JP4523464B2 - Building limit measuring device - Google Patents

Description

  The present invention relates to a building limit measuring apparatus that can know whether or not a workpiece (structure) provided in the vicinity of a railway track is within the building limit.

  Various workpieces (structures) such as platforms, traffic lights, and utility poles are provided near the railroad tracks (tracks). Since these are very dangerous if they come into contact with a train traveling on a track, the workpiece must be installed at a certain distance from the track. The area where there must be no work around this track is called the building limit and is regularly inspected. For example, in the case of a platform, it is an indispensable item to confirm that the tip of the platform is not within the building limits when newly established. In addition, even after the start of use, it is necessary to confirm that the tip of the platform does not protrude within the building limits in consideration of repairs and changes in the ground.

  Conventionally, when inspecting that the end of the platform is not within the building limits, the distance from the track is measured using a contact sensor. This method using a contact sensor cannot measure the entire end face of the platform continuously from the structure of the sensor, and becomes intermittent point measurement and lacks reliability. In addition, since contact-type measurement involves mechanical contact, there are problems such as a problem of wear of the contact portion and a decrease in accuracy due to wear.

On the other hand, there is an apparatus that mounts a light wave range finder on a cart that can travel on a track, and measures a building limit by irradiating a workpiece with laser light (for example, Patent Document 1). Thereby, abrasion of a contact part can be avoided and the fall of the precision accompanying abrasion can be prevented.
JP 2004-61278 A

  However, the building limit measuring apparatus described in Patent Document 1 is designed to obtain a distance by irradiating a target with a point beam, and is a point measurement like the above contact type, and has sufficient reliability. Can't get. In addition, since a point beam is used, measurement becomes impossible when the reflected light cannot enter the light receiving unit due to unevenness or curvature of the platform end surface. Furthermore, since a circular point beam having a small radius is irradiated, the energy density of the beam is high, which may cause harm to human bodies such as workers. Since the measuring device described in Patent Document 1 cannot obtain an image of the platform end face, it is not possible to determine whether or not the end face of the platform is within the building limit when an obstacle enters in the middle. It becomes possible.

  The present invention has been made to solve the above-described drawbacks of the prior art, and aims to enable inspection of the entire surface of the workpiece facing the track.

In order to achieve the above object, a building limit measuring apparatus according to the present invention is mounted on a carriage that moves along a track and the carriage, and signals of a plurality of frequencies are sequentially given as drive signals, and synchronized with this. A laser light source that irradiates a linear beam that is frequency-modulated by being output along the vertical direction of the workpiece near the orbit ,
A light receiving unit including a spatial modulation unit that receives the reflected light of the linear beam mounted on the carriage and reflected by the workpiece according to a timing at which a round of frequency modulation in the linear beam is completed; and Based on the phase difference obtained by the phase difference calculation unit, a phase difference calculation unit for obtaining a phase difference between the reflected light received by the light receiving unit and the linear beam emitted by the laser light source, A distance calculation unit that determines a distance from the reflection unit of the workpiece, and a determination unit that determines whether the workpiece is within a building limit based on the distance obtained by the distance calculation unit. It is a feature.

Further, a distance that the distance calculating unit is determined, may be provided a three-dimensional image information output unit for outputting an image signal obtained based on the output of the spatial modulator unit. Further, the three-dimensional image information output unit may output a three-dimensional image with a red portion that is within the building limit. The spatial modulation unit may be a micromirror array.

  The present invention as described above can easily scan the entire surface facing the track of the workpiece by irradiating the workpiece with a linear laser beam while moving the carriage. Therefore, the surface of the workpiece facing the track can be measured with high accuracy, and it can be determined with high accuracy whether the workpiece is within the building limits.

  By providing a spatial modulation unit that spatially modulates the reflected light in the optical path between the workpiece and the light receiving unit, the measurement contents can be displayed as an image, making it possible to make more accurate judgments and there are obstacles. Even if it is, the obstacle can be easily recognized. When a micromirror array is used as the spatial modulation unit, the apparatus can be miniaturized and high-speed spatial modulation is possible.

A preferred embodiment of a building limit measuring apparatus according to the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a perspective view showing an outline of a building limit measuring apparatus according to an embodiment of the present invention. In FIG. 1, the building limit measuring apparatus 10 includes a traveling carriage 12. The traveling carriage 12 has wheels 16 that roll on the rails 14 and 14, and can travel on a track composed of the rails 14 and 14. The traveling carriage 12 has a rotary encoder 18 attached at an appropriate position so that a travel distance (travel distance) from a base point (reference point) (not shown) can be obtained.

