JP6494180B2 - Position measuring device - Google Patents

Description

  The present invention relates to a position measurement apparatus and a position measurement method for measuring a position of an object by specifying a detection location with a measurement head.

  A measurement head used in a three-dimensional measurement system or the like is provided with a probe, and the position of the probe is measured by designating a measurement location by bringing the tip of the probe into contact with a measurement object. A computer is connected to such a three-dimensional measurement system. Various processes such as measurement location registration and measurement result aggregation are performed by application software executed on the computer.

  Usually, an instruction to the computer is performed using an input device such as a mouse or a keyboard. In Patent Document 1, a trackball is provided on a measuring head, and a user can move a cursor on a computer screen by turning the trackball. In Patent Document 2, when an operation of an articulated arm provided with a measuring head is detected by an acceleration sensor and the articulated arm is operated at an acceleration equal to or higher than a threshold, an instruction is given to the computer by the measuring head. Switching.

Special table 2010-511860 gazette JP 2013-228215 A

  However, in the technique described in Patent Document 1, it is necessary to incorporate a trackball into the measurement head, which causes an increase in the number of parts of the measurement head and an increase in cost. In addition, every time the user operates, it is necessary to remove the line of sight from the measurement location and refer to the computer screen, resulting in a reduction in work efficiency. In particular, if the computer screen is small or the screen is behind the object to be measured, the operation becomes difficult.

  Moreover, in the technique described in Patent Document 2, it is necessary to incorporate an acceleration sensor that detects the acceleration of the articulated arm, which causes an increase in parts transfer and an increase in cost as in Patent Document 1. In addition, when the acceleration is equal to or higher than the threshold value, the operation is switched so that an instruction is given to the computer, so that the operation of the articulated arm may not match the user's sense. For example, when the user moves the multi-joint arm during measurement, if acceleration equal to or greater than the threshold naturally occurs, the mode is switched against the user's intention. On the other hand, even if the user moves the articulated arm in order to change the mode, the mode is not changed unless the acceleration exceeds the threshold value.

  An object of the present invention is to provide a position measuring apparatus and a position measuring method capable of executing desired processing by accurately switching between position measuring processing and command processing using a measuring head.

  The position measuring device of the present invention includes a measurement head that specifies a position detection position in a predetermined coordinate system, a coordinate acquisition unit that acquires coordinates in the coordinate system of the detection position specified by the measurement head, and the coordinate system And an area storage unit that stores the first area and the second area, and a control unit that executes processing based on the coordinates acquired by the coordinate acquisition unit. When the coordinates acquired by the coordinate acquisition unit are within the first region, the control unit executes a process for measuring the position of the object, and the coordinates acquired by the coordinate acquisition unit are within the second region. In some cases, a command processing unit that receives and executes a command associated with the second area is provided.

  According to such a configuration, measurement is performed when the position of the detection location designated by the measurement head is within the preset first area, and command processing is performed when the position is within the second area. For this reason, it becomes possible to accurately switch between measurement and command processing according to the position designated by the measurement head. In addition, since the command associated with the second area is executed, the user can specify the execution of the command without removing his / her line of sight.

  In the position measurement apparatus of the present invention, the second area includes a plurality of button setting areas, and the command processing unit is associated with a button setting area including coordinates acquired by the coordinate acquisition unit among the plurality of button setting areas. A command may be received and executed. According to such a configuration, the user can select and execute a command associated with a plurality of button setting areas.

  In the position measurement apparatus of the present invention, the second region may be a two-dimensional region or a three-dimensional region. If the second area is a two-dimensional area, command execution can be specified by specifying a plane with the measuring head. If the second area is a three-dimensional area, command execution can be specified by specifying a space with the measurement head.

  In the position measurement apparatus of the present invention, the second area may be set to an area based on the position and orientation of the measurement head at a predetermined timing. According to such a configuration, the relative position between the position and orientation of the measuring head and the second region is constant. Thereby, the position of the second region can be accurately grasped according to the posture of the measuring head.

