Granted Patent B2

US 12,247,822 · App. 17/510,909 · Granted Mar 11, 2025

Inventor: Naoki Yamamoto (Hino, JP)

Assignee: Evident Corporation

G01B11/03G06T7/593G06T7/75H04N23/00G06T2207/10028G06T2207/10068H04N23/555

Abstract

Claims (115)

1. A display control device comprising a processor configured to:

refer to three-dimensional data that are generated on the basis of a two-dimensional image of a subject and include three-dimensional coordinates of two or more points;

refer to a reference model indicating a figure expanding three-dimensionally in a three-dimensional space including the two or more points, wherein the figure has a shape different from a shape of the subject and the reference model has a nested structure in which two or more reference figures of the same type in a predetermined posture are repetitively arranged at predetermined intervals or has a grid structure in which two or more reference figures of the same type in a predetermined posture are repetitively arranged in at least two orthogonal directions at predetermined intervals;

determine whether or not a positional relationship between each of the two or more points and the reference model meets a condition that is set in advance;

generate an image for industrial inspection including two or more pixels corresponding to the two or more points;

differentiate a display state of a pixel corresponding to a first point from a display state of a pixel corresponding to a second point,

wherein the first point is included in the two or more points and meets the condition, and the second point is included in the two or more points and does not meet the condition; and

display the image on a display.

2. The display control device according to claim 1 ,

wherein the processor is configured to determine whether or not each of the two or more points intersects the reference model so as to determine whether or not the positional relationship meets the condition.

3. The display control device according to claim 2 ,

wherein each of the reference figures is any one of a point, a line, and a surface.

4. The display control device according to claim 3 ,

wherein the processor is configured to set at least one of a shape of the reference model, a position of the reference model, a direction of the reference model, and an interval of the two or more reference figures.

5. The display control device according to claim 4 ,

wherein the processor is configured to set at least one of the direction and the interval on the basis of a three-dimensional shape indicated by the two or more points.

6. The display control device according to claim 4 ,

wherein the processor is configured to:

calculate a normal direction of a surface of a three-dimensional shape indicated by the two or more points; and

set the direction of the reference model on the basis of the normal direction.

7. The display control device according to claim 4 ,

wherein the processor is configured to:

calculate calculates a direction of an edge on a surface of a three-dimensional shape indicated by the two or more points; and

set the direction of the reference model on the basis of the direction of the edge.

8. The display control device according to claim 4 ,

wherein the processor is configured to:

calculate a longitudinal direction of a feature region having an elongated shape on a surface of a three-dimensional shape indicated by the two or more points; and

set the direction of the reference model on the basis of the longitudinal direction.

9. The display control device according to claim 4 ,

wherein the processor is configured to:

calculate a size of a feature region in a three-dimensional shape indicated by the two or more points; and

set the interval on the basis of the size.

10. The display control device according to claim 4 ,

wherein the processor is configured to:

accept a position of each of two points included in the two or more points when the position is input through an input device; and

set the direction of the reference model on the basis of a direction of a line passing through the two points.

11. The display control device according to claim 4 ,

wherein the processor is configured to:

accept a position of each of two points included in the two or more points when the position is input through an input device; and

set the interval on the basis of a distance between the two points.

12. The display control device according to claim 6 ,

wherein the processor is configured to:

calculate a distance between a point in a three-dimensional space corresponding to a point on the two-dimensional image and a camera that acquires the two-dimensional image;

display the two-dimensional image and the distance on the display; and

calculate the normal direction of a region including a point on the three-dimensional shape corresponding to the point on the two-dimensional image.

13. The display control device according to claim 6 ,

wherein the processor is configured to:

accept a position of one point included in the two or more points when the position is input through an input device; and

calculate the normal direction of a region including the point at the position accepted.

14. The display control device according to claim 3 ,

wherein the image is configured to be an image of a three-dimensional shape indicated by the two or more points, and

wherein the processor is configured to:

display the reference model on the display after the image is displayed on the display; accept an instruction to change at least one of a position of the reference model displayed on the display, a direction of the reference model displayed on the display, and an interval of the two or more reference figures of the reference model displayed on the display when the instruction is input through an input device;

change at least one of the position, the direction, and the interval on the basis of the instruction; and

execute referring to the three-dimensional data and the reference model, determining whether or not the positional relationship meets the condition that is set in advance, generating the image including the two or more pixels, and displaying the image again after the change is executed.

15. The display control device according to claim 3 ,

wherein the image is configured to be an image of a three-dimensional shape indicated by the two or more points, and

wherein the processor is configured to:

accept an instruction to move the image displayed on the display when the instruction is input through an input device;

change the three-dimensional coordinates of the two or more points on the basis of the instruction; and

execute referring to the three-dimensional data and the reference model, determining whether or not the positional relationship meets the condition that is set in advance, generating the image including the two or more pixels, and displaying the image again after the change is executed.