A three-dimensional camera 20, which will be described in detail later, is installed at the center of the upper surface of the traveling carriage 12. Further, a laser light source 22 having a laser diode (not shown) is attached on the three-dimensional camera 20. The laser light source 22 has a long irradiation slit in the vertical direction on the front surface , and a front end surface 28 of a platform 26 which is a workpiece provided with a linear beam 24 in the vicinity of the rail 14 (track) along the vertical direction. Can be irradiated. In the embodiment, the laser light source 22 emits a linear beam 24 modulated at two different frequencies as will be described later.

  As shown in FIG. 2, the three-dimensional camera 20 includes an arithmetic control unit 80 including an optical unit 30, a radar circuit unit 50, a control circuit unit 70, a microprocessor, and the like. The optical unit 30 is a part that receives the reflected light 32 from the end face 28 of the platform 26, and is a bandpass filter 34, a lens 36, a prism 38, a spatial modulator 40, a lens 42, a reflecting mirror 44, and a photoelectric converter that is a light receiving unit. 46 is provided on the optical path of the reflected light 32 incident thereon.

  The band filter 34 transmits light in the wavelength band of the linear beam 24 emitted from the laser light source 22 and blocks light of other wavelengths. The lens 36 condenses the reflected light 32 that has passed through the band-pass filter 34, passes through the prism 38, and forms an image (image of the end face 28) obtained by the reflected light 32 on the surface of the spatial modulator 40. The prism 38 reflects the reflected light 32 incident from the lens 36 by the inclined surface 38a and enters the spatial modulator 40, and transmits or totally reflects the light reflected by the spatial modulator 40.

  In the embodiment, the spatial modulator 40 is composed of a one-dimensional micromirror array in which a plurality of minute mirror elements are arranged on a straight line. Of course, a two-dimensional micromirror array may be used in one dimension. The spatial modulator 40 is ON / OFF (driven) controlled by a micromirror controller 48 provided in the optical unit 30 for each mirror element. The mirror element turned on reflects, for example, the reflected light 32 incident at a predetermined angle in the clockwise direction in FIG. 2, and the reflected light passes through the prism 38 and enters the lens 42. The reflected light 32 incident on the lens 42 enters the photoelectric converter 46 via the reflecting mirror 44. Further, the mirror element turned off is inclined by a predetermined angle in the counterclockwise direction, and the reflected light is totally reflected by the inclined surface 38a of the prism 38. Note that the spatial modulator 40 performs one-dimensional spatial orthogonal modulation on the reflected light 32 incident from the prism 38 and enters the photoelectric converter 46. The photoelectric converter 46 has a plurality of light detection elements such as a photomultiplier arranged on a straight line corresponding to the mirror elements of the spatial modulator 40. The light detection element outputs an electrical signal corresponding to the intensity of the incident light.

  The radar circuit unit 50 provides a drive signal to the laser light source 22 and mixes (multiplies) the reflected light 32 of the linear beam 24 output from the laser light source 22 and the output signal of the oscillator 52. Specifically, the radar circuit unit 50 includes an oscillator 52, a power splitter 54, an amplifier 56, a phase shifter 58, an amplifier 60, a power splitter 62, a mixer 64 (64a to 64n), and an amplifier 66 (66a to 66n). is doing.

  The oscillator 52 receives an oscillation frequency control signal from a system controller 72 provided in the control circuit unit 70, and the oscillation frequency is controlled by the system controller 72. The power splitter 54 provided on the output side of the oscillator 52 divides the output signal of the oscillator 52 into two, and inputs one to the amplifier 56 and the other to the phase shifter 58. The amplifier 56 amplifies the signal input from the power splitter 54 and supplies the amplified signal to the laser light source 22 as a drive signal. The laser light source 22 outputs the linear beam 24 in synchronization with the output frequency of the oscillator 52.

  The phase shifter 58 receives a phase control signal output from the system controller 72 of the control circuit unit 70. The operation of the phase shifter 58 is controlled by the phase control signal, and the output signal of the oscillator 52 input from the power splitter 54 is directly input to each mixer 64 via the amplifier 60 and the power splitter 62, or the oscillator The phase of the output signal 52 is shifted by 90 degrees and applied to the mixer 64. In this case, there is a method shown in FIGS. 6A and 6B as another method.