  The position measuring method of the present invention includes a step of designating a detection location of a position in a predetermined coordinate system with a measurement head, a step of obtaining a coordinate in the coordinate system of the detection location designated by the measurement head with a coordinate acquisition unit When the coordinates acquired by the coordinate acquisition unit are within the first region in the coordinate system, the process of measuring the position of the object, and the coordinates acquired by the coordinate acquisition unit are the first in the coordinate system. A step of receiving and executing a command associated with the second area when the area is within the two areas.

  According to such a configuration, measurement is performed when the position of the detection location designated by the measurement head is within the preset first area, and command processing is performed when the position is within the second area. For this reason, it becomes possible to accurately switch between measurement and command processing according to the position designated by the measurement head. In addition, since the command associated with the second area is executed, the user can specify the execution of the command without removing his / her line of sight.

  In the position measurement method of the present invention, when the second area includes a plurality of button setting areas, in the step of receiving and executing a command, the button setting area including coordinates acquired by the coordinate acquisition unit among the plurality of button setting areas It is also possible to receive and execute a command associated with. According to such a configuration, the user can select and execute a command associated with a plurality of button setting areas.

It is a schematic diagram which illustrates the structure of the position measuring device which concerns on 1st Embodiment. It is a block block diagram of the position measuring device which concerns on 1st Embodiment. It is a flowchart which illustrates the 1st position measuring method. It is a flowchart which illustrates the 2nd position measuring method. (A) And (b) is a schematic diagram which shows the specific example of a position measuring method. (A) And (b) is a schematic diagram explaining 2nd Embodiment. (A) And (b) is a schematic diagram explaining 3rd Embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same members are denoted by the same reference numerals, and the description of the members once described is omitted as appropriate.

[First Embodiment]
FIG. 1 is a schematic view illustrating the configuration of the position measurement apparatus according to the first embodiment.
The position measuring apparatus 1 according to the present embodiment is an arm type three-dimensional measuring apparatus. The position measuring device 1 includes a measuring head 10 attached to the tip of the articulated arm 15, a coordinate acquisition unit 20 that acquires coordinates in a predetermined coordinate system, and an area that stores the first area R1 and the second area R2. The memory | storage part 30 and the control part 40 which performs various processes are provided.

  A rod-shaped measurement probe 11 is provided at the tip of the measurement head 10. A spherical probe 11 a is provided at the tip of the measurement probe 11. By bringing the measuring element 11a into contact with the detection location of the object OB, the coordinates of the contact point can be obtained.

  The measuring head 10 is provided with a handle 12. The handle 12 is a grip portion when the user holds the measuring head 10. The handle 12 is provided with a button 12a. The user can obtain the coordinates of the probe 11a at that time by pressing the button 12a.

  The articulated arm 15 is installed on the surface plate 100, for example. The articulated arm 15 supports the measurement head 10 and is configured to be able to move the measurement head 10 in various positions and directions according to the movement of the user holding the handle 12. The articulated arm 15 can be rotated about, for example, six axes. The articulated arm 15 is provided with an angle sensor 151 for each axis. When the user having the handle 12 moves the measuring head 10, the angle for each axis is output from the angle sensor 151 for each axis.

  The coordinate acquisition unit 20 calculates and outputs the coordinates of the detection location designated by the measurement head 10 based on the angle value output from the angle sensor 151 and the like. In the present embodiment, coordinates based on a three-dimensional coordinate system of X, Y, and Z are calculated. Specifically, when the measuring element 11a of the measuring head 10 contacts the detection position of the object OB, the angle X, the length of the arm, etc. output from the angle sensor 151, the contact point X, The coordinates of Y and Z are calculated.

  The area storage unit 30 is a part that stores the first area R1 and the second area R2 in the X, Y, Z coordinate system. The area storage unit 30 is provided in a storage area of the computer PC, for example. The first region R1 is a region for measuring the position of the object OB. The second region R2 is a region that does not overlap with the first region R1. In the example shown in FIG. 1, the second region R2 is set as a predetermined two-dimensional region (region on the XY plane) on the surface plate 100.

