3D MEASUREMENT DEVICE, SYSTEM, AND PRODUCTION METHOD

Abstract

To provide a three dimension measurement device which reduces limitation of drive range of a robot even though it is robot loading type.SOLUTION: In a three dimension measurement device, it includes an attachment part for attaching the three dimension measurement device on a robot, a flange 104 for attaching an end effector, sensors 102, 103 which receive a light from a body and an arithmetic logical unit 301 which requests three dimension information of a prosoma by performing calculation using data obtained at the sensors. Shortest distance Rp among distance from center 104A of the flange to outer peripheral edge of the arithmetic logical unit at viewing from flange side is radius Rf or less of the attachment part or the flange.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a three-dimensional measuring device, a system, and a production method. [Background technology]

[0002] In recent years, robots are beginning to take over complex tasks that humans used to perform, such as picking industrial product parts. The control of the robot hand, which grips an object, is based on the measurement results of the object by a measuring device mounted on the robot. When mounting a measuring device on a robot, it is common to mount the measuring device on the tip of the robot's drive shaft in order to obtain a wide range of visual angle information. For example, Patent Document 1 discloses a measuring device that can be mounted on the end of a robot arm. In the measuring device described in Patent Document 1, an image of the measurement target is captured by a single camera mounted on the measuring device based on an instruction signal from a robot controller that controls the robot arm. Furthermore, the image is transferred to the robot controller through a cable connected to the measuring device, and the robot controller extracts features of the object's two-dimensional information from the image.

[0003] On the other hand, there is an increasing number of 3D measuring devices that obtain the position and orientation of an object by obtaining 3D point cloud information of the object surface. As a method for obtaining 3D point cloud information, for example, a stereo method is adopted in which corresponding points between images captured from different viewpoints are detected and a distance image is obtained based on the principle of triangulation. A distance image is an image that shows 3D information of points on the surface of the object to be measured, and each pixel has depth information. In Patent Document 2, a stereo camera is mounted on a robot arm to measure the distance to the measurement target. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] U.S. Patent Application Publication No. 2018 / 0361589 [Patent Document 2] JP 2017-77600 A Summary of the Invention [Problem to be solved by the invention]

[0005] In the measuring devices described in Patent Documents 1 and 2, image data is transmitted to an external control unit via a cable, and the control unit performs calculations on the images. In a 3D measuring device, in order to obtain 3D information, it is necessary to calculate and process images with a larger amount of data than in a 2D measuring device, such as calculating multiple images of an object captured by multiple cameras. Therefore, in a 3D measuring device, compared to a 2D measuring device, there is a tendency for the number of cables connecting the cameras and the control unit to be greater, and depending on the shape of the measuring device and the arrangement of the cables, there is a problem that the driving range of the robot is limited. As a result, the robot cannot drive along the target path.

[0006] Therefore, an object of the present invention is to provide a three-dimensional measuring device that reduces the limitations on the driving range of a robot even if the device is mounted on a robot. [Means for solving the problem]

[0007] A three-dimensional measuring apparatus according to one aspect of the present invention for solving the above-mentioned problems includes: a mounting portion for mounting the three-dimensional measuring apparatus to a robot; a flange for mounting an end effector; and a sensor for receiving light from an object. A rectangular substrate is included, a calculation unit that calculates three-dimensional information of the object by performing calculations using the data obtained by the sensor, and the three-dimensional information is calculated by calculating the distance from the center of the flange to the substrate The shortest distance among the distances to the outer peripheral edge of the mounting portion or the flange is equal to or less than the radius of the mounting portion or the flange. Effect of the Invention

[0008] According to the present invention, it is possible to provide a three-dimensional measuring device that reduces the limitations on the driving range of a robot even if the three-dimensional measuring device is mounted on a robot. [Brief description of the drawings]