  The amplifier 66 is provided corresponding to each light detection element of the photoelectric converter 46, and amplifies the output signal of the corresponding light detection element and inputs the amplified signal to the corresponding mixer 64. Each mixer 64 multiplies the detection signal of the photoelectric converter 46 output from the amplifier 66 by the output signal of the oscillator 52 that is amplified by the amplifier 60 and input through the power splitter 62, and outputs an intermediate frequency signal (IF signal). Is sent to the control circuit unit 70.

  The control circuit unit 70 has a low-pass filter 74, an amplifier 76, and an A / D converter 78 to which the IF signal output from each mixer 64 is input together with the system controller 72. The system controller 72 generates the oscillation frequency control signal and the phase control signal as described above based on the command from the arithmetic control unit 80 and supplies the generated oscillation frequency control signal and the phase control signal to the oscillator 52 and the phase shifter 58. It is generated and given to the micromirror controller 48 of the optical unit 30. Based on the control pattern signal input from the system controller 72, the micromirror controller 48 controls the mirror elements of the spatial modulator 40 composed of a micromirror array to be turned on and off, and reflects the reflected light 32 incident on the optical unit 30. Perform quadrature modulation. Further, the system controller 72 sends signals of output timings of the generated various control signals to the arithmetic control unit 80, and receives a pattern switching signal output from the micromirror controller 48 and inputs it to the arithmetic control unit 80.

  The low-pass filter 74 is provided corresponding to each mixer 64 of the radar circuit unit 50, removes higher-order components from the signal output from the mixer 64, extracts the IF signal, and outputs the IF signal to the amplifier 76. The amplifier 76 is provided corresponding to each mixer 64, amplifies the output signal of the low-pass filter 74 and inputs the amplified signal to the A / D converter 78. The A / D converter 78 converts the analog signal input in parallel into a digital signal, which is converted into a serial signal and input to the arithmetic control unit 80.

  The arithmetic control unit 80 generates three-dimensional image data of the end face 28 of the platform 26 based on the reflected light 32 incident on the optical unit 30 based on the signals input from the system controller 72 and the A / D converter 78. Then, it is output and displayed on a display device (not shown). The arithmetic control unit 80 receives an output signal of the rotary encoder 18 provided in the traveling carriage 12, and the system control constituting the control circuit unit 70 based on the output signal of the rotary encoder 18. The device 72 outputs a signal for driving the oscillator 52 of the radar circuit unit 50.

  The arithmetic control unit 80 is configured as shown in FIG. 3 and includes a demodulator 82 to which signals are input from the system controller 72 and the A / D converter 78 of the control circuit unit 70. The demodulator 82 demodulates the reflected light 32 that has undergone spatial quadrature modulation. The arithmetic control unit 80 has a phase difference calculator 84 and a distance calculator 86 on the output side of the demodulator 82. The output signal of the phase difference calculation unit 84 is input to the distance calculation unit 86. Further, the arithmetic control unit 80 has a memory 88 and an image information output unit 90 on the output side of the distance calculation unit 86. As will be described later, the memory 88 stores the position information of the laser light source 22, the lens 36, and the photoelectric converter 46.

  The image information output unit 90 includes a reflection position calculation unit 92, a limit determination unit 94, and an image signal generation unit 96. The reflection position calculation unit 92 reads the position information stored in the memory 88, determines the position where the linear beam 24 is reflected based on the distance information obtained by the distance calculation unit 86, and obtains the limit determination unit 94 and the image signal. The data is output to the generation unit 96. The limit determination unit 94 determines whether or not the end face 28 of the platform 26 is within the building limit based on the calculation result of the reflection position calculation unit 92. Then, the image signal generation unit 96 generates an image signal based on the output signal of the reflection position calculation unit 92 and the determination result of the limit determination unit 94 and outputs the image signal to the display device 100 to display a three-dimensional image. In this three-dimensional image, for example, a portion within the construction limit of the end face 28 is displayed in red so that the operator can easily recognize it.