  The first region R1 and the second region R2 can be set using the measuring head 10. For example, the measurement head 10 designates the positions of a plurality of points W1 to W4 constituting the first region R1. Thereby, an area constituted by the plurality of points W1 to W4 is registered as the first area R1.

  For example, when the first region R1 is a rectangular parallelepiped region, the first point of the rectangular parallelepiped region is specified by specifying three points W1 to W3 on the surface plate 100 and a point W4 that determines the height direction (Z-axis direction). Region R1 is set. The region is not limited to a rectangular parallelepiped, but may be another shape such as a cylinder. By designating points for defining each shape, the first region R1 is set.

  Similarly, the second region R2 is also registered. For example, when the second region R2 is a rectangular region, two points V11 and V12 on the surface plate 100 are designated. Thereby, a second region R2 of a rectangular region with the two points V11 and V12 as diagonals is set. In the registration of the second area R2, a command associated with the second area R2 is also registered.

  The control unit 40 executes various processes based on the coordinates acquired by the coordinate acquisition unit 20. The coordinate acquisition unit 20 and the control unit 40 are realized by, for example, program processing executed by a computer. The coordinates obtained by the measurement are displayed on the display 45. The user uses the measurement head 10 to specify a detection location for detecting the position of the object OB, and proceeds with the measurement according to the content displayed on the display 45.

  In the present embodiment, the control unit 40 includes a position measurement processing unit and a command processing unit described later. The control unit 40 switches processing depending on whether the coordinates designated by the measuring head 10 are in the first region R1 or the second region R2.

FIG. 2 is a block configuration diagram of the position measuring apparatus according to the present embodiment.
A contact signal indicating that the measuring element 11a has contacted the object OB or the like is output from the measuring head 10 to the coordinate acquisition unit 20. This contact signal is also output when the button 12a is pressed.

  The coordinate acquisition unit 20 receives angle information output from the angle sensor 151. The coordinate acquisition unit 20 receives the angle information output from the angle sensor 151 at the timing of receiving the contact signal output from the measurement head 10. Then, the coordinates of the measuring element 11 a in the X, Y, Z coordinate system are calculated using the angle information and the like, and output to the control unit 40.

  The area storage unit 30 stores in advance coordinate data for specifying the first area R1 and coordinate data for specifying the second area R2. The first region R1 and the second region R2 can be changed depending on the setting of the position measuring device 1.

  The control unit 40 includes a position measurement processing unit 41 and a command processing unit 42. The position measurement processing unit 41 and the command processing unit 42 may be realized by program processing executed on the computer PC.

  The control unit 40 selects the processing by the position measurement processing unit 41 when the coordinates output from the coordinate acquisition unit 20 are within the first region R1. Moreover, the control part 40 selects the process by the command process part 42, when the coordinate output from the coordinate acquisition part 20 is in 2nd area | region R2.

  The position measurement processing unit 41 executes a process for measuring the position of the object OB. That is, the position measurement processing unit 41 performs a process of registering the coordinates output from the coordinate acquisition unit 20 as the measurement result at the detection location of the object OB. In the computer PC, a program for measuring the three-dimensional position of the object OB is executed. The position measurement processing unit 41 performs a process of inputting the coordinate value output from the coordinate acquisition unit 20 as an input of a measurement result in this program.

  On the other hand, the command processing unit 42 performs a process of receiving and executing a command associated with the second region R2. The association between the second region R2 and the command is registered in advance in the computer PC or the like. The command processing unit 42 uses the coordinates output from the coordinate acquisition unit 20 as a trigger for executing a predetermined command, instead of treating the coordinates as a measurement result at the detection location of the object OB. For example, if the command associated with the second region R2 is a “cancel” command, the command processing unit 42 sends a “cancel” command to the computer PC.

