Measuring device, measuring method, program, and measuring system

Abstract

Accurately measure the dimensions of containers using images without the need for high-precision cameras. [Solution] A measuring device that measures a target to be measured using an image, comprising: a first image acquisition unit that acquires a first image captured by a camera positioned at a first imaging position, in which a first measurement point of the target to be measured is visible; a second image acquisition unit that acquires a second image captured by a camera positioned at a second imaging position, in which a second measurement point of the target to be measured is visible; a first calculation unit that calculates a first distance between a first measurement point and a second measurement point based on a first reference coordinate of the first coordinate axis of the reference position in the first image and a second reference coordinate of the first coordinate axis of the reference position in the second image; and a correction unit that calculates a second distance corresponding to the distance between a first measurement point and a second measurement point by correcting the first distance based on correction information acquired from the first image or the second image.

Description

Technical Field

[0001] The present invention relates to a measuring device, a measuring method, a program, and a measuring system.

Background Art

[0002] In the inspection of containers such as plastic bottles, dimensions such as the height (overall height) of the container and the inner and outer diameters of each part such as the mouth and bottom are measured, and it is determined whether or not the standards are met. As described in Patent Document 1, there is a method of actually measuring the dimensions of the container for inspection. However, as described in Patent Document 2, a method of performing measurement using an image of the container is also widely adopted.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, when measuring the overall height of a container using an image, it is necessary to include the entire container in a single image. However, in order to measure accurate dimensions from a single image, it is necessary to take into account the influence of the angle of view. Therefore, in order to efficiently perform accurate measurement, it was necessary to use a high-precision camera with a wide angle of view.

[0005] An object of the present invention is to accurately measure the dimensions of a container by an image without using a high-precision camera.

Means for Solving the Problems

[0006] In order to solve the above-described problems, the present invention adopts the following configuration. A measuring device according to one aspect of the present invention is a measuring device that measures a target to be measured using an image, and comprises: a first image acquisition unit that acquires a first image captured by a camera positioned at a first imaging position, in which a first measurement point of the target to be measured is visible; a second image acquisition unit that acquires a second image captured by a camera positioned at a second imaging position, in which a second measurement point of the target to be measured is visible; a first calculation unit that calculates a first distance between the first measurement point and the second measurement point based on a first reference coordinate of the first coordinate axis of the reference position in the first image and a second reference coordinate of the first coordinate axis of the reference position in the second image; and a correction unit that calculates a second distance corresponding to the distance between the first measurement point and the second measurement point by correcting the first distance based on correction information acquired from the first image or the second image.

[0007] With the above configuration, the first measurement point and the second measurement point are captured from separate imaging positions, the distance between the two points is calculated using the reference coordinates of each image, and the calculated distance is corrected based on the information obtained from each image. This allows for accurate and efficient dimensional measurement using multiple images of the object being measured. Because multiple images are used, it is not necessary to capture multiple points of the object being measured in a single image, and accurate dimensional measurement can be performed even without using a high-precision camera with a constant magnification.

[0008] Furthermore, the correction unit may calculate the second distance by correcting the first distance using a first difference between the coordinates of the first coordinate axis of the first measurement point in the first image and the first reference coordinate, or a second difference between the coordinates of the first coordinate axis of the second measurement point in the second image and the second reference coordinate. This allows for the calculation of accurate dimensions even if the first or second measurement point is offset from the center of the respective image.

[0009] Furthermore, the correction unit may calculate the second distance by correcting the first distance based on the inclination of the axis connecting the first measurement point and the second measurement point with respect to the first coordinate axis, which is obtained from the first image or the second image. This allows for the calculation of accurate dimensions even if the object being measured is tilted relative to the first coordinate axis.

[0010] Furthermore, the correction unit may estimate the inclination of the connecting axes using at least one image from among a plurality of images taken of the measurement target from a plurality of angles around the first coordinate axis, and calculate the second distance by correcting the first distance based on the estimated inclination of the connecting axes. This allows for accurate estimation of the tilt of the object being measured relative to the first coordinate axis.

[0011] Furthermore, the correction unit may acquire the axis inclination from the first image if the object to be measured is held at a position closer to the second measurement point than the first measurement point, and acquire the axis inclination from the second image if it is held at a position closer to the first measurement point than the second measurement point. This makes it easier to measure the tilt of the object being measured relative to the Z-axis.

