| 摘要 |
PURPOSE:To recognize the surface shape of the solid body at a high speed by providing a couple of grating point detecting mechanism which detect the positions of grating points on the surface of the solid body and a means which detects three-dimensional coordinates of the grating points according to the positional relation with the grating points. CONSTITUTION:In a step(St) 50, a black shadow spot is projected as a reference point on the surface of the surface of the solid body to be recognized. In an St 51, an image obtained by a camera is processed by shading correction. The sharp image obtained by removing noises of the three-dimensional image by smoothing processing in an St 52 is converted into binary data in an St 53. In an St 54, the position of the center of gravity of the spot projected at the reference point is found and in an St 55, a grating pattern is projected on the surface of the solid body. The obtained grating pattern is processed by shading correction in an St 56 and noise processing is performed in an St 57; and binary coding is carried out in an St 58 and thinning is performed in an St 59. In an St 60, branch points are calculated as to the grating pattern after the thinning and in an St 61, the branch points are made to correspond to the reference point. In an St 62, the three-dimensional coordinates of the respective branch points are calculated. |