In the construction limit measuring apparatus 10 configured as described above, when a measurement start switch (not shown) is turned on and the traveling carriage 12 is moved along the rail 14, the rotary encoder 18 causes the measurement pulse to be measured at every predetermined movement distance. Is output to the arithmetic control unit 80 provided in the three-dimensional camera 20. The arithmetic control unit 80 obtains the travel distance from the reference point of the traveling carriage 12 based on the output pulse of the rotary encoder 18, and the image shown in FIG. 4 (1) for every predetermined number of output pulses of the rotary encoder 18. The trigger signal is output to the system controller 72 of the control circuit unit 70. The output timing of the image trigger signal is determined in consideration of the width of the linear beam 24 emitted by the laser light source 22 (the width in the direction along the rail 14). For example, the image trigger signal is output every time the traveling carriage 12 moves several centimeters. Is done.

When the image trigger signal is input from the arithmetic control unit 80, the system controller 72 outputs an oscillation frequency control signal to the oscillator 52 of the radar circuit unit 50 at a predetermined cycle, as shown in FIG. As shown in FIG. 3C, the control pattern signal is output to the micromirror controller 48 at a predetermined cycle. The oscillation frequency control signal is for RF-modulating the linear beam 24 output from the laser light source 22 and causing the oscillator 52 to alternately output the oscillation frequency f ₁ and the oscillation frequency f ₂ . Signals of frequency f ₁ and frequency f ₂ output from the oscillator 52 are given as drive signals to the laser light source 22 via the power splitter 54 and the amplifier 56. The laser light source 22 outputs a linear beam 24 having an RF-modulated modulation frequency f ₁ and a modulation frequency f ₂ alternately toward the end face 28 of the platform 26. In the case of the embodiment, the two frequencies f ₁ and f ₂ are 99 MH and 100 MHz.

On the other hand, the control pattern signal is a signal for turning on and off a plurality of mirror elements constituting the spatial modulator 40 by half according to a predetermined pattern, and the mirror element according to all mode patterns from mode 1 to mode n. When is turned on and off, the reflected light 32 is subjected to one-dimensional spatial orthogonal modulation. As shown in FIG. 4, the mode switching timing is when a pair of oscillations of the frequency f ₁ and the frequency f ₂ is completed.

  The reflected light 32 reflected by the end face 28 of the platform 26 passes through the band-pass filter 34 and enters the lens 36, and forms an image on the surface of the spatial modulator 40 via the prism 38 by the lens 36. Further, the reflected light 32 is reflected by the spatial modulator 40, undergoes one-dimensional spatial orthogonal modulation, enters the photoelectric converter 46, and is converted into an electrical signal by the photoelectric converter 46. The output signal of the light detection element constituting the photoelectric converter 46 is amplified by the amplifier 66 of the radar circuit unit 50 and supplied to the mixer 64.

An output signal of the oscillator 52 is input to the mixer 64 as a reference signal via the power splitter 54, the phase shifter 58, the amplifier 60, and the power splitter 62. The mixer 64 multiplies the reference signal by the detection signal output from the photoelectric converter 46, generates an IF signal, and inputs the IF signal to the low pass filter 74 of the control circuit unit 70. As shown in FIG. 4D, the system controller 72 of the control circuit unit 70 supplies the phase control signal to the phase shifter 58 and the signals of the frequency f ₁ and the frequency f _{2 to be} supplied as reference signals to the mixer 64. For each, the phase shifter 58 outputs a signal whose phase is not shifted and a signal whose phase is shifted 90 degrees. The mixer 64 generates an IF signal for each of the reference signal whose phase is not shifted and the reference signal whose phase is shifted 90 degrees.

  The control circuit unit 70 extracts the IF signal from the signal output from the mixer 64 by the low-pass filter 74, amplifies it by the amplifier 76, converts it to a digital signal by the A / D converter 78, and outputs it to the arithmetic control unit 80. . The arithmetic control unit 80 receives the control signals output from the system controller 72, generates the sampling clock signal shown in FIG. 4 (5) based on these signals, and synchronizes with the sampling clock signal. Thus, the output signal of the A / D converter 78 of the control circuit unit 70 is read.

  The demodulation unit 82 of the arithmetic control unit 80 demodulates the spatially modulated reflected light 32 based on the output signal of the A / D converter 78. Further, the calculation control unit 80 obtains the phase difference θ until the phase difference calculation unit 84 receives the laser light oscillated from the laser light source 22 based on the demodulated detection data of the reflected light 32, and the distance calculation unit. The distance between the center of the track on which the traveling carriage 12 travels and the end face of the platform 26 are determined by 86. Further, as will be described in detail later, the calculation control unit 80 calculates the position of the end face 28 where the reflected light 32 is generated when the reflection position calculation unit 92 of the image information output unit 90 reflects the linear beam 24, and It is determined whether or not the end face 28 is within the construction limit, and the image signal generation unit 96 generates an image signal and outputs it to the display device 100. The distance between the building limit measuring apparatus 10 and the end face 28 of the platform 26 and the position of the end face 28 are obtained as follows.