[0012] A measurement method relating to one aspect of the present invention is a method for measuring a target to be measured using an image, comprising the steps of: the information processing device acquiring a first image captured by a camera positioned at a first imaging position, the first image showing a first measurement point of the target to be measured; the information processing device acquiring a second image captured by a camera positioned at a second imaging position, the second image showing a second measurement point of the target to be measured; the information processing device calculating a first distance between the first measurement point and the second measurement point based on a first reference coordinate of the first coordinate axis of the reference position in the first image and a second reference coordinate of the first coordinate axis of the reference position in the second image; and the information processing device calculating a second distance corresponding to the distance between the first measurement point and the second measurement point by correcting the first distance based on correction information acquired from the first image or the second image.

[0013] With the above configuration, the first measurement point and the second measurement point are captured from separate imaging positions, the distance between the two points is calculated using the reference coordinates of each image, and the calculated distance is corrected based on the information obtained from each image. This allows for accurate and efficient dimensional measurement using multiple images of the object being measured. Because multiple images are used, it is not necessary to capture multiple points of the object being measured in a single image, and accurate dimensional measurement can be performed even without using a high-precision camera with a constant magnification.

[0014] A program relating to one aspect of the present invention provides a computer that measures a target to be measured using images, and functions as a first image acquisition unit that acquires a first image captured by a camera positioned at a first imaging position, in which a first measurement point of the target to be measured is visible; a second image acquisition unit that acquires a second image captured by a camera positioned at a second imaging position, in which a second measurement point of the target to be measured is visible; a first calculation unit that calculates a first distance between the first measurement point and the second measurement point based on a first reference coordinate of the first coordinate axis of the reference position in the first image and a second reference coordinate of the first coordinate axis of the reference position in the second image; and a correction unit that calculates a second distance corresponding to the distance between the first measurement point and the second measurement point by correcting the first distance based on correction information acquired from the first image or the second image.

[0015] With the above configuration, the first measurement point and the second measurement point are captured from separate imaging positions, the distance between the two points is calculated using the reference coordinates of each image, and the calculated distance is corrected based on the information obtained from each image. This allows for accurate and efficient dimensional measurement using multiple images of the object being measured. Because multiple images are used, it is not necessary to capture multiple points of the object being measured in a single image, and accurate dimensional measurement can be performed even without using a high-precision camera with a constant magnification.

[0016] A measurement system according to one aspect of the present invention is a measurement system that measures a target to be measured using an image, comprising: a camera for capturing an image; means for arranging the camera at an imaging position; and information processing means for performing measurements using the captured image, wherein the information processing means comprises: a first image acquisition unit that acquires a first image captured by a camera positioned at a first imaging position, in which a first measurement point of the target to be measured is shown; a second image acquisition unit that acquires a second image captured by a camera positioned at a second imaging position, in which a second measurement point of the target to be measured is shown; a first calculation unit that calculates a first distance between the first measurement point and the second measurement point based on a first reference coordinate of the first coordinate axis of the reference position in the first image and a second reference coordinate of the first coordinate axis of the reference position in the second image; and a correction unit that calculates a second distance corresponding to the distance between the first measurement point and the second measurement point by correcting the first distance based on correction information acquired from the first image or the second image.

[0017] With the above configuration, the first measurement point and the second measurement point are captured from separate imaging positions, the distance between the two points is calculated using the reference coordinates of each image, and the calculated distance is corrected based on the information obtained from each image. This allows for accurate and efficient dimensional measurement using multiple images of the object being measured. Because multiple images are used, it is not necessary to capture multiple points of the object being measured in a single image, and accurate dimensional measurement can be performed even without using a high-precision camera with a constant magnification. [Effects of the Invention]

[0018] According to the present invention, the dimensions of a container can be accurately measured using images without the need for a high-precision camera. [Brief explanation of the drawing]