[0009] [Figure 1] 1 is a schematic diagram of a system including a robot and a three-dimensional measuring device in a first embodiment. [Diagram 2] FIG. 1 is a schematic diagram showing the appearance of a three-dimensional measuring device. [Diagram 3] FIG. 2 is a diagram showing the arrangement of a robot, a three-dimensional measuring device, and an end effector. [Figure 4] 1 is a schematic diagram of a three-dimensional measuring device in a first embodiment. [Diagram 5] FIG. 2 is a side view of a three-dimensional measuring device attached to a robot. [Figure 6] FIG. 11 is a schematic diagram of a three-dimensional measuring apparatus according to a second embodiment. [Figure 7] FIG. 11 is a schematic diagram of a three-dimensional measuring apparatus according to a third embodiment. [Figure 8] FIG. 13 is a schematic diagram of a system including a robot and a three-dimensional measuring device in a fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] First Embodiment FIG. 1 is a schematic diagram showing a system in which an object is grasped by a robot equipped with a three-dimensional measuring device. The three-dimensional measuring device 100 is also called a 3D vision or a 3D visual device. The three-dimensional measuring device 100 is connected to a flange portion (mounting portion) disposed at the end of a final joint portion 107 of the robot 10. Furthermore, a robot hand 50 serving as an end effector is attached to the three-dimensional measuring device 100. In this manner, the three-dimensional measuring device 100 is disposed between the robot 10 and the robot hand 50.

[0011] The robot control unit 20 controls the robot 10 and transmits a trigger signal to the three-dimensional measuring device 100 to start measurement according to the position of the robot 10. Then, based on the trigger signal, the three-dimensional measuring device 100 measures the measurement target object 40 placed on the installation surface and obtains three-dimensional information. The robot control unit 20 acquires the three-dimensional information of the object 40 obtained by the three-dimensional measuring device 100, and controls the robot 10 and the robot hand 50 based on the three-dimensional information so that the robot hand 50 grasps the object 40.

[0012] FIG. 2 is a schematic diagram showing the appearance of the three-dimensional measuring device 100. FIG. 2(a) is a front view of the three-dimensional measuring device 100. The three-dimensional measuring device 100 has a vision flange (fastening portion) 104 for attaching the robot hand 50, and FIG. 2(a) is a view seen from the vision flange 104 side (front side). The vision flange 104 is provided with screw holes for attachment. FIG. 2(b) is a side view of the three-dimensional measuring device 100, showing the shape of the housing of the three-dimensional measuring device 100 seen from the side. The three-dimensional measuring device 100 has a fastening portion (mounting portion) 106 for fastening the three-dimensional measuring device 100 to the robot flange 11 and attaching it to the robot 10. FIG. 2(c) is a view seen from the fastening portion 106 side (rear side). The three-dimensional measuring device 100 has a cable connector 105 to which a cable for power supply and data transmission and reception is connected.

[0013] FIG. 3 shows the relative positions of the robot 10, the three-dimensional measuring device 100, and the robot hand 50. FIG. 3(a) shows the robot 10. A robot flange (mounting portion) 11 for mounting the robot hand 50 and the three-dimensional measuring device 100 is configured at the tip of the robot 10. The three-dimensional measuring device 100 can be fastened to the robot 10 by connecting a fastening portion 106 provided on the back surface of the three-dimensional measuring device 100 to the robot flange 11. FIG. 3(b) shows a state in which the three-dimensional measuring device 100 is fastened to the robot 10. The three-dimensional measuring device 100 has a vision flange 104 provided on the front surface, and the robot hand 50 can be fastened to the three-dimensional measuring device 100 by connecting the robot hand 50 to the vision flange 104. FIG. 3(c) shows a state in which the robot hand 50 is fastened to the three-dimensional measuring device 100.

[0014] The three-dimensional measuring device 100 employs a stereo camera having two imaging units 102 and 103 as a sensor for receiving light from an object. The imaging units 102 and 103 each include an imaging lens and a CMOS or CCD imaging element.

