3D measurement method, 3D measurement device and robot system

摘要

PROBLEM TO BE SOLVED: To provide a three-dimensional measuring method and a three-dimensional measuring device which can capture a pattern image with less peripheral dimming in spite of a simple configuration and have high measurement accuracy of a three-dimensional shape. To provide a robot system equipped with such a three-dimensional measuring device. A method for measuring a three-dimensional shape of an object, based on a step of emitting a laser beam, a step of receiving distance information regarding a distance between a swing axis of a mirror and a projection surface, and a distance information. Acquire a pattern image, a step of determining the maximum amplitude of the swing of the mirror, a step of swinging the mirror within the range of the maximum amplitude, reflecting the laser beam toward the projection surface by the mirror, and projecting the pattern light. A three-dimensional measurement method characterized by having a step of performing and a step of obtaining a three-dimensional shape of an object based on a pattern image. [Selection diagram] FIG. 9