  As described above, in the position measurement apparatus 1 according to the present embodiment, when the detection location designated by the measurement head 10 is in the first region R1, the process of measuring the position of the object OB is performed, and the detection location is detected. Is within the second region R2, a process of executing a command for the computer PC is performed. That is, according to the position measuring apparatus 1 according to the present embodiment, the position measurement of the object OB and the command execution for the computer PC can be easily switched according to the position of the measurement head 10. As a result, the user can send a command to the computer PC only by bringing the probe 11a of the measuring head 10 into contact with the second region R2 without referring to the computer PC.

Next, the position measuring method by the position measuring apparatus 1 according to the present embodiment will be described with two examples.
FIG. 3 is a flowchart illustrating the first position measurement method.
First, as shown in step S101, it is determined whether or not measurement by the measuring head 10 is instructed. For example, when the touch probe type measuring element 11a is in contact with something or when the button 12a of the handle 12 is pressed, it is determined that there is an instruction for position measurement. If there is no position measurement instruction, it is determined that the measuring head 10 is moving, and the process ends.

  When the position measurement is instructed, the coordinates are calculated as shown in step S102. The coordinates are calculated by the coordinate acquisition unit 20 based on the angle information obtained from the angle sensor 151 at the timing when the detection location is designated.

  Next, as shown in step S103, area determination is performed. In the area determination, it is determined whether the coordinates of the detected location are within the first area R1, the second area, or other. The control unit 40 determines whether the coordinates calculated by the coordinate acquisition unit 20 belong to the first region R1 or the second region R2 set in advance in the X, Y, Z coordinate system. Determine if there is. If the coordinates are neither the first region R1 nor the second region R2, the process ends. If the coordinates belong to the first region R1, the position measurement process shown in step S104 is performed. In the position measurement process, the coordinates obtained by the calculation by the coordinate acquisition unit 20 are processed as the coordinates at the detection location of the object OB.

  On the other hand, if the coordinates belong to the second region R2, the command transmission process shown in step S105 is performed. In the command transmission process, a command associated with the second region R2 is transmitted to the computer PC.

  By such processing, the user can accurately switch between the measurement of the position of the object OB and the command transmission processing to the computer PC according to the position designated by the measuring head 10.

FIG. 4 is a flowchart illustrating the second position measurement method.
First, as shown in step S201, the coordinates of the measuring head 10 are calculated. The coordinates are calculated by the coordinate acquisition unit 20 based on angle information obtained from the angle sensor 151 and the like.

  Next, as shown in step S202, it is determined whether the calculated coordinates are in the first region R1, the second region, or other. The control unit 40 determines whether the coordinates calculated by the coordinate acquisition unit 20 belong to the first region R1 or the second region R2 set in advance in the X, Y, Z coordinate system. Determine if there is. If the coordinates are neither the first region R1 nor the second region R2, the process ends.

  When the coordinates belong to the first region R1, as shown in step S203, it is determined whether or not measurement by the measurement head 10 is instructed. For example, when the touch probe type measuring element 11a is in contact with something or when the button 12a of the handle 12 is pressed, it is determined that there is an instruction for position measurement. If there is no position measurement instruction, it is determined that the measuring head 10 is moving, and the process ends.

  When the position measurement is instructed by the measurement head 10, the position measurement process shown in step S204 is performed. In the position measurement process, the coordinates obtained by the calculation by the coordinate acquisition unit 20 are processed as the coordinates at the detection location of the object OB.

  On the other hand, if it is determined in step S202 that the coordinates belong to the second region R2, as shown in step S205, it is determined whether or not position measurement is instructed by the measurement head 10. If there is no position measurement instruction, it is determined that the measuring head 10 is moving, and the process ends.

  When the position measurement is instructed by the measuring head 10, the command transmission process shown in step S206 is performed. In the command transmission process, a command associated with the second region R2 is transmitted to the computer PC.

  By such processing, the user can accurately switch between the measurement of the position of the object OB and the command transmission processing to the computer PC according to the position designated by the measuring head 10.

Next, a specific example of the position measurement method will be described.
FIGS. 5A and 5B are schematic views showing a specific example of the position measuring method.
First, the first area R1 and the second area R2 are stored in the area storage unit 30 in advance. Each of the first region R1 and the second region R2 is registered as a region in the X, Y, Z coordinate system, for example. Here, the first region R1 is set to a region larger than the measurement object OB. For the second area R2, the command is associated with the registration of the area.

