y between the radiation source 200 and the detector 300 constant. In other words, the position control unit 115 moves the position of the object 400 relative to the radiation source 200 and the detector 300. In this case, the position control unit 115 may place the target object 400 at the fifth position P5 by controlling the jig 510 as in the first pattern described above, or the position control unit 115 may place the target object 400 at the fifth position P5 by controlling the robot arm 520 as in the second pattern described above. The fifth position P5 is a position that is separated in the depth direction Y from the second position P2 by a fourth distance L4.

[0053] It is preferable that the second position P2 and the fifth position P5 are closer to the radiation source 200 because the resolution of the image recorded in the transmission image is higher when the object 400 is closer to the radiation source 200.

[0054] In step ST104, when the object 400 is disposed at the fifth position P5, the radiation source control unit 111 controls the radiation source 200 to emit radiation. The detector 300 generates a transmission image (second transmission image) (second transmission image information) based on the detection of the radiation that has transmitted through the object 400.

[0055] In step ST105, the first acquisition unit 112 and the second acquisition unit 113 acquire the distances to the image of the object 400 (third distance L3 and fifth distance L5). That is, when the object 400 is at the second position P2 as a result of the processing of step ST101, the first acquisition unit 112 acquires, based on the first transmission image acquired in step ST102, a third distance L3 between a third position P3 on the detector 300 (on the first transmission image) of the image of the object 400 captured by the detector 300 and a fourth position P4 on the detector 300 (on the first transmission image) facing the radiation source 200. When the object 400 is at the fifth position P5 as a result of the processing of step ST103, the second acquisition unit 113 acquires a fifth distance L5 between the sixth position P6 on the detector 300 (on the second transmission image) of the image of the object 400 captured by the detector 300 based on the second transmission image acquired in step ST104 and the fourth position P4.

[0056] In step ST106, the third acquisition unit 114 acquires the first distance L1 using the above equation (1) (and the above equation (2)) based on the third distance L3 acquired by the first acquisition unit 112 in step ST105, the fifth distance L5 acquired by the second acquisition unit 113 in step ST105, and the fourth distance L4 (known).

[0057] [Variations] In the above-described embodiment, the depth measurement device 1 is configured to emit radiation such as X-rays from the radiation source 200, and detect the radiation (e.g., penetrating radiation such as penetrating X-rays) that has passed through a member (object 400) such as metal or resin using the detector 300. This enables the depth measurement device 1 to measure the depth of the member (object 400) and the depth of voids (object 400) inside the member.

[0058] As a modified example, the depth measurement device 1 may include a light source capable of emitting light such as ultraviolet light, visible light, and infrared light, and a light receiver that detects the light emitted from the light source. In this case, the depth measurement device 1 may emit light from the light source and detect the transmitted light that has passed through a member (object) such as a semiconductor or glass with the light receiver. Similarly, as a modified example, the depth measurement device 1 may include an electromagnetic wave source capable of emitting electromagnetic waves of various wavelengths and a detector that detects the electromagnetic waves emitted from the electromagnetic wave source. In this case, the depth measurement device 1 may emit electromagnetic waves from the electromagnetic wave source and detect the transmitted electromagnetic waves that have passed through a member (target object) with a photoreceiver. This enables the depth measurement device 1 to measure the depth of a member (object) and the depth of a void (object) inside the member.

[0059] [Functions and circuits] Next, the functions and circuits of the depth measuring device 1 described above will be explained. Each unit of the depth measurement device 1 may be realized as a function of a computer's arithmetic processing unit or the like. That is, the radiation source control unit 111, the first acquisition unit 112, the second acquisition unit 113, the third acquisition unit 114, the position control unit 115, and the output control unit 116 (control unit 110) of the depth measurement device 1 may be realized as a radiation source control function, a first acquisition function, a second acquisition function, a third acquisition function, a position control function, and an output control function (control function), respectively, by a computer's arithmetic processing unit or the like. The depth measurement program can cause a computer to realize each of the above-described functions. The depth measurement program may be recorded on a computer-readable non-transitory storage medium, such as a memory, a solid-state drive, a hard disk drive, or an optical disk. The storage medium may also be referred to as a non-transitory computer-readable medium that stores the depth measurement program. The depth measurement program may also be transmitted online. As described above, each unit of the depth measurement device 1 may be realized by an arithmetic processing unit of a computer or the like. The arithmetic processing unit or the like is configured, for example, by an integrated circuit or the like. Therefore, each unit of the depth measurement device 1 may be realized as a circuit that constitutes the arithmetic processing unit or the like. That is, the radiation source control unit 111, the first acquisition unit 112, the second acquisition unit 113, the third acquisition unit 114, the position control unit 115, and the output control unit 116 (control unit 110) of the depth measurement device 1 may be realized as a radiation source control circuit, a first acquisition circuit, a second acquisition circuit, a third acquisition circuit, a position control circuit, and an output control circuit (control circuit) that constitute the arithmetic processing unit of a computer or the like. The communication unit 121, storage unit 122, and display unit 123 (output unit) of the depth measurement device 1 may be realized as a communication function, storage function, and display function (output function) including the functions of an arithmetic processing device, etc. The communication unit 121, storage unit 122, and display unit 123 (output unit) of the depth measurement device 1 may be realized as a communication circuit, storage circuit, and display circuit (output circuit) by being configured with, for example, an integrated circuit, etc. The communication unit 121, storage unit 122, and display unit 123 (output unit) of the depth measurement device 1 may be realized as a communication device, storage device, and display device (output device) by being configured with, for example, a plurality of devices.