16. The display control device according to claim 3 ,

wherein the reference model includes two or more first planes, two or more second planes, and two or more third planes,

wherein each of the two or more first planes has a normal line extending in a first direction,

wherein each of the two or more second planes has a normal line extending in a second direction perpendicular to the first direction,

wherein each of the two or more third planes has a normal line extending in a third direction perpendicular to both the first direction and the second direction,

wherein the two or more first planes are apart from each other in the first direction,

wherein the two or more second planes are apart from each other in the second direction, and

wherein the two or more third planes are apart from each other in the third direction.

17. The display control device according to claim 3 ,

wherein the reference model includes two or more cylindrical surfaces having different radiuses, and

wherein the two or more cylindrical surfaces have the same central axis.

18. The display control device according to claim 3 ,

wherein the reference model includes two or more spherical surfaces having different radiuses, and

wherein the two or more spherical surfaces have the same center.

19. The display control device according to claim 3 ,

wherein the reference model has the reference figures including two or more straight lines that pass through the same point and three-dimensionally expand.

20. The display control device according to claim 3 ,

wherein the processor is configured to differentiate a color of the pixel corresponding to the first point from a color of the pixel corresponding to the second point.

21. The display control device according to claim 20 ,

wherein the processor is configured to set the color of the pixel corresponding to the first point to a color indicating a distance between a reference point and the first point.

22. An image display method performed by a processor, the image display method comprising:

referring to three-dimensional data that are generated on the basis of a two-dimensional image of a subject and include three-dimensional coordinates of two or more points;

referring to a reference model indicating a figure expanding three-dimensionally in a three-dimensional space including the two or more points, wherein the figure has a shape different from a shape of the subject and the reference model has a nested structure in which two or more reference figures of the same type in a predetermined posture are repetitively arranged at predetermined intervals or has a grid structure in which two or more reference figures of the same type in a predetermined posture are repetitively arranged in at least two orthogonal directions at predetermined intervals;

determining whether or not a positional relationship between each of the two or more points and the reference model meets a condition that is set in advance;

generating an image for industrial inspection including two or more pixels corresponding to the two or more points;

differentiating a display state of a pixel corresponding to a first point from a display state of a pixel corresponding to a second point,

wherein the first point is included in the two or more points and meets the condition, and the second point is included in the two or more points and does not meet the condition; and

displaying the image on a display.

23. A non-transitory computer-readable recording medium saving a program causing a computer to execute:

a determination step in which the computer

refers to three-dimensional data that are generated on the basis of a two-dimensional image of a subject and include three-dimensional coordinates of two or more points,

refers to a reference model indicating a figure expanding three-dimensionally in a three-dimensional space including the two or more points, wherein the figure has a shape different from a shape of the subject and the reference model has a nested structure in which two or more reference figures of the same type in a predetermined posture are repetitively arranged at predetermined intervals or has a grid structure in which two or more reference figures of the same type in a predetermined posture are repetitively arranged in at least two orthogonal directions at predetermined intervals, and

determines whether or not a positional relationship between each of the two or more points and the reference model meets a condition that is set in advance;

a generation step in which the computer generates an image for industrial inspection including two or more pixels corresponding to the two or more points and differentiates a display state of a pixel corresponding to a first point from a display state of a pixel corresponding to a second point,

wherein the first point is included in the two or more points and meets the condition, and the second point is included in the two or more points and does not meet the condition; and

a display step in which the computer displays the image on a display.

24. The display control device according to claim 1 ,

wherein the condition relates to a distance between each of the two or more points and the reference model.

25. The display control device according to claim 1 ,

wherein the condition indicates that a distance between each of the two or more points and the reference model is less than a predetermined distance.

26. A display control device comprising a processor configured to:

refer to three-dimensional data that are generated on the basis of a two-dimensional image of a subject and include three-dimensional coordinates of two or more points and include a surface or a solid including the two or more points;

refer to a reference model indicating a figure expanding three-dimensionally in a three-dimensional space including the two or more points, wherein the figure has a shape different from the subject and the reference model has a nested structure in which two or more reference figures of the same type in a predetermined posture are repetitively arranged at predetermined intervals or has a grid structure in which two or more reference figures of the same type in a predetermined posture are repetitively arranged in at least two orthogonal directions at predetermined intervals;

determine whether or not a positional relationship between the surface or the solid and the reference model meets a condition that is set in advance;

generate an image for industrial inspection including two or more pixels corresponding to the two or more points;

differentiate a display state of a pixel corresponding to a first point from a display state of a pixel corresponding to a second point,

wherein the first point is included in the two or more points and meets the condition, and the second point is included in the two or more points and does not meet the condition; and

display the image on a display.

27. The display control device according to claim 2 ,

wherein the processor is configured to determine that the positional relationship meets the condition when a distance of each of the two or more points and one of the two or more reference figures is within a predetermined threshold value.

28. The display control device according to claim 3 ,

wherein the figure is any one of a line segment, a plane, a cylindrical surface, and a spherical surface.

29. The display control device according to claim 28 ,

wherein the two or more reference figures are continuously arranged at regular intervals.

Assignments (2)

Priority Claims (1)

Continuity (1)

References Cited (10)

Cited By (1)

US 12,711,644