[0015] Furthermore, the three-dimensional measuring device 100 has an illumination unit 101 that projects dot pattern light in order to perform highly reliable stereo matching and obtain highly accurate three-dimensional information, and illuminates, for example, a textureless object 40 with the pattern light. The illumination unit 101 is composed of four units 101A to 101D, and each unit projects a different dot pattern light. The illumination unit 101 sequentially projects the different dot pattern light by temporally switching the unit that projects the pattern light among the four units 101A to 101D. The imaging units 102 and 103 sequentially acquire stereo images of the object 40 onto which the different dot pattern light is projected.

[0016] The three-dimensional measuring device 100 includes a calculation unit (described later) inside the device, which acquires a plurality of captured stereo images and performs calculation processing on the stereo images to obtain three-dimensional information. The three-dimensional information calculated by the calculation unit includes distance point cloud calculations, object recognition results, and the like. The calculation unit is, for example, a board having a calculation processing device such as a CPU, GPU, or FPGA. To perform advanced calculations such as distance calculations and object recognition at high speed, a high-performance calculation processing device is required.

[0017] The calculation unit performs calculations on the stereo images to obtain a distance image including three-dimensional point cloud information, and calculates information on the position and orientation of the object 40 based on the distance image. The calculation unit then transmits the obtained information on the position and orientation of the object to the robot control unit 20. The robot control unit 20 controls the robot 10 and the hand 50 based on the information on the position and orientation of the object 40 acquired from the calculation unit.

[0018] Next, the calculation unit will be described. Fig. 4 is a perspective view of the calculation unit superimposed on an external view of the three-dimensional measuring device 100, showing the arrangement of the calculation unit 301 within the three-dimensional measuring device 100. Fig. 4(a) is a view of the three-dimensional measuring device 100 seen from the front, showing the calculation unit 301 arranged inside the housing of the three-dimensional measuring device 100. Fig. 4(b) is a view of the three-dimensional measuring device 100 seen from the back, showing the calculation unit 301 arranged inside the housing of the three-dimensional measuring device 100.

[0019] In FIG. 4(a), the calculation unit 301 has a single substrate having a rectangular outer shape, on which circuits necessary for calculations, such as a calculation processing device, memory, and peripheral electric circuits, are formed.

[0020] The imaging unit 102 has an imaging optical system 102A consisting of a lens and a lens barrel, and an imaging board 102B on which an imaging element is mounted. Similarly, the imaging unit 103 has an imaging optical system 103A consisting of a lens and a lens barrel, and an imaging board 103B on which an imaging element is mounted.

[0021] Inside the three-dimensional measuring device 100, the calculation unit 301 is connected by internal wiring to the drive board of the illumination unit 101 and the imaging units 102 and 103. Illumination instructions from the calculation unit to the illumination unit 101, imaging instructions to the imaging units 102 and 103, and image transfer from the imaging units are performed via this internal wiring.

[0022] The vision flange 104 provided on the surface of the three-dimensional measuring device 100 is a flange with a circular outer periphery. The robot hand 50 is attached to the three-dimensional measuring device 100 by fastening it to the vision flange 104 with bolts or the like. A fastening part 106 provided on the back surface of the three-dimensional measuring device 100 is also a circular flange in accordance with the outer shape of the robot flange 11. The three-dimensional measuring device 100 is attached to the robot 10 by fastening the fastening part 106 with bolts or the like in accordance with the outer shape of the robot flange 11.

[0023] Therefore, when driving the robot hand 50, the robot 10 and the robot Ha If the hand 50 and the three-dimensional measuring device 100 physically interfere with or come into contact with each other, the driving range of the robot will be restricted. Ha It is desirable to configure it so that it does not protrude significantly from the flange between the support 50 and the three-dimensional measuring device 100.

[0024] Therefore, in this embodiment, the shortest distance from center 104A of the circle of vision flange 104 to the outer peripheral edge of calculation unit 301 when viewed from the vision flange 104 side of three-dimensional measurement device 100 is set to be equal to or less than the radius of vision flange 104. In other words, calculation unit 301 is arranged and shaped so that Rp≦Rf1. Here, the shortest distance from center 104A of the circle of vision flange 104 to the outer peripheral edge of calculation unit 301 is set to Rp, and the radius of vision flange 104 is set to Rf1.