  In order to perform position measurement, first, the object OB is placed in the first region R1 of the surface plate 100. Then, as shown in FIG. 5A, the measuring element 11 a of the measuring head 10 is brought into contact with a location (detection location) where the position of the object OB is detected. When the measuring element 11 a contacts the object OB, a contact signal is sent to the coordinate acquisition unit 20. The coordinate acquisition unit 20 receives the angle of the angle sensor 151 attached to the articulated arm 15 at the timing when the contact signal is received, and calculates the coordinates of the detected portion.

  The control unit 40 receives the coordinates obtained by the calculation by the coordinate acquisition unit 20, and determines that the coordinates belong to the first region R1. Thereby, the control part 40 performs the process which selects the position measurement process part 41 and registers coordinates into computer PC as a position measurement result of the target object OB.

  Next, when the probe 11a of the measuring head 10 comes into contact with another detection point of the object OB, the coordinates obtained by the coordinate acquisition unit 20 are assumed to be in the first region R1 as before. The control unit 40 selects the position measurement processing unit 41 and performs processing for registering the coordinates in the computer PC as the position measurement result of the object OB. As long as the coordinates calculated by the coordinate acquisition unit 20 are within the first region R1, the coordinates are handled as the position measurement result of the object OB.

  As shown in FIG. 5B, it is assumed that the user moves the measuring head 10 and measures the second region R2 on the surface plate 100 with the measuring element 11a. As a result, a contact signal is sent from the measuring head 10 to the coordinate acquisition unit 20, and the coordinate acquisition unit 20 calculates the coordinates of the detected portion.

  The control unit 40 receives the coordinates obtained by the calculation by the coordinate acquisition unit 20, and determines that the coordinates belong to the second region R2. Thereby, the control part 40 performs the process which selects the command process part 42 and sends the command matched with 2nd area | region R2 to computer PC. The computer PC receives the command sent from the command processing unit 42 and executes processing based on this command.

  As described above, the user can switch between the mode for measuring the object OB and the mode for controlling the computer PC according to the position of the detection location designated by the measuring head 10. Therefore, it is possible to control the computer PC without referring to the display on the display 45 of the computer PC.

[Second Embodiment]
Next, the second embodiment will be described.
FIGS. 6A and 6B are schematic diagrams for explaining the second embodiment. 6A and 6B, the coordinate acquisition unit 20, the area storage unit 30, the control unit 40, and the computer PC are omitted for convenience of explanation.

  In the example shown in FIG. 6A, a plurality of button setting areas R21 to R25 are provided in the second area R2. In the example shown in FIG. 6A, five button setting areas R21 to R25 are provided, but the number is not limited to five.

  Each of the plurality of button setting areas R21 to R25 is a two-dimensional area that does not overlap each other. In the example shown in FIG. 6A, a plurality of button setting areas R21 to R25 are set as a two-dimensional area along the XY plane. The coordinates for determining the button setting areas R21 to R25 are stored in the area storage unit 30. The size and shape of each button setting area R21 to R25 can be freely set.

  A command is associated with each of the plurality of button setting areas R21 to R25. For example, when there are five button setting areas R21 to R25, five commands can be registered by associating them with each other.

  The associations between the five button setting areas R21 to R25 and the commands are registered in advance in the computer PC or the like. The button setting areas R21 to R25 can be associated with commands freely. For example, frequently used commands are associated with the button setting region R21 that is relatively close to the user's position. Further, a command that is surely transmitted is associated with the button setting region R25 having a wide range. The association between the button setting areas R21 to R25 and the command may be set according to the user's preference. In addition, a unified interface may be constructed by performing settings unique to the measuring device.

  The user selects a button assigned to the command to be sent to the computer PC from the plurality of button setting areas R21 to R25, and brings the probe 11a of the measuring head 10 into contact therewith. When the probe 11 a is brought into contact, the coordinates of the probe 11 a are calculated by the coordinate acquisition unit 20 and sent to the controller 40.

