| 摘要 |
PROBLEM TO BE SOLVED: To provide a three-dimensional measuring device which carries out a three-dimensional measurement of an object to be measured by using a CCD camera and a range finder, and recognizes the unknown object to be measured with good measurement accuracy in a quick process. SOLUTION: The three-dimensional measuring device comprises: a sensor section 6 which has the CCD camera 1 and the range finder 5 and moves in yaw, pitch and roll directions; and a computer 16 which senses the object to be measured 2 based on image data photographed by the CCD camera 1, controls the yaw axis 7 and the pitch axis 8 such that the object to be measured 2 and the range finder 5 are positioned so as to be opposite to each other, operates the range finder 5 so as to rotate in the roll direction through 180 degrees about its optical axis while keeping the object to be measured 2 at the center, acquires three-dimensional shape data 11c of the object to be measured 2 based on information of the range finder 5 obtained in above rotational operation, and recognizes the object to be measured 2 based on a result obtained in comparison with a three-dimensional shape pattern 12b. COPYRIGHT: (C)2007,JPO&INPIT
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