[0025] Alternatively, Rp < Rf1 may be satisfied. Also, preferably, as shown in FIG. 4(a), it is good if the entire arithmetic unit 301 is arranged inside the outer circle of the vision flange 104 when viewed from the flange side. That is, assuming that the longest distance among the distances from the center 104A of the circle of the vision flange 104 to the outer peripheral edge of the arithmetic unit 301 is Rs, the arithmetic unit 301 is arranged and shaped such that Rs is smaller than Rf. That is, Rs < Rf1.

[0026] The same applies when viewed from the fastening portion 106 side of the three-dimensional measuring device 100. That is, assuming that the radius of the fastening portion 106 is Rf2 and the center 106A of the circle of the fastening portion 106 is on the central axis of the circle of the vision flange 104, the arithmetic unit 301 is arranged and shaped such that Rp ≤ Rf2. Also, preferably, Rp < Rf2 and Rs < Rf1. Note that at least one of Rf1 and Rf2 only needs to satisfy the relationship with the above Rp.

[0027] As another example of the arrangement and shape of the arithmetic unit 301, as shown in FIG. 4(c), although Rp < Rf1 is satisfied, an example where Rs is larger than Rf1 can be given.

[0028] In general, although the robot flange has a circular shape, when it is not circular, the shape of the fastening portion 106 also becomes non-circular accordingly. In that case, Rf2 is the radius of the circumscribed circle that contacts the outer periphery of the fastening portion 106. The same applies to Rf1.

[0029] As described above, in the present embodiment, the arithmetic unit 301 is arranged in the space between the robot flange 11 and the vision flange 104. By doing so, it becomes possible to incorporate the arithmetic unit into the three-dimensional measuring device without increasing the amount of protrusion from the flange of the housing of the three-dimensional measuring device 100.

[0030] On the one hand, the imaging units 102 and 103 are arranged outside the vision flange 104 in order to secure a field of view regardless of the end effector connected to the tip of the vision flange 104. That is, the distance from the center 104 of the vision flange to the imaging units 102 and 103 is set to be equal to or greater than the radius of the vision flange 104. Let the distance from the center 104A of the vision flange to the farthest end among the substrate on which the imaging elements of the imaging units 102 and 103 are mounted or the imaging lens be Rc. Then, Rf1 < Rc so as not to block the field of view of the imaging lens. For Rc, in the case of FIG. 4, it is the distance from the center 104A of the flange to the outer end of the imaging substrate. When the outer diameter of the imaging lens is larger than the substrate size, it is the distance from the center 104A of the flange to the end of the imaging lens.

[0031] FIG. 5 shows a side view of the three-dimensional measurement device 100 fastened to the robot 10. The three-dimensional measurement device 100 is fastened to the end face of the final joint portion 107 of the robot 10 via the robot flange 11. A cable 108 for transmitting power supply, visual information, arithmetic information, imaging timing information, etc. to and from the three-dimensional measurement device 100 is connected to the cable connector 105 of the three-dimensional measurement device 100. In the present embodiment, with the distance from the center of the fastening portion 106 of the three-dimensional measurement device 100 to the farthest end of the connector 105 being Rcable, Rcable < Rc. In the present embodiment, on the premise of using the internal wiring of the robot 10, the other end of the cable 108, which is not on the side of the three-dimensional measurement device 100, is connected to the internal wiring connector of the robot arranged on the side surface of the final joint portion 107 of the robot. By arranging the cable 108 in this way, it becomes possible to simplify the routing of the cable and reduce the influence on the driving range of the robot.