  The control unit 40 selects the command processing unit 42 when determining that the coordinates of the probe 11a sent from the coordinate acquisition unit 20 belong to the second region R2. The command processing unit 42 determines whether the coordinates of the measuring element 11a belong to any of the plurality of button setting areas R21 to R25, and transmits a command associated with the button setting areas R21 to R25 to the computer PC.

  Thus, the user can send the command to the computer PC by bringing the measuring element 11a of the measuring head 10 into contact with the command to be sent among the plurality of button setting areas R21 to R25. become able to.

  As an example, “start / stop of measurement program” in the button setting area R21, “screen enlargement” in the button setting area R22, “screen reduction” in the button setting area R23, “print” in the button setting area R24, and button setting area R25. Is assigned a “cancel” command. When the user wants to start the measurement program, the user touches the button setting region R21 with the probe 11a of the measurement head 10. As a result, the command processing unit 42 transmits a “measurement program start / stop” command assigned to the button setting area R21 to the computer PC, and the computer PC starts executing the measurement program. If the button setting region R21 is touched with the measuring element 11a during the execution of the measurement program, the measurement program is stopped.

  Similarly, for example, when it is desired to enlarge the display on the display 45, the button setting region R22 is touched with the measuring element 11a. As a result, a command “enlarge screen” is transmitted from the command processing unit 42 to the computer PC. When the button 11 is touched once with the measuring element 11a, the screen display is enlarged step by step. On the other hand, when the measuring element 11a touches the button setting region R23, a command “screen reduction” is transmitted from the command processing unit 42 to the computer PC, and the screen display is reduced. When printing is desired, the button setting area R24 is touched with the measuring element 11a. As a result, a “print” command is transmitted from the command processing unit 42 to the computer PC, and print output is performed.

  In this way, by assigning commands to the button setting areas R21 to R25, command transmission using the measuring head 10 can be performed. Even when the computer PC is at a remote position, the user can control the computer PC using the measuring head 10 at hand without moving to the position of the computer PC.

  In order to easily distinguish the plurality of button setting areas R21 to R25, for example, a boundary line or a label of each button setting area R21 to R25 may be provided on the surface plate 100. As a result, it can be used without hesitation in selection as if a button for transmitting a command is set on the surface plate 100.

  Further, the button setting areas R21 to R25 do not necessarily have to be on the surface plate 100. For example, any two-dimensional region such as an XY plane, an XZ plane, or a YZ plane away from the surface plate 100 may be used.

  In the example shown in FIG. 6B, the second region R2 is a three-dimensional region. In the second area R2, a plurality of button setting areas R26 to R30 are provided. In the example shown in FIG. 6B, five button setting areas R26 to R30 are provided, but the number is not limited to five.

  Each of the plurality of button setting areas R26 to R30 is a three-dimensional area that does not overlap each other. The coordinates for determining the button setting areas R26 to R30 are stored in the area storage unit 30. The size and shape of each button setting area R26 to R30 can be freely set. Further, for example, a space away from the surface plate 100 may be set as in the button setting area R30. The association between the plurality of button setting areas R26 to R30 and the command is registered in advance in the computer PC or the like.

  The user selects the button assigned to the command to be sent to the computer PC from among the plurality of button setting areas R26 to R30, and places the measuring element 11a of the measuring head 10 there. In this state, the button 12a provided on the handle 12 is pressed. When the button 12 a is pressed, the coordinates of the measuring element 11 a at that time are calculated by the coordinate acquisition unit 20 and sent to the control unit 40.

  The control unit 40 selects the command processing unit 42 when determining that the coordinates of the probe 11a sent from the coordinate acquisition unit 20 belong to the second region R2. The command processing unit 42 determines whether the coordinate of the measuring element 11a belongs to any of the plurality of button setting areas R26 to R30, and transmits a command associated with the button setting area R26 to R30 to the computer PC.

