| 摘要 |
PROBLEM TO BE SOLVED: To provide a three-dimensional measuring instrument capable of measuring a three-dimensional shape of high accuracy, and a robot device provided with the same.SOLUTION: The three-dimensional measuring instrument includes: a reference camera 22 for acquiring a first image by imaging a work piece; a reference camera 23 for imaging the work piece at a view point different from that of the reference camera 22 to acquire a second image; and a camera control unit 5 for extracting a plurality of edge lines of the work piece from each of the first image and the second image, calculating a visual line error to a temporary three-dimensional coordinates between an end part of a first edge line selected arbitrarily from among a plurality of edge lines of the first image and an end part of a second edge line extracted from among a plurality of edge lines of the second image so as to correspond to the first edge line, setting an evaluation function F from respective visual line errors of an end point of the first edge line and an end point of the second edge line, and a three-dimensional constraint condition set on the basis of the three-dimensional shape of the work piece, and measuring the three-dimensional coordinates of the work piece by performing optimization calculation of the evaluation function F. |