[0032] The three-dimensional measuring device 100 has a calculation unit 301 disposed therein, acquires an image from an imaging unit, and calculates three-dimensional information to compress the amount of information (amount of data) of the captured image. This allows the amount of information transmitted to the outside of the three-dimensional measuring device 100 to be relatively small. For example, even if a distance image calculation is performed on a single stereo image to obtain three-dimensional point cloud coordinates, the amount of transferred information can be reduced to about half or less. In particular, when using multiple stereo images acquired while switching the illumination unit that projects the emitted dot pattern light over time, as in this embodiment, the effect is remarkable. For example, when using four stereo images acquired while switching the illumination unit four times over time, the amount of transferred information can be reduced to about 1 / 8 or less. Furthermore, when a target object is specified and only the information on the position and orientation of the object is transferred as the three-dimensional information, only information with the degree of freedom of the number of target objects x 6 is transferred, and the amount of transferred information can be dramatically reduced.

[0033] The three-dimensional information obtained by the calculation unit 301 is transferred from the calculation unit 301 to the robot control unit 20 via the cable 108 connected to the connector 105 and the internal wiring of the robot 10 .

[0034] In this embodiment, due to the effect of reducing the amount of transfer information by the calculation unit 301, even if a general transfer means is used, sufficiently high-speed transfer is possible, and robot control can be performed quickly and stably. As the transfer means, Ethernet or wireless WiFi may be used. Ethernet is increasingly being adopted for internal wiring of robots, and by using the internal wiring of the robot, it is possible to suppress the interference with the robot driving range caused by the transfer cable. If WiFi (communication unit) is used, the transfer cable becomes unnecessary, which is preferable from the viewpoint of interference with the robot driving range.

[0035] In this embodiment, the calculation unit 301 performs calculations that impose a processing load on the calculation unit 301, such as distance calculation or position and orientation calculation, and therefore the calculation unit 301 is prone to generating a large amount of heat. Therefore, a countermeasure against the heat generated by the calculation unit is taken by using the outer periphery of the three-dimensional measuring device 100 as a heat dissipation unit. Specifically, a thermally conductive sheet (thermally conductive member) is attached to the calculation unit 301, and the sheet is connected to the outer periphery of the side surface of the housing of the three-dimensional measuring device 100 to dissipate heat. The thermally conductive sheet is, for example, a graphite sheet, and realizes heat dissipation to the side surface of the housing of the three-dimensional measuring device 100. Furthermore, more efficient heat dissipation is possible by making part of the side surface of the housing of the three-dimensional measuring device 100 a heat sink with a structure having a large surface area.

[0036] In this way, by thermally connecting the calculation element, which is the heat source of the calculation unit 301, and the outer periphery of the measurement device main body with a heat conductive member, effective heat dissipation is realized, making it possible to mount a high-performance calculation unit that generates a large amount of heat. Furthermore, if there is a concern that heat may flow from the robot or the end effector into the flange on the robot side or the end effector side, a heat insulating member can be provided to improve the heat insulation between the flange and the outer periphery of the side surface of the housing of the calculation unit 301 or the three-dimensional measuring device 100. For example, a heat insulating member is provided at least one between the robot side flange (mounting portion) and the calculation unit, and between the vision flange and the calculation unit.

[0037] In this embodiment, the calculation unit 301 is configured on a single board, but it may be divided into multiple boards. Also, the illumination unit 101 and the imaging units 102 and 103 are configured on a board separate from the board of the calculation unit, but they may be configured on the same board. The case where they are configured on the same board will be described in the second embodiment.

[0038] <Second embodiment> In this embodiment, differences from the first embodiment will be described. In this embodiment, the calculation unit is different from the first embodiment. FIG. 6 is a perspective view of the calculation unit 302 arranged inside the housing of the three-dimensional measurement device 100, as viewed from the front. In FIG. 6, the calculation unit 30 2has a substrate with a rectangular outer shape, and on the substrate, together with a computing circuit, a lighting unit 101 E and imaging units 102 and 103 are configured. The computing unit 30 2 The computing elements of, the lighting unit, and the imaging units are connected by wiring on the substrate.

