JPH044523B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an optical distance and angle measuring method and a measuring device used therefor.

When it is desired to measure distance and angle remotely, or to convert the measured values into electrical signals, an imaging device such as a TV camera or a charge-coupled device is used.

However, in the past, it was possible to measure the distance and angle between two points by capturing images of two points on one plane.
It was not possible to measure the distance or angular relationship between two points in three-dimensional space.

SUMMARY OF THE INVENTION The present invention eliminates such drawbacks and provides an optical measuring method capable of measuring distances and angles between two points in a three-dimensional space, and a measuring device used therein. The configuration of the measurement method of the present invention to achieve such an objective is to move an imaging body pointing at two points in space in a straight line, find the position of the imaging body that is in focus with each point, and Calculating the length of a line segment connecting the two points projected onto a plane parallel to the straight line based on the distance between the positions, and projecting the line segment connecting the two points onto a plane perpendicular to the straight line from the image taken by the imaging body. The method is characterized in that the true distance and angular relationship between the two points are determined from these lengths. Furthermore, the configuration of the measurement device includes: an imaging body that images the object to be measured having multiple measurement points; a drive device that moves the imaging object back and forth in a straight line toward the object; and a device that transmits images captured by the imaging object. An imaging device that captures the image transmitted by the image fiber via an image receptor; An imaging device that processes the image captured by the imaging device so that two points on the object are in focus. Find the position of the body, calculate the length of the line segment connecting the two points projected onto a plane parallel to the straight line from the distance between the two focused positions, and calculate the length of the line segment connecting the two points with the straight line. The present invention is characterized by comprising: an information processing device that calculates lengths projected onto a perpendicular plane and determines the true distance and angular relationship between the two points from these lengths.

Hereinafter, the present invention will be explained in detail based on an embodiment shown in the drawings.

In the present invention, in order to determine the distance and angular relationship between two points in a three-dimensional space, an imaging object is moved in the direction of imaging. However, it is traditionally used
It is difficult to move a TV camera or the like due to its size and weight, so the present invention makes it easier to move the image pickup object by using a measuring device that uses an image fiber to send images from the image pickup object to the image pickup device. I have to.

The measuring device used in the present invention has a structure as shown in FIG. In this embodiment, the base end of the image fiber 1 is connected to a TV camera 6 as a structural device via a lens 5 in this embodiment as an image receptor. In this embodiment, a lens 3 is connected to the tip of the image fiber 1 as an imaging body. Further, an information processing device 7 that performs calculations is connected to the TV camera 6.

In addition to the above, the following devices are connected to use the optical measurement method according to the present invention. That is, the lens 3 is attached to a drive device 4 facing the object to be measured 2, and is movable in the vertical direction in the figure. A monitor 8 is connected to the TV camera 6. Further, as described above, a drive circuit 9 is connected which sends a signal to the drive device 4 to move the lens 3 up and down to change the distance between the object to be measured 2 and the lens 3. The processed output signal can be taken out from the information processing device 7.

By using such a measuring device, in addition to being able to measure the distance and angular relationship between two points on one plane (two dimensions) by fixing the lens 3 in one place as in the past, the optical measuring method according to the present invention can also be used to By moving the lens 3 in the vertical direction indicated by the arrow in FIG. 1, the distance and angular relationship between two points in three-dimensional space can be measured. That is, a signal is sent from the drive circuit 9 to the drive device 4 to move the lens 3 back and forth in a straight line toward the object 2 to be measured. Then, from the brightness distribution of the image captured on the TV camera 6 when the lens 3 is at each height,
In this example, the object to be measured 2 is defined as two points in space.
The differential coefficient with respect to the brightness at the position corresponding to both edges 10 and 11 is calculated. During one reciprocation of the lens 3, there is a point A where the differential coefficient of the brightness of the edge 10 is maximum, that is, in focus, and a point B, where the differential coefficient of the brightness of the edge 11 is maximum (in focus). FIGS. 2 and 3 show the relationship between the position and brightness corresponding to FIG. 4 when the height of the lens 3 is at point A and point B, respectively. Since the edge 10 is in focus at point A, the differential coefficient of luminance shows the maximum value at this position, and the slope 12 of the graph at the position corresponding to the edge 10 in FIG. 2 becomes the maximum. Edge 11 at point B
Since the image is in focus, the differential coefficient of luminance shows the maximum value at this position, and the slope 13 of the graph at the position corresponding to the edge 11 in FIG. 3 becomes the maximum. Positions 14 and 15 at the center of the graph's maximum slopes 12 and 13 are set as positions corresponding to edges 10 and 11, and the distance between positions 14 and 15 can be determined.