[0060] The depth measurement device 1 can be configured by combining one or any combination of the above-described multiple units. In this disclosure, the term "information" is used, but the term "information" can be replaced with "data" and the term "data" can be replaced with "information."

[0061] [Aspects and Effects of the Present Embodiment] Next, one aspect of this embodiment and the effects of each aspect will be described. Note that each aspect described below is an example at the time of filing, and this embodiment is not limited to the aspects described below. In other words, this embodiment is not limited to the aspects described below, and may be realized by appropriately combining the above-mentioned parts. Furthermore, a lower-level aspect may be able to cite any of the higher-level aspects. The effects of the present embodiment described below are merely examples, and the effects of each aspect are not limited to those described below. Each aspect may, for example, achieve at least one of the effects described below.

[0062] (Aspect 1) One embodiment of the depth measurement device includes a radiation source, a detector for radiation emitted from the radiation source, and a first acquisition unit that acquires a third distance between a third position on the detector of an image of the object captured by the detector and a fourth position on the detector facing the radiation source when an object is located at a second position that is a second distance away from the first position along the detection surface of the detector, where the first position is a first distance away from the first position; a second acquisition unit that acquires a fifth distance between a sixth position on the detector of an image of the object captured by the detector and the fourth position when the object is located at a fifth position that is a fourth distance away from the second position in the depth direction; and a third acquisition unit that acquires the first distance based on the third distance acquired by the first acquisition unit, the fifth distance acquired by the second acquisition unit, and the fourth distance. This allows the depth measurement device to obtain the distance (first distance) from the radiation source to the object by changing the depth direction distance (FOD: Focus Object Distance) of the object, rather than moving the radiation source (laterally) along the detection surface of the detector. Furthermore, when the FOD is changed, the depth measurement device can reduce the change in the image of the object on the detection surface onto which the object is projected, i.e., the change in shape between the image of the object recorded in the first transmission image and the image of the object recorded in the second transmission image, compared to the change in shape of the object image when the radiation source is moved (laterally) along the detection surface of the detector. In other words, the depth measurement device can easily identify the image of the object recorded in the first transmission image and the image of the object recorded in the second transmission image as the same object. Therefore, even when multiple objects are simultaneously present between the radiation source and the detector, the depth measurement device can easily identify them as the same object and obtain the depth of each of the multiple objects. Furthermore, the depth measurement device can improve the accuracy of automatically recognizing the identity of the image of the object recorded in the first transmission image and the image of the object recorded in the second transmission image using image recognition technology (e.g., AI, etc.). Therefore, the depth measurement device can automatically obtain the depth of the object. Furthermore, the depth measurement device can obtain the first distance by changing the FOD even when there is a constraint on moving the radiation source along the detection surface (X-axis) of the detector. Furthermore, since the depth measurement device can obtain the first distance based on the above formulas (1) and (2), it is not necessary to accurately obtain the sixth distance between the radiation source and the detector.

[0063] The depth measurement device can be described as having the following aspects. That is, the depth measurement device is A radiation source; a detector that detects radiation emitted from a radiation source and transmitted through an object to generate transmission image information; a processing unit capable of transmitting and receiving information between the radiation and the detector, The processing unit When the same object is disposed between the radiation source and the detector at two different positions (second position and fifth position) that are respectively spaced the same distance from a center line between the radiation source and the detector, a first transmission image and a second transmission image are obtained based on two pieces of transmission image information generated by the detector at each of the two positions (second position and fifth position); The depth of the object (first distance) is calculated based on the distance (third distance) between the position of the image of the object recorded in the first transmission image (third position) and the position of the center line on the detector (fourth position), the distance (fifth distance) between the position of the image of the object recorded in the second transmission image (sixth position) and the position of the center line on the detector (fourth position), and the distance (fourth distance) between two positions (second position and fifth position) where the same object is located. This may be an embodiment.

[0064] (Aspect 2) One embodiment of the depth measurement device may include a position control unit that changes the depth position of an object between the radiation source and the detector while keeping the depth distance between the radiation source and the detector constant. This allows the depth measurement device to change the distance between the radiation source and the object (FOD) while keeping the sixth distance between the radiation source and the detector constant.

[0065] (Aspect 3) In one embodiment of the depth measurement device, the third acquisition unit calculates the first distance L1 using the above formula (1) (and the above formula (2)), where L1 is the first distance, L3 is the third distance, L5 is the fifth distance, and L4 is the fourth distance. This allows the depth measurement device to calculate the first distance L1 using the above formula (1) (and the above formula (2)).