As shown in FIG. 5, the center of the lens 36 of the three-dimensional camera 20 is the origin O (0, 0), and the arrangement direction of the light detection elements of the photoelectric converter 46 (the vertical direction of the end face 28 of the platform 26) is X. Assume a coordinate axis with the axis and the emission direction of the linear beam 24 as the Y axis. The emission position (laser diode position) of the linear beam 24 of the laser light source 22 is Q (a, b), the reflection position of the end face 28 is P (x, y), and the reflected light 32 is incident on the photoelectric converter 46. Let the position be R (−x ₀ , −y ₀ ). Note that Q (a, b) with respect to the origin O and the value −y _{0 in} the Y-axis direction of the photoelectric converter 46 are known as design values.

のように求めることができる。ただし、θは、レーザ光源２２が線状ビーム２４を出射したときの位相と、反射光３２として受光したときの位相との位相差（位相ずれ）である。すなわち、距離ρは、ＲＦ変調した周波数に関する微分（ｄθ／ｄｆ）を求めることによって得ることができる。このようにして距離ρが求められれば、レーザ光源２２と三次元カメラ２０との位置関係が既知であり、ｒ_０が求められるので、建築限界計測装置１０、すなわち軌道の中心と線状ビーム２４を反射したプラットホーム２６の端面２８との距離を容易に求めることができる。 The distance until the linear beam 24 emitted from the laser light source 22 is reflected on the end face 28 of the platform 26 and enters the lens 36 as reflected light 32 is ρ (= QP + PO = QPO), and the reflected light 32 of the photoelectric converter 46 is reflected. The distance between the incident position R and the center O of the lens 36 is r ₀ (= OR). The distance ρ is λ for the wavelength of the linear beam 24 and c for the speed of light.

Can be obtained as follows. Here, θ is a phase difference (phase shift) between the phase when the laser light source 22 emits the linear beam 24 and the phase when the laser light source 22 receives the reflected light 32. That is, the distance ρ can be obtained by obtaining a differential (dθ / df) with respect to the RF-modulated frequency. If the distance ρ is obtained in this way, the positional relationship between the laser light source 22 and the three-dimensional camera 20 is known, and r ₀ is obtained. Therefore, the building limit measuring apparatus 10, that is, the center of the trajectory and the linear beam 24 The distance from the end surface 28 of the platform 26 reflecting the above can be easily obtained.

となる。したがって、距離ＰＯは、

と表すことができる。
一方、距離ＱＰは、

となる。また、原点Ｏからレーザ光源（レーザダイオード）２２までの距離ｒ_Ｌは、

である。また、点Ｒと点Ｑとの位置ベクトルＲ_０、Ｑ_Ｌは、

である。そして、距離ＱＰＯは、

となる。
数式９において、右辺のｍｒ_０を左辺に移項して両辺を二乗すると、

すなわち、

となり、数式１１から倍率ｍが求まる。したがって、この求めた倍率ｍに基づいて、線状ビーム２４を反射した位置Ｐ（ｘ，ｙ）を求めることができる。 However, even if the distance to the end face 28 can be obtained, it is unknown from which position the light is reflected. The reflection position of the linear beam 24 can be obtained as follows.
In FIG. 5, if the ratio of PO and OR (PO / OR), that is, the magnification is m,

It becomes. Therefore, the distance PO is

It can be expressed as.
On the other hand, the distance QP is

It becomes. The distance r _L from the origin O to the laser light source (laser diode) 22 is

It is. The position vectors R ₀ and Q _L between the points R and Q are

It is. And the distance QPO is

It becomes.
In Equation 9, when mr ₀ on the right side is shifted to the left side and both sides are squared,

That is,

Thus, the magnification m is obtained from Equation 11. Therefore, the position P (x, y) where the linear beam 24 is reflected can be obtained based on the obtained magnification m.

