JPH1114308A - Three-dimensional position detection method and device - Google Patents

Abstract

(57) [Problem] To provide a three-dimensional position detection method and apparatus capable of obtaining a more accurate measurement result than before, without enormous calculation cost and processing time. SOLUTION: First and second cameras 2R, 2R, which are arranged on a rotationally symmetric measurement object 1 so as to perform binocular vision.
The center position 1c, 1d of the measurement target in each of the 2L images 3R, 3L is calculated by the image processing means 7a, and the position detection means 7b uses the principle of triangulation with the center positions 1c, 1d as corresponding points. A three-dimensional position up to the measurement object 1 is detected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for detecting a three-dimensional position without contact.

[0002]

2. Description of the Related Art Conventionally, when measuring a three-dimensional position up to an object to be measured in a non-contact manner, a stereo method is used.

[0003] In the stereo method, two cameras on the left and right each photograph an object to be measured, and the images are used to calculate which positions the left and right images correspond to on the imaging surface. Then, the three-dimensional position is measured using the principle of triangulation.

More specifically, as shown in FIG. 2, a right camera 2R and a left camera 2L are arranged with respect to an object 1 to be measured, and an image processor 6 captures an image 3R obtained by the right camera 2R. Of the point 3 in the image 3L obtained by the imaging by the left camera 2L, the corresponding point 5 of the point 4 is calculated, and the point 3 of the point 4 is calculated using the principle of triangulation. Finding the dimensional position.

[0005]

In such a conventional three-dimensional position detecting method, it is necessary to calculate to which position in the image 3L the point 4 in the image 3R corresponds. , To find the corresponding points in the input image,
In principle, it is necessary to perform processing on all the pixels that have been imaged, but this requires enormous computational cost and processing time.

Therefore, if the above-described processing is performed for a group of a plurality of pixels as one unit without performing the processing for all the captured pixels, it can be said that only ambiguous and inaccurate corresponding points can be obtained. There is a problem.

An object of the present invention is to provide a three-dimensional position detecting method and apparatus capable of obtaining a more accurate measurement result than before, without enormous calculation cost and processing time.

[0008]

According to the three-dimensional position detecting method of the present invention, when measuring a rotationally symmetric measurement object,
The object to be measured is photographed by the first and second cameras arranged to perform binocular vision, and is calculated from the center position of the object to be measured calculated from the image of the first camera and the image of the second camera. The center position of the object to be measured is compared with the image of the first camera and the second position.
The three-dimensional position of the measurement object is detected as the corresponding point of the image of the camera.

According to the present invention, it is possible to obtain a more accurate measurement result than before, without enormous calculation cost and processing time.

[0010]

The three-dimensional position detecting method according to the first aspect of the present invention provides a method for detecting a three-dimensional position of a rotationally symmetric measurement object in a non-contact manner so as to perform binocular vision. The first and second cameras are arranged to photograph the measurement object, and the center position of the measurement object calculated from the image of the first camera and the center of the measurement object calculated from the image of the second camera Using the position as a corresponding point between the image of the first camera and the image of the second camera, a three-dimensional position to the object to be measured is detected using the principle of triangulation.

According to a second aspect of the present invention, there is provided a three-dimensional position detecting apparatus for measuring the three-dimensional position of a rotationally symmetric measuring object in a non-contact manner. First and second cameras arranged for an object, image processing means for calculating a center position of the measurement object in each of the images of the first and second cameras, and an image of the first camera And the center position of the measurement target calculated from the image of the second camera,
Position detection means for detecting a three-dimensional position to a measurement object using the principle of triangulation as a corresponding point between the image of the first camera and the image of the second camera is provided.

Hereinafter, a three-dimensional position detecting method according to the present invention will be described based on specific embodiments. FIG. 1 shows the third embodiment of the present invention.
1 shows a three-dimensional position detection device that employs a three-dimensional position detection method.

In the image processing apparatus 7 in which the right camera 2R and the left camera 2L are arranged with respect to the rotationally symmetric measurement object 1, the image 3R of the right camera 2R and the image 3L of the left camera 2L are inputted. The center position of the measurement object calculated from the image 3R of the second camera and the center position of the measurement object calculated from the image 2L of the second camera are compared with the image of the first camera and the second image.
The three-dimensional position to the object to be measured is detected using the principle of triangulation as the corresponding point of the camera image.

More specifically, the image processing device 7 comprises an image processing means 7a and a position detecting means 7b. In the image processing means 7a, the specified ranges 8a, 8b in the image 3R
The contour lines 1a and 1b of the measurement object 1 are extracted at the center position 1 on the screen 3R of the rotationally symmetric measurement object.
c is calculated from the contour lines 1a and 1b. Similarly, image 3L
The contour lines 1a and 1b of the measurement object 1 in the specified ranges 9a and 9b are extracted, and the center position 1d of the rotationally symmetric measurement object on the screen 3L is calculated.

The position detecting means 7b includes an image processing means 7a
Assuming that the center line 1c in the image 3R obtained in the above is the corresponding center line 1d of the image 3L, the three-dimensional position of the measurement target is obtained using the principle of triangulation.

The device shown in FIG. 1 is specifically,
When the industrial robot brazes the joint of the refrigeration pipe of the air conditioner, it is operated in the process of measuring the distance to the joint of the refrigeration pipe, which is the work, and the industrial robot is operated based on the distance of the measurement result. Driven by brazing.

[0017]

As described above, according to the present invention, the center position of the object to be measured, which is calculated from the image of the first camera, of the first and second cameras arranged to perform binocular vision. The center position of the measurement object calculated from the image of the second camera is
As the corresponding point between the image of the first camera and the image of the second camera, the three-dimensional position up to the rotationally symmetric measurement object is detected using the principle of triangulation, so that it is faster and faster than the conventional method. Three-dimensional measurement can be realized at low cost.

According to the three-dimensional measuring apparatus of the present invention, the three-dimensional measuring method of the present invention can be realized.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a specific embodiment of a three-dimensional position detection method of the present invention.

FIG. 2 is an explanatory view of capturing a three-dimensional image in the embodiment.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 rotationally symmetric measurement target 2R right camera 2L left camera 3R right camera 2R image 3L left camera 2L image 7 image processing device 7a image processing means 7b position detection means 1a, 1b contour line 1c of measurement object 1 Center position in 3R 1d Center position in screen 3L

Claims (2)

[Claims] When measuring the three-dimensional position of a rotationally symmetric measurement object in a non-contact manner, the first and second cameras arranged with respect to the measurement object perform binocular vision. The object is photographed, and the center position of the measurement object calculated from the image of the first camera and the center position of the measurement object calculated from the image of the second camera are compared with the image of the first camera and the second camera. A three-dimensional position detecting method for detecting a three-dimensional position up to a measurement object using the principle of triangulation as a corresponding point of the image. 2. A three-dimensional position detecting device for measuring a three-dimensional position of a rotationally symmetric measurement object in a non-contact manner, wherein the first and second position detection devices are arranged with respect to the measurement object so as to perform binocular vision. A second camera; image processing means for calculating a center position of the measurement target in each of the images of the first and second cameras; a center position of the measurement target calculated from the image of the first camera; Using the center position of the measurement object calculated from the image of the second camera and the corresponding point of the image of the first camera and the image of the second camera, a three-dimensional image of the measurement object using the principle of triangulation. A three-dimensional position detecting device provided with position detecting means for detecting a position.