Three-dimensional shape measurement apparatus and control method thereof

A three-dimensional shape measurement apparatus that measures a three-dimensional shape of a target object, comprising:

• a projection unit configured to project a pattern image to a predetermined measurement area including a support structure on which the target object is placed and a plurality of stereoscopic reference markers not on the same plane are arranged, said projection unit being configured to project a coordinate calculation pattern image to the target object;
• an image capturing unit configured to capture an image of the predetermined measurement area;
• a first derivation unit configured to derive, based on an image captured by said image capturing unit, a first correction value for correcting a fluctuation of a projection position by said projection unit;
• a second derivation unit configured to derive, based on images of the plurality of stereoscopic reference markers included in the image captured by said image capturing unit, a second correction value for correcting a position fluctuation of a support structure that fixes said projection unit and said image capturing unit;
• and
• a coordinate calculation unit configured to calculate a plurality of coordinates on a surface of the target object based on an image captured by said image capturing unit when said projection unit projects the coordinate calculation pattern image to the target object, the first correction value, and the second correction value.

A three-dimensional shape measurement apparatus that measures a three-dimensional shape of a target object, comprising:

• a projection unit configured to project a pattern image to a predetermined measurement area including a support structure on which the target object is placed;
• an image capturing unit configured to capture an image of the predetermined measurement area;
• a robot hand unit configured to integrally control positions and orientations of both of a support structure that fixes said projection unit and said image capturing unit, and a marker supporting member on which a reference marker is arranged;
• said projection unit being configured to project a coordinate calculation pattern image to the target object and project a marker pattern image to the marker support structure;
• a derivation unit configured to derive, based on an image captured by said image capturing unit when said projection unit projects the marker pattern image to the marker support structure, a first correction value for correcting a position fluctuation of the support structure, and a second correction value for correcting a fluctuation of a projection position by said projection unit;
• and
• a coordinate calculation unit configured to calculate a plurality of coordinates on a surface of the target object based on an image captured by said image capturing unit when said projection unit projects the coordinate calculation pattern image to the target object, and the first correction value and the second correction value that have been derived by said derivation unit.

A three-dimensional shape measurement apparatus that measures a three-dimensional shape of a target object, comprising:

• a projection unit configured to project a pattern image to a predetermined measurement area including a support structure on which the target object is placed and a reference marker is arranged, said projection unit being configured to project a coordinate calculation pattern image to the target object;
• an image capturing unit configured to capture an image of the predetermined measurement area;
• a derivation unit configured to derive, based on an image captured by said image capturing unit when said projection unit projects the coordinate calculation pattern image to the target object, a first correction value for correcting a position fluctuation of a support structure that fixes said projection unit and said image capturing unit, and a second correction value for correcting a fluctuation of a projection position by said projection unit;
• and
• a coordinate calculation unit configured to calculate a plurality of coordinates on a surface of the target object based on an image captured by said image capturing unit when said projection unit projects the coordinate calculation pattern image to the target object, and the first correction value and the second correction value that have been derived by said derivation unit.

A method of controlling a three-dimensional shape measurement apparatus that measures a three-dimensional shape of a target object, the three-dimensional shape measurement apparatus including:

• a projection unit configured to project a pattern image to a predetermined measurement area including a support structure on which the target object is placed and a plurality of reference markers are arranged on the same plane, the projection unit being configured to project a coordinate calculation pattern image to the target object and project a marker pattern image to the support structure;
• and
• an image capturing unit configured to capture an image of the predetermined measurement area, the control method comprising:
• deriving, based on an image captured by the image capturing unit when the projection unit projects the marker pattern image to the support structure, a first correction value for correcting a position fluctuation of a support structure that fixes the projection unit and the image capturing unit, and a second correction value for correcting a fluctuation of a projection position by the projection unit;
• and
• calculating a plurality of coordinates on a surface of the target object based on an image captured by the image capturing unit when the projection unit projects the coordinate calculation pattern image to the target object, and the first correction value and the second correction value that have been derived in the deriving.