  As a result, the user places the probe 11a of the measuring head 10 on the button setting region R26 to R30 associated with the command to be sent and presses the button 12a, thereby pressing the command. It can be sent to a computer PC.

  In the example shown in FIG. 6B, it is possible to arrange virtual buttons for transmitting commands to any place in the space within the movement range of the measuring head 10. For this reason, virtual buttons can be arranged in a three-dimensional layout, and a wide variety of user interfaces can be realized.

[Third Embodiment]
Next, a third embodiment will be described.
FIGS. 7A and 7B are schematic views for explaining the third embodiment. 7A and 7B, the coordinate acquisition unit 20, the area storage unit 30, the control unit 40, and the computer PC are omitted for convenience of explanation.

  7A and 7B show an example in which the second region R2 is set based on the position and orientation of the measurement head 10. FIG. For example, as shown in FIG. 7A, it is assumed that the user presses the button 12b in a state where the measuring element 11a of the measuring head 10 is arranged at a position other than the first region R1. The coordinate acquisition unit 20 obtains the position (coordinates) of the measurement head 10 when the button 12b is pressed and the orientation of the tip of the measurement probe 11.

  Next, the control unit 40 sets the second region R2 based on the position and orientation of the measuring head 10 obtained by the coordinate acquisition unit 20. In the example illustrated in FIG. 7A, the second region R <b> 2 is set on the right side of the measurement head 10. That is, the second region R2 is set to a predetermined region on the right side with respect to the measurement head 10.

  With the second region R2 set, the user places the probe 11a of the measuring head 10 in the second region R2 and presses the button 12a. Thereby, the command associated with the second region R2 is transmitted to the computer PC.

  Thereafter, when the user places the probe 11a of the measuring head 10 in the first region R1 and contacts the object OB, the position of the object OB is measured. At this time, the previously set second region R2 may be canceled.

  Next, as shown in FIG. 7B, it is assumed that the standing position of the user has changed and the position of the measuring head 10 has changed significantly from the position shown in FIG. 7A. Assume that the user presses the button 12b in this state. The coordinate acquisition unit 20 obtains the position (coordinates) of the measurement head 10 when the button 12b is pressed and the orientation of the tip of the measurement probe 11.

  Next, the control unit 40 sets the second region R2 based on the position and orientation of the measuring head 10 obtained by the coordinate acquisition unit 20. In the example illustrated in FIG. 7B, the second region R <b> 2 is set on the right side of the measurement head 10. At this time, the second region R2 is set at a position different from the example shown in FIG. That is, the arrangement of the second region R2 changes according to the position and orientation of the measuring head 10.

  In a state where the second region R2 is set at a new position, the user places the probe 11a of the measuring head 10 in the second region R2 and presses the button 12a. Thereby, the command associated with the second region R2 is transmitted to the computer PC.

  Thus, in the present embodiment, the arrangement of the second region R2 is determined according to the position and orientation of the measurement head 10. That is, the second region R2 is set so that the relative position between the second region R2 and the measurement head 10 is constant. As a result, the user can accurately grasp the position of the second region R2 in relation to the posture of the measuring head 10. For example, assuming that the second region R2 is always set at a predetermined position on the right side of the measuring head 10, the user can use the measuring head 10 in any posture to move to the predetermined position on the right side of the measuring head 10. It becomes possible to perform command transmission processing by recognizing that there are two regions R2.

  In the above example, the example in which the second region R2 is set on the right side of the measuring head 10 is shown, but the same applies to other positions. A plurality of button setting areas may be set based on the position and orientation of the measuring head 10. Moreover, although the example which sets 2nd area | region R2 at the timing when a user depresses button 12a was shown, you may make it set 2nd area | region R2 at timings other than the press of button 12a. For example, there is a case where the probe 11a has stopped at that position for a certain period of time after leaving the first region R1. In this case, a notification indicating that the mode for measuring the object OB has been switched to the mode for controlling the computer PC (for example, a buzzer sound from the speaker of the measurement head 10 or the computer PC, an LED attached to the measurement head 10, or the like) The display means may be turned on).