[0039] The lighting unit 101 has one unit 101E that projects dot pattern light, and the imaging units 102 and 103 acquire an object on which the dot pattern light is projected as a single stereo image. The computing unit 302 performs distance image calculation from the stereo image to obtain three-dimensional point cloud coordinates. While the computing unit in the first embodiment calculates information on three-dimensional position and orientation, the computing unit in this embodiment performs distance image calculation from the stereo image to obtain three-dimensional point cloud coordinates. Since the computing ability of the computing unit in this embodiment may be lower compared to the computing unit in the first embodiment, the size of the computing unit can be reduced. Therefore, the computing unit 302 can be arranged in a small space on the substrate where the lighting unit 101 and the imaging units 102 and 103 are arranged. Thereby, the basic part of the three-dimensional measuring device including the lighting unit, the imaging unit, and the computing unit is minimized.

[0040] In this embodiment, when viewed from the vision flange 104 side of the three-dimensional measuring device 100, the computing unit 302 has an arrangement and shape such that Rp < Rf1. Here, Rp is the shortest distance from the center 104A of the circle of the vision flange 104 to the outer peripheral edge of the computing unit 30 2 Among the distances, but the shortest distance is the outer peripheral edge on the vision flange 104 side of the computing unit 30 2 which corresponds to.

[0041] <Third Embodiment> In this embodiment, the parts different from the above embodiment will be described. In this embodiment, the computing unit is different from the above embodiment. Fig. 7(a) is a diagram showing a perspective view of the computing unit 303 arranged inside the housing of the three-dimensional measuring device 100 in a view of the three-dimensional measuring device 100 from the front.

[0042] The calculation unit 303 is disposed outside the radius Rf1 of the vision flange 104 to avoid overlapping with the vision flange 104. It is also disposed to avoid overlapping with the imaging units 102, 103 and the lighting unit 101. With this arrangement, there is no calculation unit in the inner space between the robot flange and the vision flange, which has the effect of minimizing the distance between the two flanges. As a result, the distance from the robot final joint 107 to the tip of the end effector can be shortened, maximizing the working range of the robot.

[0043] Here, the distance Rg between the straight line 303C connecting both ends 303A, 303B of the inner peripheral edge of the calculation unit and the center 104A of the vision flange 104 is smaller than the radius Rf1 of the vision flange. <Rf1である。

[0044] 7(b), the calculation unit 303 is disposed on the outside of the left half of the vision flange 104. In this example, the distance Rg between the center 104A and the straight line 303C connecting both ends 303A, 303B of the inner peripheral edge of the calculation unit is smaller than the radius Rf1 of the vision flange.

[0045] <Fourth embodiment> In the above embodiment, the three-dimensional measuring device is mounted on a flange for mounting the end effector of the robot. In this embodiment, as shown in Fig. 8, the three-dimensional measuring device 110 is incorporated in the final joint 107 of the robot 10. The calculation unit 304 of the three-dimensional measuring device 110 is also disposed in the final joint 107. A flange for mounting the robot hand 50 is formed on the surface of the three-dimensional measuring device, and the robot hand 50 is fastened to it.

[0046] In addition, imaging units 102 and 103 and an illumination unit 101 are mounted on the end surface of the final joint 107. With this arrangement, no movable joint is sandwiched between the imaging units or illumination unit and the calculation unit, so unnecessary transmission failures and physical damage to wiring can be avoided compared to the case where a movable joint is present.

[0047] <Production method of goods> Next, a production method for producing articles such as machine parts using the above-mentioned three-dimensional measuring device will be described. First, with multiple objects such as machine parts piled up in a random manner, the objects are measured using the above-mentioned three-dimensional measuring device to measure the position and orientation of the objects. Then, based on the position and orientation, a robot control unit controls the robot so that the robot grips and moves the object with a gripping unit such as a hand. The moved object is then processed to be connected to other parts, fastened, or inserted into other parts. It may also be processed in other processing steps. Then, an article including the objects that have been processed in this way is produced.

[0048] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of the gist of the present invention.

