JP5981758B2 - 3D measuring device - Google Patents

Description

  The present invention is configured so that the measurement probe can be directly moved by a hand by a measurer, and the three-dimensional shape and surface property of the measurement object are obtained by taking in the three-dimensional coordinate values of arbitrary points on the measurement object. The present invention relates to a three-dimensional measuring apparatus that performs such measurements.

2. Description of the Related Art Conventionally, a three-dimensional measuring apparatus having a plurality of articulated arms having a plurality of links connected in series via joint portions and supporting a measurement probe in a three-dimensional space so as to be movable with respect to an external force. It is known (see, for example, Patent Document 1).
Then, the measurer measures the object to be measured by holding the articulated arm directly in his hand and operating the articulated arm to bring the measurement probe into contact with the object to be measured.

JP 2000-28302 A

By the way, in the three-dimensional measuring apparatus as described above, software that operates on a PC (Personal Computer) is usually used.
That is, in order to measure an object to be measured, it is necessary to operate a PC such as a mouse or a keyboard in addition to the operation of the articulated arm.
When the measurer measures the object to be measured by holding the articulated arm directly in his hand, for example, when the PC is required and the PC is out of reach, It is necessary to release the hand from the articulated arm and go to the PC to operate the PC.
Therefore, there is a problem that usability cannot be improved.

  An object of the present invention is to provide a three-dimensional measuring apparatus capable of improving usability.

The three-dimensional measurement apparatus of the present invention has a measurement probe for measuring an object to be measured and a plurality of links connected in series via joints, and the measurement probe is externally provided in a three-dimensional space. and articulated arm for movably supported with respect to the force, the provided articulated arm, to detect an operation of the articulated arm, the operation detection device that outputs operation information about the operation, the articulated arm An operation device that outputs execution information for executing predetermined processing by being provided and operated, and detects a relative angle between the links provided on the articulated arm and connected to each other. comprising an angle detection device for outputting position information for calculating the position, and a control unit for executing various processes, wherein the control device, on the basis of the position information, calculates the position of the measuring probe A position calculation unit, an operation region setting unit that sets a space centered on the position of the measurement probe when the execution information for setting the operation region is input from the operation device, and the position calculation unit When the position of the measurement probe calculated in the above is located in the space , based on the motion information, the motion recognition unit for recognizing the motion of the articulated arm, and among the various processes, characterized in that and a processing execution unit for executing a process corresponding to the operation of the articulated arm, which is recognized by the operation recognition part.

In the present invention, a control device such as a PC constituting the three-dimensional measuring apparatus includes the above-described motion recognition unit and processing execution unit.
Thus, the measurer does not need to operate the mouse or the keyboard even when the PC needs to be operated when measuring the object to be measured while holding the articulated arm directly in the hand.
That is, the measurer can cause the motion recognition unit to recognize the motion and cause the processing execution unit to execute a process corresponding to the motion (recognize the operation of the PC) simply by moving the articulated arm.
Therefore, even when the PC is out of reach, the PC can be operated simply by operating the articulated arm, and the usability can be improved.

In the three-dimensional measurement apparatus of the present invention, the motion detection device is an acceleration sensor that detects an acceleration when the articulated arm moves, and the motion recognition unit has a predetermined acceleration detected by the acceleration sensor. It is preferable to recognize the motion of the articulated arm when the threshold value is exceeded.
By the way, the articulated arm is usually provided with an angle detection device such as an angle sensor for detecting a relative angle between the linked links. Then, the PC calculates the position of the measurement probe based on the relative angle between the links detected by the angle detection device.
Here, as the operation of the multi-joint arm, for example, it is conceivable that the operation recognition unit recognizes the operation of the multi-joint arm based on the relative angle detected by the angle detection device such as the angle sensor described above.
However, usually, a plurality of joints are provided, and in association therewith, a plurality of the angle detection devices described above are also provided. Complex calculations are required based on each relative angle. Therefore, there is a possibility that the processing of the control device becomes complicated.
In the present invention, the motion detection device is composed of an acceleration sensor.
This makes it possible for the motion recognition unit to easily recognize the motion of the multi-joint arm based on the output (motion information) from the acceleration sensor without performing complicated calculations.