[0066] (Aspect 4) In one aspect of the depth measurement method, a computer capable of communicating with a radiation source and a detector of radiation emitted from the radiation source performs the following steps: a first acquisition step of acquiring a third distance between a third position on the detector of an image of the object captured by the detector and a fourth position on the detector facing the radiation source when an object is located at a second position a second distance away from the first position along the detection surface of the detector, where the first position is a position a first distance away in the depth direction from the radiation source; a second acquisition step of acquiring a fifth distance between a sixth position on the detector of an image of the object captured by the detector and the fourth position when the object is located at a fifth position a fourth distance away in the depth direction from the second position; and a third acquisition step of acquiring the first distance based on the third distance acquired in the first acquisition step, the fifth distance acquired in the second acquisition step, and the fourth distance. As a result, the depth measurement method can achieve the same effects as the depth measurement device of the above-described aspect.

[0067] (Aspect 5) A depth measurement program of one embodiment causes a computer capable of communicating with a radiation source and a detector of radiation emitted from the radiation source to realize the following: a first acquisition function that acquires a third distance between a third position on the detector of an image of the object captured by the detector and a fourth position on the detector facing the radiation source when an object is located at a second position that is a second distance away from the first position along the detection surface of the detector, where the first position is a position that is a first distance away in a depth direction from the radiation source toward the detector; a second acquisition function that acquires a fifth distance between a sixth position on the detector of an image of the object captured by the detector and the fourth position when the object is located at a fifth position that is a fourth distance away in the depth direction from the second position; and a third acquisition function that acquires the first distance based on the third distance acquired by the first acquisition function, the fifth distance acquired by the second acquisition function, and the fourth distance. As a result, the depth measurement program can achieve the same effects as the depth measurement device of the above-described aspect. [Explanation of symbols]

[0068] 1 Depth measurement device 100 Processing section 110 Processing Unit (Computer) 111 Radiation Source Control Unit 112 First acquisition part 113 Second Acquisition Department 114 Third Acquisition Department 115 Position control section 116 Output control section 121 Communications Department 122 Storage section 123 Display section 200 radiation source 300 detectors 400 objects 510 Jig 520 Robot Arm 521 (521a, 521b) Support part (one support part, the other support part)

Claims

1. A radiation source; a detector of radiation emitted from the radiation source; a first acquisition unit that acquires a third distance between a third position on the detector of an image of the object captured by the detector and a fourth position on the detector that faces the radiation source, when the first position is a first distance away from the radiation source in a depth direction toward the detector and an object is located at a second position that is a second distance away from the first position along a detection surface of the detector; a second acquisition unit that acquires a fifth distance between a sixth position on the detector of an image of the object captured by the detector and the fourth position when the object is located at a fifth position that is a fourth distance away from the second position in the depth direction; a third acquisition unit that acquires the first distance based on the third distance acquired by the first acquisition unit, the fifth distance acquired by the second acquisition unit, and the fourth distance; A depth measurement device comprising:

2. a position control unit that changes the position of the object between the radiation source and the detector in the depth direction while keeping the distance between the radiation source and the detector in the depth direction constant; The depth measurement device according to claim 1 .

3. The third acquisition unit calculates the first distance as L １ , the third distance is L ３ , the fifth distance is L ５ , the fourth distance is L ４ Then, the first distance L is calculated by the following formula (1): １ Calculate [Equation 1] The depth measurement device according to claim 1 or 2.

4. a computer capable of communicating with a radiation source and a detector of radiation emitted from the radiation source, a first acquisition step of acquiring a third distance between a third position on the detector of an image of the object captured by the detector and a fourth position on the detector facing the radiation source, when the first position is defined as a position that is a first distance away from the radiation source in a depth direction toward the detector and an object is located at a second position that is a second distance away from the first position along a detection surface of the detector; a second acquisition step of acquiring a fifth distance between a sixth position on the detector of an image of the object captured by the detector and the fourth position when the object is located at a fifth position that is a fourth distance away from the second position in the depth direction; a third acquisition step of acquiring the first distance based on the third distance acquired in the first acquisition step, the fifth distance acquired in the second acquisition step, and the fourth distance; A depth measurement method that performs

5. a computer capable of communicating with a radiation source and a detector of radiation emitted from the radiation source; a first acquisition function that acquires a third distance between a third position on the detector of an image of the object captured by the detector and a fourth position on the detector facing the radiation source, when the first position is a first distance away from the radiation source in a depth direction toward the detector and an object is located at a second position a second distance away from the first position along a detection surface of the detector; a second acquisition function that acquires, when the object is located at a fifth position that is a fourth distance away from the second position in the depth direction, a sixth position on the detector of an image of the object captured by the detector and a fifth distance between the sixth position and the fourth position; a third acquisition function that acquires the first distance based on the third distance acquired by the first acquisition function, the fifth distance acquired by the second acquisition function, and the fourth distance; A depth measurement program that makes this possible.

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