[0019] [Figure 1] A diagram illustrating an overview of a measurement system 1 according to an embodiment of the present invention. [Figure 2]A diagram illustrating the configuration of the measurement system 1 according to an embodiment of the present invention. [Figure 3] A diagram showing an example of the hardware configuration of the measurement device 10 according to an embodiment of the present invention. [Figure 4] A block diagram showing an example of a functional module executed by the processor 11 of the measurement device 10 according to an embodiment of the present invention. [Figure 5] A flowchart of the procedure for measuring the overall height of the container P by the measurement system 1 according to an embodiment of the present invention. [Figure 6] A diagram for explaining the correction process in the overall height measurement by the measurement system 1 according to an embodiment of the present invention. [Figure 7] A diagram for explaining the correction process in the overall height measurement by the measurement system 1 according to an embodiment of the present invention. [Figure 8] A diagram for explaining the correction process in the overall height measurement by the measurement system 1 according to an embodiment of the present invention.

Embodiments for Carrying Out the Invention

[0020] Hereinafter, embodiments according to one aspect of the present invention (hereinafter also referred to as "the present embodiment") will be described based on the drawings. However, the embodiments described below are merely examples of the present invention in all respects. Needless to say, various improvements and modifications can be made without departing from the scope of the present invention. That is, in carrying out the present invention, a specific configuration according to the embodiment may be appropriately adopted. In the present embodiment, the data that appears is described in natural language, but more specifically, it may be specified by any of a quasi-language, command, parameter, or machine language recognizable by a computer, but is not limited thereto.

[0021] §1 Application Example An example of application of the present invention is a measurement system for measuring the dimensions of resin containers such as PET bottles. However, the object of measurement is not limited to resin containers such as PET bottles, and may also be, for example, cosmetic containers (resin containers, glass bottles), pharmaceutical containers (resin molded products, syringes, vials), automobiles, aircraft parts (resin fuel containers, tanks, etc.). Figure 1 is a diagram illustrating the outline of a measurement system 1 for measuring the dimensions of a container P (object of measurement). In the example in Figure 1, the total height of the container P is measured, that is, the distance from the center P1 (first measurement point) of the top surface of the mouth to the center P2 (second measurement point) of the bottom surface. The measurement system 1 uses a camera 53 to capture an image of the mouth of the container P including P1 (first image) and an image of the bottom including P2 (second image). The measurement system 1 may move one camera 53 by a robot to a first imaging position and a second imaging position and capture images of each, or it may use two cameras placed at each imaging position to capture images.

[0022] The first image, captured from the first imaging position, shows the side of the mouth portion including P1, as shown in Figure 1, and the second image, captured from the second imaging position, shows the bottom portion including P2. The Y and Z coordinates of the image center (reference position) of the first and second images correspond to the Y and Z coordinates of the imaging position of the camera 53. The measurement system 1 measures the dimensions of the container P using at least one of the Y and Z coordinates of the reference position. In this embodiment, the total height of the container P is measured using the Z coordinate, but the Y coordinate may also be used, or both the Y and Z coordinates may be used for measurement.

[0023] The measurement system 1 uses the Z coordinate (first coordinate axis) Z1 (first reference coordinate) of the center of the first image and the Z coordinate (second reference coordinate) Z2 (second reference coordinate) of the center of the second image to calculate the total height of container P, i.e., the distance H1 (first distance) between P1 and P2, using the following equation (1). H1 = Z1 - Z2 …(1)

[0024] Furthermore, the measurement system 1 corrects the first distance H1 using correction information acquired from the first and second images, and calculates the corrected distance H2. For example, as shown in the example in Figure 1, if the positions of points P1 and P2 do not coincide with the image centers Z1 and Z2, a correction is performed based on the amount of deviation (difference) of points P1 and P2 from the image centers Z1 and Z2. Alternatively, a correction may be performed based on the tilt of container P with respect to the Z axis. Specific correction methods will be described later.

[0025] Figure 2 is a diagram illustrating the configuration of the measurement system 1. As shown in Figure 2, the measurement system 1 includes a measurement device 10, a control device 51, a camera robot 52, a camera 53, a container robot 54, and an inspection device 55. The control device 51 gives instruction signals to the camera robot 52, the camera 53, and the container robot 54, and receives response signals. The camera robot 52 is a robot that moves the camera 53, and based on the movement instructions received from the control device 51, it moves the camera 53 and transmits the camera coordinates at the moved position to the control device 51. The camera coordinates correspond to the coordinates of the image center (reference position) of the image captured by the camera 53. The camera 53 takes an image of the container P in response to an imaging instruction from the control device 51 and transmits the image data to the control device 51. The container robot 54 rotates the container P in response to a rotation instruction from the control device 51 and transmits the rotation angle to the control device 51. The camera robot 52 and the container robot 54 may be, for example, a rectangular coordinate robot, a dual-arm robot, etc.