  In the calculation control unit 80, the distance calculation unit 86 determines the distance to the end face 28 as described above, and the reflection position calculation unit 92 determines the position where the linear beam 24 is reflected. The reflection position calculation unit 92 outputs the reflection position to the limit determination unit 94 together with the distance obtained by the distance calculation unit 86. The limit determination unit 94 determines whether or not the reflection position is within the building limit based on the signal input from the reflection position calculation unit 92 and inputs the determination signal to the image signal generation unit 96. The image signal generation unit 96 generates an image signal based on output signals from the reflection position calculation unit 92 and the limit determination unit 94. For example, the image signal is generated as a three-dimensional image signal for displaying a portion of the end face 28 within the construction limit in red, and is output to the display device 100.

  As described above, the building limit measuring apparatus 10 according to the embodiment irradiates the end surface 28 of the platform 26 while moving along the rail 14, and the distance from the end surface 28 and the reflection of the linear beam 24. Since the position is obtained, data of the entire end face 28 can be obtained, and it can be accurately determined whether or not the end face 28 is within the construction limit. The resolution of the building limit measuring apparatus 10 depends on the frequency at which the linear beam 24 is RF-modulated, but when a band of several hundred MHz is used as the frequency, a resolution of 1 mm or less can be obtained.

  In addition, since the linear beam 24 is emitted, there is no possibility of diffusing energy and damaging an operator or the like. Moreover, since the building limit measuring apparatus 10 can obtain distance information and image information at the same time, when there is an obstacle between the platform 26 and the obstacle 26, it can be easily recognized from the image that there is an obstacle. it can. And the building limit measuring apparatus 10 irradiates the linear beam 24 expanded like a fan, and condenses the reflected light 32 by the lens 36 with a large opening, so that the stability is high.

  In the embodiment, the case where the workpiece is the platform 26 has been described. However, the workpiece may be a utility pole, a traffic light, a tunnel, or the like.

It is a perspective view which shows the whole building limit measuring device which concerns on embodiment. It is a block diagram of the three-dimensional camera which concerns on embodiment. It is a block diagram of the principal part of the arithmetic control unit which concerns on embodiment. It is a figure explaining how to obtain | require the reflective position of a linear beam. It is a time chart explaining the effect | action of the building limit measuring apparatus which concerns on embodiment. It is a principal part block diagram of other embodiment which calculates | requires a phase difference.

Explanation of symbols

  10 ... Building limit measuring device, 12 ... Traveling carriage, 14 ... Track (rail), 18 ... Rotary encoder, 20 ... 3D camera, 22 ... Laser light source, 24 ... ... Linear beam, 26 ......... Workpiece (platform), 30 ......... Optical unit, 32 ......... Reflected light, 40 ......... Spatial modulator, 46 ......... Light receiving part (photoelectric converter), 50 ......... Radar circuit unit, 52 ......... Oscillator, 58 ......... Phase shifter, 64a to 64n ......... Mixer, 70 ......... Control circuit unit, 80 ......... Arithmetic control unit, 84 ......... Phase difference calculation unit 86... Distance calculation unit 90... Image information output unit 92... Reflection position calculation unit 94 ... Determination unit (limit determination unit) 96 96 Image signal generation unit .

Claims (4)

A carriage that moves along the track,
A linear beam, which is mounted on the carriage, is sequentially given with a plurality of frequency signals as drive signals, and is output in synchronization with the signals, is irradiated along the vertical direction of the workpiece near the track. A laser light source ;
A light receiving unit that includes a spatial modulation unit that receives the reflected light of the linear beam that is mounted on the carriage and reflected by the workpiece according to a timing at which a round of frequency modulation in the linear beam is completed;
A phase difference calculating unit for obtaining a phase difference between the reflected light received by the light receiving unit and the linear beam emitted by the laser light source;
Based on the phase difference obtained by the phase difference calculation unit, a distance calculation unit for obtaining a distance between the center of the trajectory and the reflection part of the workpiece;
A determination unit that determines whether the workpiece is within a building limit based on the distance obtained by the distance calculation unit;
An architectural limit measuring apparatus characterized by comprising: In the building limit measuring apparatus according to claim 1,
An architectural limit measuring apparatus comprising a three-dimensional image information output unit that outputs an image signal obtained based on a distance obtained by the distance calculation unit and an output of the spatial modulation unit. In the building limit measuring apparatus according to claim 2,
The three-dimensional image information output unit outputs a three-dimensional image by setting a portion within the building limit as red and outputting a three-dimensional image. In the building limit measuring apparatus according to claim 2 or 3,
The architectural limit measuring apparatus, wherein the spatial modulation unit is a micromirror array.

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