By the way, as described above, the measurer moves the articulated arm by holding the articulated arm directly in the hand both when measuring the object to be measured and when operating the PC.
In the present invention, the motion recognition unit recognizes the motion of the articulated arm when the acceleration detected by the acceleration sensor is equal to or greater than a predetermined threshold (not when measuring the object to be measured but when operating the PC). Recognize that)
As a result, the motion recognition unit can discriminate between the time of measuring the object to be measured and the time of operating the PC based on the magnitude of the acceleration.
Therefore, even when the articulated arm is operated by the measurer at the time of measuring the object to be measured, the processing execution unit is not allowed to perform unnecessary processing.

  In the three-dimensional measurement apparatus of the present invention, the three-dimensional measuring apparatus includes an operation device that is provided in the multi-joint arm and outputs execution information for causing the process execution unit to execute a process by being operated, It is preferable that the operation of the articulated arm is recognized when the execution information is input from an operating device.

In the present invention, the motion recognition unit recognizes the motion of the articulated arm when the operating device provided in the articulated arm is operated and execution information is input from the operating device (when measuring the object to be measured). It is recognized that it is during PC operation).
As a result, the motion recognition unit can determine when the object to be measured is measured and when the PC is operated, depending on whether or not execution information is input.
Therefore, even when the articulated arm is operated by the measurer at the time of measuring the object to be measured, the processing execution unit is not allowed to perform unnecessary processing.
Further, by simply providing an operation device such as a switch on the articulated arm, the motion recognition unit can easily discriminate between the measurement of the object to be measured and the operation of the PC.

  The three-dimensional measurement apparatus of the present invention includes an angle detection device that is provided in the articulated arm and detects a relative angle between the linked links and outputs position information for calculating the position of the measurement probe. The control device includes a position calculation unit that calculates the position of the measurement probe based on the position information, and the operation recognition unit sets in advance the position of the measurement probe calculated by the position calculation unit. It is preferable that the movement of the articulated arm is recognized when it is located in the defined space.

In the present invention, the position calculation unit constituting the control device calculates the position of the measurement probe based on the position information from the angle detection device. The motion recognition unit recognizes the motion of the articulated arm when the position of the measurement probe calculated by the position calculation unit is located in a preset space (when measuring the object to be measured). It is recognized that it is during PC operation).
Thus, the motion recognition unit can determine when the object to be measured is measured and when the PC is operated, depending on the position of the measurement probe.
Therefore, even when the articulated arm is operated by the measurer at the time of measuring the object to be measured, the processing execution unit is not allowed to perform unnecessary processing.
In addition, the operation recognition unit can easily discriminate between the time of measuring the object to be measured and the time of operating the PC by using an existing configuration without providing an operation device such as a switch.

In the three-dimensional measurement apparatus of the present invention, it is preferable that the motion detection device is an acceleration sensor that detects an acceleration during movement of the articulated arm.
In the present invention, the motion detection device is composed of an acceleration sensor.
This makes it possible for the motion recognition unit to easily recognize the motion of the multi-joint arm based on the output (motion information) from the acceleration sensor without performing complicated calculations.

The figure which shows the structure of the three-dimensional measuring apparatus in 1st Embodiment. The figure which shows the structure of the articulated arm in 1st Embodiment. The block diagram which shows the control structure of the three-dimensional measuring apparatus in 1st Embodiment. The flowchart explaining operation | movement of the three-dimensional measuring apparatus in 1st Embodiment. The flowchart explaining operation | movement of the three-dimensional measuring apparatus in 1st Embodiment. The figure for demonstrating operation | movement of the three-dimensional measuring apparatus in 1st Embodiment. The figure for demonstrating operation | movement of the three-dimensional measuring apparatus in 1st Embodiment. The figure for demonstrating operation | movement of the three-dimensional measuring apparatus in 1st Embodiment. The figure for demonstrating operation | movement of the three-dimensional measuring apparatus in 1st Embodiment. The block diagram which shows the control structure of the three-dimensional measuring apparatus in 2nd Embodiment. The figure which shows the probe head in 2nd Embodiment. The flowchart explaining operation | movement of the three-dimensional measuring apparatus in 2nd Embodiment. The block diagram which shows the control structure of the three-dimensional measuring apparatus in 3rd Embodiment. The figure which shows the probe head in 3rd Embodiment. The flowchart explaining operation | movement of the three-dimensional measuring apparatus in 3rd Embodiment. The figure for demonstrating operation | movement of the three-dimensional measuring apparatus in 3rd Embodiment. The figure for demonstrating operation | movement of the three-dimensional measuring apparatus in 3rd Embodiment.