[0026] The measuring device 10 receives images of the container P captured by the camera 53 and information such as the camera coordinates of each image from the control device 51, and measures the dimensions of a predetermined part of the container P (e.g., the total height) based on the information obtained from each image. The measuring device 10 transmits the measurement results to the inspection device 55. The inspection device 55 makes a judgment on whether the container P is good or bad based on the received measurement results.

[0027] §2 Example Configuration (1. Hardware Configuration) Figure 3 shows an example of the hardware configuration of the measuring device 10 according to this embodiment. The measuring device 10 is a computer comprising a processor 11, main memory 12, input / output interface 13, communication interface 14, and storage device 15. The storage device 15 is a computer-readable recording medium such as semiconductor memory (for example, volatile memory or non-volatile memory, but not limited to these) or disk media (for example, magnetic recording medium or magneto-optical recording medium, but not limited to these). The storage device 15 stores a program executed by the processor 11. The program is read from the storage device 15 into the main memory 12, interpreted and executed by the processor 11, thereby executing various functions.

[0028] (2. Functional Configuration) Figure 4 is a block diagram showing an example of a functional module executed by the processor 11 of the measuring device 10. As shown in Figure 4, the functional module executed by the processor 11 includes an image acquisition unit 101 (first image acquisition unit, second image acquisition unit), a first calculation unit 102, and a correction unit 103.

[0029] §3 Example of Operation Next, the procedure for measuring the total height of a container P (PET bottle) using the measurement system 1 according to this embodiment will be explained using the flowchart in Figure 5. The container P is transported by a conveyor or robot to a position where it can be imaged by the camera 53. During transport, the container P is held at one or more points, such as the neck (the base of the opening) or the bottom.

[0030] First, the control device 51 gives the camera robot 52 an instruction to move the camera 53, and the camera robot 52 moves the camera 53 to a predetermined imaging position. Once the movement is complete, the camera robot 52 transmits the camera coordinates of the camera 53 to the control device 51 (step ST1).

[0031] Once the position of the camera 53 is determined, the control device 51 outputs an imaging instruction to the camera 53. The camera 53 takes an image and transmits the image data to the control device 51 (step ST2).

[0032] In this embodiment, the camera 53 captures an image of the mouth of the container P, including the center P1 of the top surface of the mouth (first image), and an image of the bottom of the container P, including the center P2 of the bottom surface (second image), which are necessary for measuring the total height of the container P. To this end, the control device 51 controls the camera robot 52 and the camera 53 to acquire image data captured from a first imaging position corresponding to the mouth and a second imaging position corresponding to the bottom. The camera robot 52 also acquires the camera coordinates (reference coordinates) at each imaging position. Alternatively, two cameras 53 may be placed at the first and second imaging positions, respectively, and image data may be acquired from each camera 53.

[0033] Next, the control device 51 supplies the measuring device 10 with image data acquired by the camera 53 and camera coordinate information acquired by the camera robot 52 (step ST3). The image acquisition unit 101 of the measuring device 10 acquires an image of the mouth (first image) and an image of the bottom (second image) as shown in Figure 1. The camera 53 of the measuring system 1 according to this embodiment does not need to be a high-precision camera using a lens with a constant magnification, such as a telecentric lens, but may be a camera using a lens that causes parallax errors due to the angle of view. If the entire PET bottle, such as container P, is captured in a single image with a camera using a lens with an angle of view, the positions of the center of the top surface P1 and the center of the bottom surface P2 become inaccurate due to the influence of the angle of view, making it difficult to accurately measure the distance between P1 and P2 from a single image. On the other hand, as in this embodiment, by separately capturing images of the mouth and bottom of container P, the coordinates of the center of the top surface P1 and the center of the bottom surface P2 can be read from each image, and the distance between P1 and P2 can be accurately measured.