  Also, the timing for sending the command to the computer PC by instructing the second region R2 is the position for a certain time when the measuring element 11a is in the second region R2 even if the button 12a is pressed or the button 12a is not pressed. The case where it stopped at is mentioned. When a command is transmitted, notification similar to the above may be performed.

  Further, the second region R2 may be set based on the position and orientation of the user. For example, the position and orientation of the user's face and body may be detected by a camera (not shown), and the second region R2 may be set based on the detected position and orientation. Thus, even when the user performs measurement work while changing the orientation of the face or body, the second region R2 is set according to the changing position and orientation of the user. For example, when the second region R2 is set on the right side of the user, the second region R2 is always set on the right side of the body regardless of the position and orientation of the user. Thus, command transmission processing can be performed accurately.

  As described above, according to the position measuring apparatus 1 and the position measuring method according to the present embodiment, the following effects are obtained. For example, the user can transmit a command to the computer PC without referring to the display 45 of the computer PC. In addition, since the process is switched depending on the coordinates of the detection location using the measurement head 10, it is not necessary to add special hardware for switching the process. Further, it is possible to define a virtual button for executing a command with a layout according to the user's preference. If the second region R2 is set near the measurement object OB, the operation of going to the computer PC arranged at a distant position and inputting a command becomes unnecessary, and the work efficiency is improved. Furthermore, since the command for the computer PC can be executed by the same operation as the position measurement, it is possible to easily execute the process switching without requiring special training or familiarity.

  As described above, according to the position measurement device 1 and the position measurement method according to the present embodiment, it is possible to execute desired processing by accurately switching between position measurement processing and command processing using the measurement head 10. .

  Although the present embodiment has been described above, the present invention is not limited to these examples. For example, those in which the person skilled in the art appropriately added, deleted, and changed the design of each of the above-described embodiments, and combinations of the features of each embodiment as appropriate, also have the gist of the present invention. As long as it is within the scope of the present invention.

  The present invention is suitable not only for a three-dimensional measuring machine using a multi-joint arm 15 but also for a three-dimensional measuring machine using a portal-type moving means, in which a user can move the measuring head 10 manually. Available to: In addition to the contact type probe as the measurement head 10, the present invention can also be applied to a position measuring apparatus using a non-contact type probe such as a laser probe.

DESCRIPTION OF SYMBOLS 1 ... Position measuring device 10 ... Measuring head 11 ... Measuring probe 11a ... Measuring element 12 ... Handle 12a ... Button 20 ... Coordinate acquisition part 30 ... Area memory | storage part 40 ... Control part 41 ... Position measurement processing part 42 ... Command processing part OB ... Object R1 ... 1st field R2 ... 2nd field

Claims (4)

A measuring head for designating a position detection position in a predetermined coordinate system;
A coordinate acquisition unit that acquires coordinates in the coordinate system of the detection location designated by the measurement head in response to an instruction for position measurement;
An area storage unit for storing the first area and the second area in the coordinate system;
A control unit that executes processing based on the coordinates acquired by the coordinate acquisition unit;
A camera that detects the position and orientation of the user;
With
The controller is
A position measurement processing unit that executes a process of measuring the position of an object when the coordinates acquired by the coordinate acquisition unit in the first region in response to an instruction for position measurement are in the first region;
A command processing unit that receives and executes a command associated with the second region when the coordinates acquired by the coordinate acquisition unit in the second region in response to an instruction for position measurement are in the second region;
With
The position measurement apparatus according to claim 1, wherein the second area is set to an area based on a position and orientation of a user detected by the camera at a predetermined timing. The second area includes a plurality of button setting areas,
The position measurement according to claim 1, wherein the command processing unit receives and executes a command associated with a button setting region including coordinates acquired by the coordinate acquisition unit among the plurality of button setting regions. apparatus.   The position measuring apparatus according to claim 1, wherein the second area is a two-dimensional area.   The position measuring apparatus according to claim 1, wherein the second area is a three-dimensional area.

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