[First embodiment]
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a first embodiment of the invention will be described with reference to the drawings.
[Configuration of three-dimensional measuring device]
FIG. 1 is a diagram illustrating a configuration of a three-dimensional measurement apparatus 1 according to the first embodiment.
The three-dimensional measuring apparatus 1 is configured so that a measuring person can directly move the measuring probe 2 by hand, and by measuring the three-dimensional coordinate value of an arbitrary point on the object to be measured (not shown), Measure objects.
As shown in FIG. 1, the three-dimensional measuring apparatus 1 includes a measurement probe 2, an articulated arm 3, an angle sensor 4 (see FIG. 3) as an angle detection device, and an acceleration sensor 5 (see FIG. 3). 3) and a control device 6.

[Configuration of measurement probe]
In this embodiment, as shown in FIG. 1, the measuring probe 2 has a spherical measuring element 2A at the tip, and is used to obtain the coordinates of the contact point by bringing the measuring element 2A into contact with the surface of the object to be measured. It is comprised with the contact-type ball probe which is made.
Then, the measurement probe 2 outputs a touch signal to the control device 6 when the probe 2A comes into contact with the object to be measured.

[Configuration of articulated arm]
FIG. 2 is a diagram showing a configuration of the articulated arm 3.
The articulated arm 3 is configured to support the measurement probe 2 and to be able to move the measurement probe 2 with respect to external force (operation by the measurer) in the three-dimensional space.
As shown in FIG. 2, the multi-joint arm 3 includes a columnar column 3A, columnar first to sixth links 3B to 3G, first to sixth joint portions 3H to 3M, and a probe head 3N. With.
The column 3A is fixed to a work table or the like along the vertical axis Ax1 (FIG. 2).
The first joint 3H connects the column 3A and one end of the first link 3B in a state where the first link 3B is along the vertical axis Ax1.
And the 1st link 3B becomes rotatable centering on the vertical axis Ax1 with respect to the support | pillar 3A by being connected with the support | pillar 3A by the 1st joint part 3H.

The second joint portion 3I connects the other end of the first link 3B and one end of the second link 3C.
The first and second links 3B and 3C are connected to each other by the second joint portion 3I, so that the first and second links 3B and 3C can be relatively rotated about the horizontal axis Ax2 (FIG. 2).
The third joint portion 3J connects the other end of the second link 3C and one end of the third link 3D in a state in which the center axes Ax3 (FIG. 2) coincide with each other.
The second and third links 3C and 3D can be relatively rotated about the central axis Ax3 by being connected to each other by the third joint portion 3J.
The fourth joint 3K connects the other end of the third link 3D and one end of the fourth link 3E.
The third and fourth links 3D and 3E are connected to each other by the fourth joint portion 3K, so that the third and fourth links 3D and 3E can relatively rotate about the axis Ax4 (FIG. 2) orthogonal to the central axis Ax3.

The fifth joint 3L connects the other end of the fourth link 3E and one end of the fifth link 3F in a state in which the center axes Ax5 (FIG. 2) coincide with each other.
The fourth and fifth links 3E and 3F are connected to each other by the fifth joint portion 3L, so that the fourth and fifth links 3E and 3F can relatively rotate about the central axis Ax5.
The sixth joint 3M connects the other end of the fifth link 3F and one end of the sixth link 3G.
The fifth and sixth links 3F and 3G are connected to each other by the sixth joint portion 3M, so that the fifth and sixth links 3F and 3G can relatively rotate about the axis Ax6 (FIG. 2) orthogonal to the central axis Ax5.
As described above, the articulated arm 3 is configured to be operable with six axes.

The probe head 3N is attached to the other end of the sixth link 3G and supports the measurement probe 2.
As shown in FIG. 2, the probe head 3 </ b> N is provided with a handle 3 </ b> O that can be grasped by a measurer by hand when operating the multi-joint arm 3.
Further, the handle 3O is provided with a measurement end button 3P that outputs a measurement end signal to the control device 6 to end the measurement when pressed by the measurer.