[0034] Next, the first calculation unit 102 obtains the Z coordinate "Z1" (first reference coordinate) of the image center of the first image and the Z coordinate "Z2" (second reference coordinate) of the image center of the second image from the camera coordinates supplied from the control device 51, and calculates the first distance H1 between P1 and P2 of the container P using the following formula (step ST4). H1 = Z1 - Z2

[0035] Next, the correction unit 103 corrects the first distance H1 calculated in step ST4 based on the information obtained from the first and second images, and calculates the corrected distance H2 between P1 and P2 (step ST5). Two correction methods by the correction unit 103 are listed below: (1) correction of the deviation of P1 and P2 from the image center (reference position), and (2) correction of the tilt of the container P. However, the correction methods are not limited to these.

[0036] (1) Correction of deviation from the center of the image The correction unit 103 corrects the first distance H1 based on the deviation of the position of P1 in the first image from the image center (reference position) and the deviation of the position of P2 in the second image from the image center (reference position). For example, as shown in Figure 6(A), if P1 and the image center Z1 coincide in the first image and P2 and the image center Z2 coincide in the second image, no deviation correction is performed. On the other hand, as shown in Figure 6(B), if P1 or P2 is deviated from the image center, the deviation is corrected using the following formula (2) to calculate the second distance H2. H2 = (Z1 - α) - (Z2 - β) …(2)

[0037] Here, α is the difference between the Z coordinate of P1 in the first image and the Z coordinate of the image center, and β is the difference between the Z coordinate of P2 in the second image and the Z coordinate of the image center. The first distance H1(Z1-Z2) obtained in step ST4 is a value calculated on the premise that the positions of P1 and P2 coincide with the reference positions of the images, so by correcting for the displacement as shown in equation (2), it can be corrected to the exact total height of the container P. Alternatively, instead of changing the position of camera 53 (or placing camera 53 in two locations), the container P may be moved in the Z-axis direction to capture the first and second images. In this case, the second distance H2 can be calculated using the following equation (3). H2 = (Z4 - β') - (Z3 - α') …(3)

[0038] In equation (3), Z3 is the Z-coordinate of the image center when the first image is captured, i.e., when P1 (center of the top surface) of container P is captured (before movement). Z4 is the Z-coordinate of the image center when the second image is captured, i.e., when P2 (center of the bottom surface) of container P is captured (after movement). α' is the difference between the Z-coordinate of P1 in the first image and the Z-coordinate of the image center, and β' is the difference between the Z-coordinate of P2 in the second image and the Z-coordinate of the image center.

[0039] Alternatively, multiple images of at least one of the first or second image may be captured, and correction may be performed using multiple images. For example, the first or second image may be captured from multiple angles, the average values ​​of α and β may be calculated from these images, and correction may be performed. Alternatively, correction may be performed based on the image with the highest reliability (highest accuracy) among the multiple images.

[0040] (2) Correction of the tilt of container P The correction unit 103 corrects the first distance H1 based on the inclination of the axis connecting P1 and P2 with respect to the Z axis. For example, as shown in Figure 7(B), if the container P is imaged while tilted with respect to the Z axis, the inclination θ of the axis connecting P1 and P2 with respect to the Z axis can be determined from the first image or the second image (the second image in the example of Figure 7), as shown in Figure 7(A). The correction unit 103 uses the determined θ to correct the inclination according to the following equation (4). H2 = (Z1 - Z2) × 1 / cosθ …(4)

[0041] The first distance H1(Z1-Z2) obtained in step ST4 is a value calculated without considering the inclination of container P. Therefore, by performing inclination correction as shown in equation (4), it can be corrected to the accurate total height of container P.

[0042] Furthermore, the correction unit 103 may perform both displacement correction and tilt correction. As illustrated in Figure 8, if P1 and P2 are offset from the center of the image and the axis connecting P1 and P2 is tilted by θ with respect to the Z axis, the total height can be determined more accurately by performing the correction using the following equation (5). H2=((Z1-α)-(Z2-β))×1 / cosθ…(5)