Claims

1. In a three-dimensional measuring device, a mounting portion for mounting the three-dimensional measuring device on a robot; a flange for mounting an end effector; A sensor that receives light from an object; a calculation unit that includes a rectangular substrate and performs calculations using data obtained by the sensor to obtain three-dimensional information of the object; A three-dimensional measuring device characterized in that, when viewed from the flange side, the shortest distance from the center of the flange to the outer peripheral edge of the substrate is equal to or less than the radius of the mounting portion or the flange.

2. 2. The three-dimensional measuring device according to claim 1, wherein the longest distance from the center of the flange to the outer peripheral edge of the substrate when viewed from the flange side is equal to or less than the radius of the mounting portion or flange.

3. In a three-dimensional measuring device, a mounting portion for mounting the three-dimensional measuring device on a robot; a flange for mounting an end effector; A sensor that receives light from an object; a calculation unit that is disposed so as not to overlap with the flange when viewed from the flange side, and that obtains three-dimensional information of the object by performing calculations using data obtained by the sensor, When viewed from the flange side, The calculation unit is disposed on the outside of the flange, A three-dimensional measuring device, characterized in that the distance between a straight line connecting both ends of an inner peripheral edge of the calculation unit and the center of the flange is equal to or less than the radius of the mounting portion or flange.

4. 4. The three-dimensional measuring apparatus according to claim 1, wherein the sensor has an image pickup element for picking up an image of an object.

5. The three-dimensional measuring apparatus according to claim 4 , wherein the sensor includes a plurality of the image pickup elements.

6. the calculation unit obtains three-dimensional information of an object by performing a calculation using an image captured by the image sensor; 6. The three-dimensional measuring apparatus according to claim 4, wherein the amount of data of the three-dimensional information is smaller than the amount of data of the image.

7. 7. The three-dimensional measuring apparatus according to claim 6, wherein the three-dimensional information is information about a distance to an object.

8. The calculation unit determines a position and an orientation of an object as the three-dimensional information, 8. The three-dimensional measuring apparatus according to claim 7, wherein the amount of data on the position and orientation of the object is smaller than the amount of data on the distance.

9. 9. The three-dimensional measuring apparatus according to claim 1, further comprising a cable connector for transmitting data obtained by the calculation unit.

10. 10. The three-dimensional measuring apparatus according to claim 9, wherein power is supplied to the three-dimensional measuring apparatus through the cable connector.

11. 11. The three-dimensional measuring device according to claim 9, wherein, when viewed from the flange side, the distance from the center of the flange to the farthest end of the cable connector is smaller than the distance from the center of the flange to the farthest end of the sensor.

12. 12. The three-dimensional measuring device according to claim 9, wherein the cable connector is arranged on a side of the three-dimensional measuring device where the attachment portion is located.

13. 9. The three-dimensional measuring apparatus according to claim 1, further comprising a communication unit for wirelessly transmitting the data obtained by the calculation unit.

14. 14. The three-dimensional measuring apparatus according to claim 1, further comprising a heat conductive member connecting the calculation unit and a housing of the three-dimensional measuring apparatus.

15. 15. The three-dimensional measuring apparatus according to claim 14, wherein a heat sink is provided on a side surface of a housing of the three-dimensional measuring apparatus, and the thermally conductive member and the heat sink are thermally connected to each other.

16. 16. The three-dimensional measuring apparatus according to claim 14, wherein a heat insulating member is disposed at least either between the mounting portion and the calculation portion or between the flange and the calculation portion.

17. 17. The three-dimensional measuring apparatus according to claim 1, wherein the calculation unit includes an electric circuit board having a calculation processing unit.

18. A three-dimensional measuring device according to any one of claims 1 to 17, and a robot to which the three-dimensional measuring device is attached.

19. 1. A method of producing an article, comprising the steps of: measuring an object using the three-dimensional measuring device according to any one of claims 1 to 17; and producing the item by processing the object based on the measured three-dimensional information of the object.

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