[Configuration of angle sensor]
Although not specifically shown, the angle sensor 4 is attached to the first to sixth joint portions 3H to 3M, respectively.
The six angle sensors 4 detect relative rotation angles of the first to sixth links 3B to 3G connected to each other by the first to sixth joint portions 3H to 3M.
For example, the angle sensor 4 provided in the first joint portion 3H detects a relative rotation angle about the vertical axis Ax1 between the support 3A and the first link 3B.
Then, the six angle sensors 4 output an angle detection signal (position information) corresponding to the detected rotation angle to the control device 6.

[Configuration of acceleration sensor]
Although not specifically shown, the acceleration sensor 5 is attached to the probe head 3N and detects the operation of the multi-joint arm 3 (acceleration of the probe head 3N).
In addition, since the acceleration sensor 5 is a well-known technique, it abbreviate | omits about detailed description.
In the present embodiment, the acceleration sensor 5 detects each acceleration when the probe head 3N is moved in the vertical and horizontal directions when viewed from the measuring element 2A along the central axis Ax7 of the sixth link 3G. .
Then, the acceleration sensor 5 outputs an acceleration detection signal (motion information) corresponding to the detected acceleration to the control device 6.

[Configuration of control device]
FIG. 3 is a block diagram showing a control structure of the three-dimensional measuring apparatus 1.
As shown in FIG. 3, the control device 6 includes a control device main body 61 having a CPU (Central Processing Unit) and a hard disk, an input device 62 composed of a mouse and a keyboard, and a display device 63 such as a display. Prepare.
The control device main body 61 includes a touch signal output from the measurement probe 2, an angle detection signal output from the angle sensor 4, an acceleration detection signal output from the acceleration sensor 5, and a measurement end signal output from the measurement end button 3P. Various processes are executed based on the above.
As shown in FIG. 3, the control device main body 61 includes a position calculation unit 61A, an operation recognition unit 61B, a process execution unit 61C, and first and second memories 61D and 61E.

The position calculation unit 61A reads each rotation angle detected by the angle sensor 4 when a touch signal is input from the measurement probe 2 (inputs an angle detection signal), and the rotation angle and the first to sixth links 3B. The center coordinate value of the measuring element 2A is calculated on the basis of each length of ˜3G.
Then, the position calculation unit 61A sequentially stores the calculated center coordinate values in the first memory 61D every time a touch signal is input.
Based on the acceleration detection signal from the acceleration sensor 5, the motion recognition unit 61 </ b> B recognizes the motion of the articulated arm 3 (movement of the probe head 3 </ b> N in any one of up, down, left, and right directions).
In the present embodiment, the motion recognition unit 61B is configured to recognize the motion of the articulated arm 3 when the acceleration of the probe head 3N based on the acceleration detection signal from the acceleration sensor 5 is equal to or greater than a predetermined threshold. Has been.

The process execution unit 61C performs measurement items (for example, circular measurement, sphere measurement, cylindrical measurement) according to the motion of the articulated arm 3 recognized by the motion recognition unit 61B based on the related information stored in the second memory 61E. Measurement, cone measurement, etc.).
In addition, when the measurement end signal is input from the measurement end button 3P, the process execution unit 61C reads each center coordinate value stored in the first memory 61D and, based on each center coordinate value, as described above. Data processing is executed according to the measurement item determined in step (b).

The first memory 61D stores the center coordinate value calculated by the position calculation unit 61A.
The second memory 61E stores related information used by the process execution unit 61C.
The related information is information in which the operation of the articulated arm 3 (movement of the probe head 3N in the vertical and horizontal directions) and the measurement item are associated with each other.
In the present embodiment, the circular measurement is associated with the upward movement of the probe head 3N, the sphere measurement is associated with the rightward movement, and the cylindrical measurement is associated with the downward movement. The cone measurement is associated with the movement to the left.

[Operation of CMM]
Next, the operation of the three-dimensional measuring apparatus 1 will be described with reference to the drawings.
4 and 5 are flowcharts for explaining the operation of the three-dimensional measuring apparatus 1.
6 to 9 are diagrams for explaining the operation of the three-dimensional measuring apparatus 1.
First, when the measurer turns on the power of the three-dimensional measuring apparatus 1, the motion recognition unit 61B constantly monitors whether or not the acceleration detection signal from the acceleration sensor 5 has been input (step ST1).
In step ST1, when it is determined as “Y”, the motion recognition unit 61B determines whether or not the acceleration of the probe head 3N based on the input acceleration detection signal is equal to or greater than a predetermined threshold (step ST2).
If the operation recognition unit 61B determines “N” in step ST2, the operation recognition unit 61B proceeds to the process of step ST1 again.