[0043] The inclination θ of the axis connecting P1 and P2 with respect to the Z-axis may be estimated from multiple second images (or first images) obtained by rotating the container P around the Z-axis at multiple rotation angles. The rotation of the container P can be performed by giving a rotation instruction from the control device 51 to the container robot 54. The container robot 54 outputs rotation angle information to the control device 51, and the control device 51 supplies the rotation angle information to the measuring device 10 along with the first and second images captured at each rotation angle. The measuring device 10 may determine the inclination θ from the images captured at multiple rotation angles and, for example, correct H1 using their average value. Alternatively, H1 may be corrected by adopting the maximum value of the inclination. Alternatively, instead of rotating the container P around the Z-axis, the camera 53 may be moved to capture the first or second image from a different angle. That is, the container P may be fixed, and multiple first images (or second images) may be obtained by rotating the camera 53 around the Z-axis at either the first or second imaging position. Alternatively, both the container P and the camera 53 may be rotated around the Z-axis. Alternatively, the container P may be fixed, and multiple cameras 53 may be arranged around the Z-axis to capture multiple images. In the above-described manner, the tilt θ can be estimated using at least one image from among multiple images of the container P taken from multiple angles around the Z-axis, and H1 can be corrected based on the estimated tilt θ.

[0044] Furthermore, in the examples of Figures 7 and 8, the tilt θ is obtained from the second image, but it may also be obtained from the first image. Preferably, when the container P is held at a position closer to P1 than P2 (for example, at the base of the opening), it is advantageous to obtain the tilt θ from the second image showing the P2 side, as this makes it easier to measure. Similarly, when the container P is held at a position closer to P2 than P1 (for example, at the bottom of the container P), it is preferable to obtain the tilt θ from the second image showing the P1 side, as this makes it easier to measure.

[0045] The measuring device 10 transmits the corrected total height H2 (second distance) as the measurement result to the inspection device 55 (step ST6). The inspection device 55 may determine that a container P is a good product if the total height of the container P received as the measurement result is within the range of good products.

[0046] Furthermore, by holding the container P at the neck (the base of the opening), other parameters such as "neck curvature" and "bottom deformation" can be measured simultaneously. This allows for the measurement of multiple parameters with a single setup, eliminating the need for repeated attachment and detachment, thus improving efficiency. Additionally, by comparing the measurement results of the opening at 22.5° intervals, the inclination of the opening surface can be determined, allowing for the measurement of neck curvature. Similarly, by comparing the measurement results of the bottom at 22.5° intervals, the inclination of the bottom surface can be determined, revealing whether the bottom is curved.

[0047] As described above, according to this embodiment, two measurement points P1 and P2 of the container P are captured by a camera from separate imaging positions, the distance between the two points is calculated using the coordinates of the center of each image, and the calculated distance is corrected based on the information obtained from each image. This makes it possible to accurately and efficiently measure dimensions using multiple images of different parts of the container P. By using multiple images, it is not necessary to capture multiple points of the container P in a single image, and accurate dimension measurement can be performed without using a high-precision camera that is unaffected by the field of view.

[0048] In particular, if P1 or P2 is off-center from the respective image, correction is performed based on the deviation from the center (difference in Z coordinates), allowing for accurate dimensional measurements based on the information obtained from the image.

[0049] Furthermore, if the container P is tilted with respect to the Z-axis, the angle of the axis connecting P1 and P2 with respect to the Z-axis is determined from the image, and correction is performed based on the determined angle. This allows for accurate dimensional measurement based on the information obtained from the image.

[0050] Alternatively, a calibration plate with multiple reference points spaced at regular intervals may be imaged from a camera 53 positioned at either the first or second imaging position, and calibration may be performed so that the distance between reference points in the image becomes constant. For example, the calibration plate is provided such that reference points are present across almost the entire field of view of the camera 53, and each reference point is spaced at regular intervals. The actual distance between reference points is known. In an image corrected so that each reference point is spaced at regular intervals, a conversion factor for converting distances in the image to actual distances can be determined by comparing the distance between reference points in the image with the actual distance between reference points. This allows for calibration between camera coordinates and coordinates in the image.

[0051] Although embodiments of the present invention have been described in detail above, the above description is merely illustrative in every respect. It goes without saying that various improvements and modifications can be made without departing from the scope of the present invention.

