Three-dimensional object-measurement device, medium, and control method

1. A three-dimensional object-measurement device comprising:

a laser beam irradiator which irradiates a laser beam;

a focal length switcher which switches a focal length of the laser beam;

an imager which images a reflected light which is a reflection of the laser beam on an object, and generates image data;

a processor; and

a memory,

wherein the processor is configured to execute:

a control unit which changes the focal length by controlling the focal length switcher, irradiates the same point on an object to be measured with the laser beam a plurality of times while varying the focal length by controlling the focal length switcher, and makes the imager generate the plurality of image data; and

a distance calculation unit which calculates a distance to the object to be measured by processing the plurality of image data,

wherein the plurality of image data comprises an image of a spot of the laser beam, the spot having a spot diameter,

wherein the distance calculation unit is configured to determine a spot angle based on the spot diameter, and

wherein the spot angle varies according to the distance to the object to be measured.

2. The three-dimensional object-measurement device according to claim 1 , further comprising:

a scanner which changes an irradiation direction of the laser beam,

wherein

when measuring distances to a plurality of measuring points on the object to be measured,

the control unit fixes a focal distance by controlling the focal length changing unit, irradiating each of the plurality of measuring points with the laser beam by controlling the scanner and the imager, and obtaining the image data for each of the plurality of measuring points, and,

after changing a focal length by controlling the focal length switcher, irradiates each of the plurality of measuring points with the laser beam by controlling the scanner and the imager again, and obtains the image data according to each of the plurality of measuring points, and

the distance calculation unit processes the image data and calculates a distance to each of the plurality of measuring points.

3. The three-dimensional object-measurement device according to claim 2 , wherein

the laser beam irradiator simultaneously irradiates the plurality of measuring points on the object to be measured with the laser beam.

4. The three-dimensional object-measurement device according to claim 2 , wherein

the focal length switcher comprises:

a focal length variable optical system, wherein

the focal length switcher switches a focal length of the laser beam by changing a focal length of the focal length variable optical system.

5. The three-dimensional object-measurement device according to claim 1 , wherein

the focal length switcher comprises: a plurality of optical elements through which the laser beam passes, wherein

the focal length switcher switches a focal length of the laser beam by changing a distance between the plurality of optical elements.

6. The three-dimensional object-measurement device according to claim 1 , wherein

the focal length switcher comprises:

a plurality of optical elements having different focal lengths, wherein

the focal length switcher switches a focal length of the laser beam by changing the optical element through which the laser beam is passed.

7. The three-dimensional object-measurement device according to claim 1 ,

wherein the focal length switcher comprises a position-fixed optical element and a variable position optical element,

wherein the focal length of the laser beam is determined by a position of the variable position optical element.

8. The three-dimensional object-measurement device according to claim 1 ,

wherein the focal length switcher comprises a plurality of optical elements each having a different focal length arranged in a disc,

wherein the focal length switcher is configured to switch the focal length of the laser beam by rotating the disc.

9. The three-dimensional object-measurement device according to claim 1 , wherein the focal length switcher comprises a plurality of optical elements each having a different focal length arranged in stripes,

wherein the focal length switcher is configured to switch the focal length of the laser beam by adjusting the position of the plurality of optical elements to change the optical element through which the laser beam is to be passed.

10. A computer readable non-transitory medium embodying a program, the program causing a three-dimensional object-measurement device to perform a method, the method comprising:

irradiating a laser beam;

imaging a reflected light which is a reflection of the laser beam on an object and generating image data;

switching the focal length of the laser beam;

irradiating the same point on an object to be measured with the laser beam a plurality of times while varying the focal length;

generating the plurality of image data; and

calculating a distance to the object to be measured by processing the plurality of image data,

wherein the plurality of image data comprises an image of a spot of the laser beam, the spot having a spot diameter,

wherein the calculating the distance to the object to be measured comprises determining a spot angle based on the spot diameter, and

wherein the spot angle varies according to the distance to the object to be measured.

11. The computer readable non-transitory medium according to claim 10 , wherein the switching the focal length of the laser beam comprises adjusting a position of a variable position optical element.

12. The computer readable non-transitory medium according to claim 10 , wherein the switching the focal length of the laser beam comprises rotating a disc, the disc comprising a plurality of optical elements each having a different focal length.

13. The computer readable non-transitory medium according to claim 10 , wherein the switching the focal length of the laser beam comprises adjusting the position of a plurality of optical elements arranged in stripes, the plurality of optical elements each having a different focal length.

14. A control method to be executed by a three-dimensional object-measurement device which measures a distance to an object to be measured, the control method comprising:

irradiating a laser beam;

imaging a reflected light which is a reflection of the laser beam on an object and generating image data;

switching the focal length of the laser beam;

irradiating the same point on an object to be measured with the laser beam a plurality of times while varying the focal length;

generating the plurality of image data; and

calculating a distance to the object to be measured by processing the plurality of image data,

wherein the plurality of image data comprises an image of a spot of the laser beam, the spot having a spot diameter,

wherein the calculating the distance to the object to be measured comprises determining a spot angle based on the spot diameter, and

wherein the spot angle varies according to the distance to the object to be measured.

15. The control method according to claim 14 , wherein the switching the focal length of the laser beam comprises adjusting a position of a variable position optical element.

16. The control method according to claim 14 , wherein the switching the focal length of the laser beam comprises rotating a disc, the disc comprising a plurality of optical elements each having a different focal length.

17. The control method according to claim 14 , wherein the switching the focal length of the laser beam comprises adjusting the position of a plurality of optical elements arranged in stripes, the plurality of optical elements each having a different focal length.