SENSING DEVICE AND SENSING METHOD

• Main Authors: SASATANI SO, KITAMURA TAKESHI
• Format: Patent
• Language: English; Japanese
• Published: 14.02.2024
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; PHYSICS; TESTING

To provide a sensing device and a sensing method which can correctly measure a three-dimensional shape of an object including a transparent raw material.SOLUTION: A computing machine 1 generates an image 35 on the basis of visual information of an object 30, extracts a region occupied by the object 30 in the image 35 as an object region 36, generates edge distance information 37 by extracting distance information of an edge portion of the object 30 in the distance information of the object 30, generates a far-infrared image 41 corresponding to the object region 36 on the basis of far-infrared ray information of the object 30, controls a heating device 4 so as to heat the object 30, estimates partial surface shape information 44, 45 of the object 30 from the far-infrared images 41, 42 before and after heating of the object 30, generates interpolated edge distance information 57 of the object 30 by interpolating the edge distance information 37 by using the partial surface shape information 44, 45, and converts the interpolated edge distance information 57 into the three-dimensional shape information to output the converted information.SELECTED DRAWING: Figure 1 【課題】透明な素材を含む物体の３次元形状を正確に計測することが可能なセンシング装置およびセンシング方法を提供する。【解決手段】計算機１は、物体３０の視覚情報を基に画像３５を生成し、画像３５のうち物体３０が占める領域を物体領域３６として抽出し、物体３０の距離情報のうち物体３０のエッジ部分の距離情報を抽出してエッジ距離情報３７を生成し、物体３０の遠赤外線情報を基に物体領域３６に対応する遠赤外線画像４１を生成し、物体３０を加熱するように加熱装置４を制御し、物体３０の加熱前後の遠赤外線画像４１，４２から物体３０の部分表面形状情報４４，４５を推定し、部分表面形状情報４４，４５を用いてエッジ距離情報３７を補間することにより物体３０の補間エッジ距離情報５７を生成し、補間エッジ距離情報５７を３次元形状情報に変換して出力する。【選択図】 図１