[0052] Furthermore, some or all of the above embodiments may also be described as follows, but are not limited to these. (Note 1) A measuring device that uses images to measure the object to be measured, A first image acquisition unit acquires a first image captured by a camera positioned at a first imaging location, the first image in which the first measurement point of the object to be measured is shown. A second image acquisition unit acquires a second image captured by a camera positioned at a second imaging location, the second image in which the second measurement point of the object to be measured is visible. A first calculation unit calculates a first distance between the first measurement point and the second measurement point based on the first reference coordinates of the first coordinate axis of the reference position in the first image and the second reference coordinates of the first coordinate axis of the reference position in the second image. A measuring device comprising: a correction unit that calculates a second distance corresponding to the distance between a first measurement point and a second measurement point by correcting the first distance based on correction information obtained from the first image or the second image. (Note 2) The correction unit, The measuring device according to Appendix 1, which calculates the second distance by correcting the first distance using a first difference between the coordinates of the first coordinate axis of the first measurement point in the first image and the first reference coordinate, or a second difference between the coordinates of the first coordinate axis of the second measurement point in the second image and the second reference coordinate. (Note 3) The correction unit, The measuring device according to Appendix 1 or 2, which calculates the second distance by correcting the first distance based on the inclination of the axis connecting the first measurement point and the second measurement point with respect to the first coordinate axis, obtained from the first image or the second image. (Note 4) The correction unit, The measuring device according to Appendix 3, wherein the device estimates the inclination of the connecting axes using at least one image from a plurality of images taken of the object to be measured from a plurality of angles around the first coordinate axis, and calculates the second distance by correcting the first distance based on the estimated inclination of the connecting axes. (Note 5) The correction unit, The measuring device according to Appendix 3 or 4, wherein if the object to be measured is held at a position closer to the second measurement point than the first measurement point, the tilt of the axis is obtained from the first image, and if it is held at a position closer to the first measurement point than the second measurement point, the tilt of the axis is obtained from the second image. (Note 6) A method by which an information processing device uses an image to measure an object to be measured, The information processing device performs the steps of acquiring a first image captured by a camera positioned at a first imaging location, the first image in which the first measurement point of the object to be measured is shown, The information processing device performs the steps of acquiring a second image captured by a camera positioned at a second imaging location, the second image in which the second measurement point of the object to be measured is visible, The information processing device performs the steps of calculating a first distance between the first measurement point and the second measurement point based on the first reference coordinates of the first coordinate axis of the reference position in the first image and the second reference coordinates of the first coordinate axis of the reference position in the second image. A measurement method comprising the step of calculating a second distance corresponding to the distance between a first measurement point and a second measurement point by correcting the first distance based on correction information obtained from the first image or the second image using the information processing device. (Note 7) A computer that uses images to measure objects, A first image acquisition unit acquires a first image captured by a camera positioned at a first imaging location, the first image in which the first measurement point of the object to be measured is shown. A second image acquisition unit acquires a second image captured by a camera positioned at a second imaging location, the second image in which the second measurement point of the object to be measured is visible. A first calculation unit calculates a first distance between the first measurement point and the second measurement point based on the first reference coordinates of the first coordinate axis of the reference position in the first image and the second reference coordinates of the first coordinate axis of the reference position in the second image. A program that functions as a correction unit to calculate a second distance corresponding to the distance between the first measurement point and the second measurement point by correcting the first distance based on correction information obtained from the first image or the second image. (Note 8) A measurement system that uses images to measure the object to be measured, A camera that takes images, Means for positioning the camera at the imaging position, It comprises an information processing means that performs measurements using captured images, The aforementioned information processing means is A first image acquisition unit acquires a first image captured by a camera positioned at a first imaging location, the first image in which the first measurement point of the object to be measured is shown. A second image acquisition unit acquires a second image captured by a camera positioned at a second imaging location, the second image in which the second measurement point of the object to be measured is visible. A first calculation unit calculates a first distance between the first measurement point and the second measurement point based on the first reference coordinates of the first coordinate axis of the reference position in the first image and the second reference coordinates of the first coordinate axis of the reference position in the second image. A measurement system comprising: a correction unit that calculates a second distance corresponding to the distance between a first measurement point and a second measurement point by correcting the first distance based on correction information obtained from the first image or the second image. [Explanation of symbols]

[0053] 1...Measurement system, 10...Measurement device, 11...Processor, 12...Main memory, 13...Input / output interface, 14...Communication interface, 15...Storage device, 51...Control device, 52...Camera robot, 53...Camera, 54...Container robot, 55...Inspection device, 101...Image acquisition unit, 102...First calculation unit, 103...Correction unit