The distance between point A and point B obtained as described above and the positions 14 and 15 of the center as seen by the TV camera 6
By calculating these using the information processing device 7 from the distance between them, the length L ₂ of the line segment connecting the edges 10 and 11 projected onto a plane parallel to the straight line along which the lens 3 moves and the edge 10 are calculated. 11 is projected onto a plane perpendicular to the straight line, and the length L ₁ is determined. Assuming a right triangle in which these lengths L ₁ and L ₂ are the lengths of two mutually perpendicular sides, the true distance between edges 10 and 11 can be calculated by calculating the length of the hypotenuse of the right triangle. Furthermore, the angular relationship, for example, the angle between the line segment connecting edges 10 and 11 and the straight line is determined.

In this embodiment, the distance and angular relationship between two points in a three-dimensional space have been described above, but they can be similarly determined in the case of three or more points.

As described above with reference to the drawings, one embodiment of the present invention allows the optical measurement method according to the present invention to move the imaging body toward the object to be measured, so that it is possible to measure the object in three-dimensional space. Furthermore, since the measuring device according to the present invention uses an image fiber to send an image from the measurement point to the imaging device, it is possible to carry out measurements in narrow spaces where it is difficult to bring the imaging device. Furthermore, since the image fiber does not use electricity, it can be used even in areas with strong noise by moving the imaging device away from the noise area. Furthermore, since the image fiber is resistant to high temperatures, it is possible to perform measurements in high-temperature regions where it is difficult to bring an imaging device.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram showing an embodiment of the measuring device according to the present invention, and FIGS. 2 to 4 are for explaining an embodiment of the optical measuring method according to the present invention.
Figure 4 is a layout diagram showing the positional relationship of the objects to be measured;
3 are graphs showing the brightness at positions corresponding to FIG. 4, respectively. In the drawing, 1 is an image fiber, 2 is an object to be measured, 3 and 5 are lenses, 4 is a drive device, 6 is a TV camera, 7 is an information processing device, 8 is a monitor, 9 is a drive circuit, and 10 and 11 are edges. , 12 and 13 are the slopes of the graph, and 14 and 15 are the positions of the center.

Claims (1)

[Scope of Claims] 1. Move an imaging body pointing toward two points in space in a straight line, find the position of the imaging body that is in focus with each point, and draw a line connecting the two points from the distance between these two positions. The length of the segment projected onto a plane parallel to the straight line is calculated, the length of the line segment connecting the two points captured by the imaging body is projected onto a plane perpendicular to the straight line, and from these lengths An optical measurement method characterized by determining the true distance and angular relationship between the two points. 2. An imaging body that images an object to be measured having a plurality of measurement points; A drive device that moves the imaging object back and forth in a straight line toward the object to be measured; An image fiber that transmits images captured by the imaging object; An imaging device that captures the image transmitted by the camera via an image receptor, and an imaging device that processes the image captured by the imaging device to determine the position of the imaging device that is in focus with two points on the object to be measured. From the distance between the two focused positions, calculate the length of the line segment connecting the two points projected onto a plane parallel to the straight line, and calculate the length of the line segment connecting the two points projected onto a plane perpendicular to the straight line. and an information processing device that calculates the true distance and angular relationship between the two points from these lengths.