On the other hand, if it is determined as “Y” in step ST2, the motion recognition unit 61B determines whether or not the probe head 3N has moved upward based on the input acceleration detection signal (step ST3). .
If the operation recognition unit 61B determines “N” in step ST3, the operation recognition unit 61B proceeds to the process of step ST1 again.
On the other hand, when it is determined “Y” in step ST3, the control device main body 61 shifts to a selection mode in which the measurer selects a measurement item (step ST4).

After step ST4, the action recognition unit 61B performs the same processing as steps ST1 and ST2 (steps ST5 and ST6).
When the motion recognition unit 61B determines “Y” in step ST6 (when the acceleration of the probe head 3N is equal to or greater than a predetermined threshold), the motion recognition unit 61B determines that the probe head 3N is based on the input acceleration detection signal. It is determined in which direction, up, down, left and right (steps ST7 to ST9).

For example, when the operation recognition unit 61B determines that the probe head 3N has moved upward (FIG. 6) (when it is determined “Y” in step ST7), the process execution unit 61C performs the second operation. Based on the related information stored in the memory 61E, it is recognized that the circle measurement is selected as the measurement item (step ST10).
In addition, when the operation recognition unit 61B determines that the probe head 3N has moved to the right (FIG. 7) (when it is determined “Y” in step ST8), the process execution unit 61C performs the second operation. Based on the related information stored in the memory 61E, it is recognized that the sphere measurement is selected as the measurement item (step ST11).
Furthermore, when the operation recognizing unit 61B determines that the probe head 3N has moved downward (FIG. 8) (when it is determined “Y” in step ST9), the process executing unit 61C performs the second operation. Based on the related information stored in the memory 61E, it is recognized that the cylindrical measurement is selected as the measurement item (step ST12).
In addition, when the operation recognition unit 61B determines that the probe head 3N has moved leftward (FIG. 9) (when it is determined “N” in step ST9), the process execution unit 61C performs the second operation. Based on the related information stored in the memory 61E, it is recognized that the cone measurement is selected as the measurement item (step ST13).

After steps ST10 to ST13, the control device main body 61 shifts to a measurement mode in which the measurer performs measurement according to the measurement item selected in steps ST10 to ST13 (step ST14).
Then, in the measurement mode, the measurer operates the articulated arm 3 to sequentially bring the measuring element 2A into contact with the object to be measured so as to satisfy the number of measurement points required for the selected measurement item.
After step ST14, each time the position calculation unit 61A inputs a touch signal from the measurement probe 2, the position calculation unit 61A reads each rotation angle detected by the angle sensor 4, and the rotation angle and the first to sixth links 3B to 3B. Based on each 3G length or the like, the center coordinate value of the probe 2A is calculated (step ST15). The position calculation unit 61A stores the calculated center coordinate value in the first memory 61D.

After step ST15, the process execution unit 61C determines whether or not the measurement end signal from the measurement end button 3P is input (step ST16).
When the determination is “N” in step ST16, the control device main body 61 proceeds to the process of step ST15.
On the other hand, if the process execution unit 61C determines “Y” in step ST16, the process execution unit 61C reads each center coordinate value stored in the first memory 61D and, based on each center coordinate value, steps ST10 to ST13. Data processing is executed according to the measurement item selected in (ST17).

The first embodiment described above has the following effects.
In this embodiment, the control apparatus 6 which comprises the three-dimensional measuring apparatus 1 is provided with the operation | movement recognition part 61B and the process execution part 61C.
As a result, the measurer operates the input device 62 such as a mouse or a keyboard even when the PC needs to be operated when measuring the object to be measured by holding the articulated arm 3 directly in the hand. There is no need to do.
That is, the measurer simply moves the articulated arm 3 to cause the motion recognition unit 61B to recognize the motion, and causes the processing execution unit 61C to execute a process corresponding to the motion (recognizes the operation of the PC). Can do.
Therefore, even when the input device 62 is out of reach, the PC can be operated simply by operating the articulated arm 3, and the usability can be improved.