Claims

1. A measuring device that uses images to measure the object to be measured, A first image acquisition unit acquires a first image captured by a camera positioned at a first imaging location, the first image in which the first measurement point of the object to be measured is shown. A second image acquisition unit acquires a second image captured by a camera positioned at a second imaging location, the second image in which the second measurement point of the object to be measured is visible. A first calculation unit calculates a first distance between the first measurement point and the second measurement point based on the first reference coordinates of the first coordinate axis of the reference position in the first image and the second reference coordinates of the first coordinate axis of the reference position in the second image. A measuring device comprising: a correction unit that calculates a second distance corresponding to the distance between a first measurement point and a second measurement point by correcting the first distance based on correction information obtained from the first image or the second image.

2. The correction unit, The measuring device according to claim 1, wherein the second distance is calculated by correcting the first distance using a first difference between the coordinates of the first coordinate axis of the first measurement point in the first image and the first reference coordinate, or a second difference between the coordinates of the first coordinate axis of the second measurement point in the second image and the second reference coordinate.

3. The correction unit, The measuring device according to claim 1 or 2, wherein the second distance is calculated by correcting the first distance based on the inclination of the axis connecting the first measurement point and the second measurement point with respect to the first coordinate axis, which is obtained from the first image or the second image.

4. The correction unit, The measuring device according to claim 3, wherein the device estimates the inclination of the connecting axes using at least one image from a plurality of images taken of the object to be measured from a plurality of angles around the first coordinate axis, and calculates the second distance by correcting the first distance based on the estimated inclination of the connecting axes.

5. The correction unit, The measuring device according to claim 3 or 4, wherein if the object to be measured is held at a position closer to the second measurement point than the first measurement point, the tilt of the axis is obtained from the first image, and if it is held at a position closer to the first measurement point than the second measurement point, the tilt of the axis is obtained from the second image.

6. A method by which an information processing device uses an image to measure an object to be measured, The information processing device performs the steps of acquiring a first image captured by a camera positioned at a first imaging location, the first image in which the first measurement point of the object to be measured is shown, The information processing device performs the steps of acquiring a second image captured by a camera positioned at a second imaging location, the second image in which the second measurement point of the object to be measured is visible, The information processing device performs the steps of calculating a first distance between the first measurement point and the second measurement point based on the first reference coordinates of the first coordinate axis of the reference position in the first image and the second reference coordinates of the first coordinate axis of the reference position in the second image. A measurement method comprising the step of calculating a second distance corresponding to the distance between a first measurement point and a second measurement point by correcting the first distance based on correction information obtained from the first image or the second image using the information processing device.

7. A computer that uses images to measure objects, A first image acquisition unit acquires a first image captured by a camera positioned at a first imaging location, the first image in which the first measurement point of the object to be measured is shown. A second image acquisition unit acquires a second image captured by a camera positioned at a second imaging location, the second image in which the second measurement point of the object to be measured is visible. A first calculation unit calculates a first distance between the first measurement point and the second measurement point based on the first reference coordinates of the first coordinate axis of the reference position in the first image and the second reference coordinates of the first coordinate axis of the reference position in the second image. A program that functions as a correction unit to calculate a second distance corresponding to the distance between the first measurement point and the second measurement point by correcting the first distance based on correction information obtained from the first image or the second image.

8. A measurement system that uses images to measure the object to be measured, A camera that takes images, Means for positioning the camera at the imaging position, It comprises an information processing means that performs measurements using captured images, The aforementioned information processing means is A first image acquisition unit acquires a first image captured by a camera positioned at a first imaging location, the first image in which the first measurement point of the object to be measured is shown. A second image acquisition unit acquires a second image captured by a camera positioned at a second imaging location, the second image in which the second measurement point of the object to be measured is visible. A first calculation unit calculates a first distance between the first measurement point and the second measurement point based on the first reference coordinates of the first coordinate axis of the reference position in the first image and the second reference coordinates of the first coordinate axis of the reference position in the second image. A measurement system comprising: a correction unit that calculates a second distance corresponding to the distance between a first measurement point and a second measurement point by correcting the first distance based on correction information obtained from the first image or the second image.

Images