In the present embodiment, since the motion detection device according to the present invention is configured by the acceleration sensor 5, the motion recognition unit 61B can be articulated based on the output from the acceleration sensor 5 without performing complicated calculations. The operation of the arm 3 can be easily recognized.
Furthermore, the motion recognition unit 61B recognizes the motion of the articulated arm 3 when the acceleration detected by the acceleration sensor 5 is equal to or greater than a predetermined threshold (not when measuring the object to be measured but when operating the PC). ).
Thus, the motion recognition unit 61B can discriminate between the time of measuring the object to be measured and the time of operating the PC based on the magnitude of the acceleration.
Therefore, even when the articulated arm 3 is operated by the measurer at the time of measuring the object to be measured, the processing execution unit 61C is not allowed to perform unnecessary processing.

[Second Embodiment]
Next, a second embodiment of the present invention will be described.
In the following, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
FIG. 10 is a block diagram showing a control structure of the three-dimensional measuring apparatus 1 in the second embodiment.
FIG. 11 is a diagram showing a probe head 3N in the second embodiment.
In the first embodiment, the motion recognition unit 61B recognizes the motion of the articulated arm 3 when the acceleration of the probe head 3N is equal to or greater than a predetermined threshold.
On the other hand, in the second embodiment, as shown in FIG. 10 or FIG. 11, an operating device that outputs an operation signal (execution information) to the control device 6 when pressed by a measurer. The operation button 3Q is provided. Then, the motion recognition unit 61B recognizes the motion of the articulated arm 3 when the measurement button is pressed by the measurer (when an operation signal is input).

Next, the operation of the three-dimensional measuring apparatus 1 in the second embodiment will be described.
FIG. 12 is a flowchart for explaining the operation of the three-dimensional measuring apparatus 1 in the second embodiment.
First, when the measurer turns on the power of the coordinate measuring apparatus 1, the motion recognition unit 61B constantly monitors whether or not an operation signal is output from the operation button 3Q (step ST18).
In step ST18, when the motion recognition unit 61B determines “Y”, the motion recognition unit 61B determines whether an acceleration detection signal from the acceleration sensor 5 is input (step ST19).
If the operation recognition unit 61B determines “N”, the operation recognition unit 61B proceeds to the process of step ST18 again.
On the other hand, if it is determined as “Y” in step ST17, the control device main body 61 executes the processes of steps ST3 to ST17 as in the first embodiment (see FIGS. 4 and 12).

According to the second embodiment described above, there are the following effects in addition to the same effects as in the first embodiment.
In the present embodiment, the motion recognition unit 61B recognizes the motion of the multi-joint arm 3 when the operation button 3Q provided on the multi-joint arm 3 is operated and an operation signal is input from the operation button 3Q (measurement under measurement). Recognize that it is not the time of measuring an object but the operation of a PC).
Thus, the motion recognition unit 61B can determine when the object to be measured is measured and when the PC is operated based on whether or not an operation signal is input from the operation button 3Q.
Therefore, even when the articulated arm is operated by the measurer when measuring the specified object, the processing execution unit 61C is not allowed to perform unnecessary processing.
Further, only by providing the operation button 3Q, the operation recognition unit 61B can easily discriminate between the time of measuring the object to be measured and the time of operating the PC.

[Third embodiment]
Next, a third embodiment of the present invention will be described.
In the following, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
In the first embodiment, the motion recognition unit 61B recognizes the motion of the articulated arm 3 when the acceleration of the probe head 3N is equal to or greater than a predetermined threshold.
On the other hand, in the third embodiment, the motion recognition unit 61B has a case where the center coordinate value of the measuring element 2A calculated by the position calculation unit 61A is positioned in a predetermined space Sp (see FIG. 16). In addition, the movement of the articulated arm 3 is recognized.

FIG. 13 is a block diagram showing a control structure of the three-dimensional measuring apparatus 1 in the third embodiment.
FIG. 14 is a diagram showing a probe head 3N in the third embodiment.
Specifically, as shown in FIG. 13 or FIG. 14, the probe head 3 </ b> N is provided with a display unit 3 </ b> R that displays a predetermined image under the control of the control device main body 61.
Further, as shown in FIG. 13, the control device main body 61 includes an operation area setting unit 61F, in addition to the position calculation unit 61A, the motion recognition unit 61B, the process execution unit 61C, and the first and second memories 61D and 61E. A third memory 61G and a display control unit 61H are provided.
The operation region setting unit 61F sets the space Sp used when the motion recognition unit 61B recognizes the motion of the articulated arm 3.
In addition, the operation area setting unit 61F stores information (coordinate values of the three-dimensional space) regarding the set space Sp in the third memory 61G.
Then, the motion recognition unit 61B operates the multi-joint arm 3 when the center coordinate value of the probe 2A calculated by the position calculation unit 61A is positioned in the space Sp stored in the third memory 61G. Recognize
The display control unit 61H controls the operation of the display unit 3R to display a predetermined image on the display unit 3R.

Next, the operation of the three-dimensional measuring apparatus 1 in the third embodiment will be described.
FIG. 15 is a flowchart for explaining the operation of the three-dimensional measuring apparatus 1 in the third embodiment.
FIG. 16 is a diagram for explaining the operation of the three-dimensional measurement apparatus 1 in the third embodiment.
First, when the measurer turns on the power of the coordinate measuring apparatus 1, the operation area setting unit 61F confirms whether or not the information regarding the space Sp is stored in the third memory 61G (step ST20).
In step ST20, when it is determined “N”, the control device main body 61 shifts to a setting mode for setting the space Sp (step ST21).

After step ST21, the measurer operates the multi-joint arm 3, and as shown in FIG. 16, is separated from the position (the position indicated by the two-dot chain line in FIG. 16) where the multi-joint arm 3 is operated in the measurement mode. The probe 2A is positioned at a position (a position indicated by a solid line in FIG. 16).
Then, when the measurer presses the measurement end button 3P, the space Sp is set by the following processing.

That is, the operation area setting unit 61F determines whether or not a measurement end signal is input from the measurement end button 3P (step ST22).
When the determination is “N” in step ST22, the control device main body 61 proceeds to the process of step ST21.
On the other hand, if it is determined as “Y” in step ST22, the operation area setting unit 61F reads each rotation angle detected by the angle sensor 4 when the measurement end signal is input, Based on the lengths of the first to sixth links 3B to 3G, the center coordinate value of the measuring element 2A is calculated (step ST23).
After step ST23, the operation area setting unit 61F sets a space Sp (coordinate value of a three-dimensional space) centered on the central coordinate value of the measuring element 2A calculated in step ST23 (step ST24).
Then, the operation area setting unit 61F stores information regarding the set space Sp in the third memory 61G.
After setting the space Sp by the above processes ST22 to ST24, the control device main body 61 proceeds to the process of step ST20.

When it is determined as “Y” in step ST20, the position calculation unit 61A reads each rotation angle detected by the angle sensor 4, and the rotation angle and each of the first to sixth links 3B to 3G are read. Based on each length or the like, the center coordinate value of the probe 2A is calculated (step ST25).
After step ST25, the motion recognition unit 61B determines whether or not the central coordinate value of the probe 2A calculated in step ST25 is positioned in the space Sp stored in the third memory 61G (step ST26). .
If the determination is “N” in step ST26, the control device main body 61 proceeds to the process of step ST25.

On the other hand, when it is determined as “Y” in step ST26 due to the operation of the articulated arm 3 by the measurer, the display control unit 61H controls the operation of the display unit 3R, and displays the display unit 3R in FIG. An image on which the characters “input operation is permitted” is displayed (step ST27).
After step ST27, the motion recognition unit 61B constantly monitors whether or not the acceleration detection signal from the acceleration sensor 5 has been input (step ST28).
If the determination is “Y” in step ST28, the control device main body 61 executes the processing of steps ST3 to ST17 as in the first embodiment (see FIGS. 4 and 15).

According to the third embodiment described above, there are the following effects in addition to the same effects as in the first embodiment.
In the present embodiment, the position calculation unit 61A calculates the center coordinate value of the probe 2A based on each rotation angle detected by the angle sensor 4. Then, the motion recognition unit 61B recognizes the motion of the articulated arm 3 when the position of the probe 2A calculated by the position calculation unit 61A is located in the preset space Sp (measured object). Recognize that it is not the time of measuring an object but the operation of a PC).
Thus, the motion recognition unit 61B can discriminate between the time of measuring the object to be measured and the time of operating the PC based on the position of the probe 2A.
Therefore, even when the articulated arm is operated by the measurer when measuring the object to be measured, the processing execution unit 61C is not allowed to perform unnecessary processing.
Further, the operation recognition unit 61B can easily discriminate between the time of measuring the object to be measured and the time of operating the PC by using an existing configuration without providing an operation device such as a switch.

Further, since the image on which the character “input operation is possible” is displayed on the display unit 3 </ b> R in a state where the position of the measuring element 2 </ b> A is positioned in the space Sp, the measurer can operate the articulated arm 3. Thus, the state in which the PC can be operated can be easily recognized.
In addition, since the space Sp can be set to an arbitrary space, it can be set to an appropriate space Sp according to the use environment of the three-dimensional measuring apparatus 1, and convenience can be improved.

Note that the present invention is not limited to the above-described embodiment, and modifications, improvements, and the like within a scope in which the object of the present invention can be achieved are included in the present invention.
In each embodiment, the measurement probe 2 is not limited to the contact type probe described in each embodiment. For example, a non-contact type probe such as an image probe using a CCD (Charge Coupled Device) camera or an image sensor, or a laser scanning type laser probe may be employed as the measurement probe.
In each of the above embodiments, the multi-joint arm 3 includes six links and joints, and is configured to be operable with six axes. However, the present invention is not limited thereto, and includes other numbers of links and joints. It may be configured to be operable with five or seven axes.
In the third embodiment, the image displayed on the display unit 3 </ b> R is not limited to the image described in the third embodiment, but allows the measurer to recognize a state in which the PC can be operated by operating the articulated arm 3. Other images may be used as long as the images can be used.

  The present invention is configured so that the measurement probe can be directly moved by a hand by a measurer, and the three-dimensional shape and surface property of the measurement object are obtained by taking in the three-dimensional coordinate values of arbitrary points on the measurement object. It can be used for a three-dimensional measuring apparatus that performs such measurements.

DESCRIPTION OF SYMBOLS 1 ... Three-dimensional measuring apparatus 2 ... Measuring probe 3 ... Articulated arm 3B-3G ... Link 3H-3M ... Joint part 3Q ... Operation button (operating device)
4. Angle sensor (angle detection device)
5 ... Accelerometer (motion detection device)
6 ... Control device 61A ... Position detection unit 61B ... Motion recognition unit 61C ... Processing execution unit Sp ... Space

Claims (4)

A measurement probe for measuring an object to be measured;
A multi-joint arm having a plurality of links connected in series via a joint, and supporting the measurement probe movably with respect to an external force in a three-dimensional space;
A motion detection device provided in the multi-joint arm, detecting a motion of the multi-joint arm and outputting motion information relating to the motion;
An operating device that is provided in the multi-joint arm and outputs execution information for executing predetermined processing by being operated;
An angle detection device that is provided in the articulated arm, detects a relative angle between the linked links, and outputs position information for calculating the position of the measurement probe;
And a control unit for executing various processes,
The controller is
A position calculating unit that calculates the position of the measurement probe based on the position information;
An operation region setting unit that sets a space centered on the position of the measurement probe when the execution information for setting the operation region is input from the operation device;
An operation recognition unit that recognizes the operation of the multi-joint arm based on the operation information when the position of the measurement probe calculated by the position calculation unit is located in the space ;
Wherein among the various processes, three-dimensional measuring device, characterized in that and a processing execution unit for executing the processing corresponding to the recognized movement of the articulated arm in the operation recognition portion. The three-dimensional measuring apparatus according to claim 1,
The motion detection device includes:
An acceleration sensor for detecting acceleration during movement of the articulated arm;
The motion recognition unit
The three-dimensional measuring apparatus, wherein the motion of the articulated arm is recognized when the acceleration detected by the acceleration sensor is equal to or greater than a predetermined threshold. The three-dimensional measuring apparatus according to claim 1 ,
Before Symbol behavior recognition unit,
A three-dimensional measuring apparatus that recognizes the movement of the articulated arm when the execution information is input from the operating device. The three-dimensional measuring apparatus according to any one of claims 1 to 3 ,
The motion detection device includes:
A three-dimensional measuring apparatus, wherein the three-dimensional measuring apparatus is an acceleration sensor that detects an acceleration during movement of the articulated arm.

Images