JP2011154436A - Working situation monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a working situation monitoring device for enabling an operator to monitor a working situation of a workpiece through an image generated by a camera selected from a plurality of cameras. <P>SOLUTION: The working situation monitoring device 1 includes: a model data updating unit 17 for updating three-dimensional model data, based on an operation command obtained from a control unit 60; a positional relationship recognition unit 18 for recognizing a positional relationship among a plurality of cameras 11, 12, 13, 14, a tool, and the workpiece at each preset time, based on camera parameters, updated model data, and position information of the tool obtained from the control unit 60; a camera selection unit 20 for selecting the cameras 11, 12, 13, 14 for generating two-dimensional image data where the tip of the tool is not hidden by the workpiece, based on the recognized positional relationship; and a camera switching unit 21 for displaying the two-dimensional image data generated by the selected cameras 11, 12, 13, 14 on a screen display device 66. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a machining status monitoring device that displays a monitoring image of a workpiece machining status in a machine tool on a screen display device.

  In general, a machine tool is provided with a cover surrounding a processing region in which a workpiece is processed in order to ensure safety. Although this cover is provided with a window, the range that the operator can visually recognize through this window is limited, and there is a limit for the operator to monitor the machining status of the workpiece from this window.

  Therefore, conventionally, for example, a machine tool disclosed in JP-A-4-310106 has been proposed. This machine tool divides a plurality of video cameras, a display device that displays images obtained from these video cameras, and a display screen of the display device into the same number of display areas as the video cameras, and images obtained from each video camera. Is provided in each display area.

  According to this machine tool, even when the operator cannot sufficiently monitor the workpiece machining status from the cover window, the operator can view the workpiece from a plurality of angles using a plurality of images displayed on the display device. The processing status of can be monitored.

JP-A-4-310106

  However, as described above, when all the images obtained from each video camera are displayed uniformly, some of these images have the tip of the tool hidden by the workpiece. Even images that are not very useful for monitoring will be displayed. In addition, since the display screen is divided into a plurality of display areas and images obtained from the respective video cameras are displayed, the images displayed in the respective display areas must be reduced. It may be difficult to confirm details. Further, when an image obtained from each video camera is displayed together with the control state of the machine tool, if the display area of the image obtained from each video camera is widened, the display area of the control state to be originally displayed becomes narrow, and the operator Makes it difficult to check the control status of the machine tool.

  Therefore, when a plurality of video cameras are installed in a machine tool, at least an image in which the tip of the tool is not hidden by the workpiece among images obtained from the plurality of video cameras, that is, an image that can confirm the tip of the tool is at least. If one is displayed, it is not difficult to monitor the machining status through the display image, and it is not difficult to confirm the control state of the machine tool.

  The present invention has been made in view of the above circumstances, and an operator processes a workpiece through an image generated by at least one camera selected from a plurality of cameras, in which the tip of a tool is not hidden by the workpiece. The purpose is to provide a machining status monitoring device capable of monitoring the status.

To achieve the above object, the present invention provides:
A machining operation mechanism unit that relatively moves a tool and a workpiece, and a control unit that analyzes a machining program, extracts an operation command of the machining operation mechanism unit, and controls the operation of the machining operation mechanism unit based on the extracted operation command An apparatus for monitoring the machining status of a machine tool equipped with
A plurality of cameras that capture at least the tool and the workpiece from different viewpoints at regular time intervals and sequentially generate two-dimensional image data thereof;
Screen display means for displaying two-dimensional image data generated by the camera;
Camera parameter storage means for storing camera parameters indicating the position and orientation of the plurality of cameras;
Based on the operation command obtained from the control means and the data relating to the three-dimensional model of the tool, workpiece and machining operation mechanism unit, the tool, workpiece and machining when the machining operation mechanism unit operates according to the operation command. Model data updating means for generating and updating model data of the operation mechanism unit;
Based on the camera parameters stored in the camera parameter storage means, the model data updated by the model data updating means, and the position information of the tool obtained from the control means, the plurality of cameras, tools, and at least Positional relationship recognition means for recognizing the positional relationship of the work at preset time intervals;
Camera selection means for selecting a camera capable of generating two-dimensional image data in which at least the tip of the tool is not hidden by the workpiece among the plurality of cameras based on the positional relation recognized by the positional relation recognition means;
The present invention relates to a processing status monitoring apparatus comprising: a camera switching unit that causes the screen display unit to display two-dimensional image data generated by a camera selected by the camera selection unit.

  According to this invention, when the machining program is executed by the control means, that is, the machining program is analyzed by the control means to extract the operation command of the machining operation mechanism unit, and the machining operation is performed based on the extracted operation command. When the mechanism is controlled and the tool and workpiece are moved relative to each other, the screen display is performed while the camera for generating the two-dimensional image data to be displayed on the screen display means is switched at predetermined time intervals as follows. A monitoring image is displayed on the means.

  First, when the machining operation mechanism unit operates according to the operation command by the model data update unit based on the operation command obtained from the control means and the model data (three-dimensional model data) of the tool, workpiece and machining operation mechanism unit. The model data of the tool, workpiece and machining operation mechanism are generated and updated.

  Next, based on the camera parameters stored in the camera parameter storage means, the model data updated by the model data updating means, and the tool position information obtained from the control means, a plurality of cameras and tools are obtained by the positional relationship recognition means. And at least the positional relationship of the workpiece is recognized.

  For example, for a plurality of cameras, from the camera parameters, the intersection of the imaging surface of the camera and the optical axis and the center point of the camera lens are recognized, and the tool tip position before and after the tool movement is recognized from the tool position information, From the model data, the position and shape of the workpiece are recognized. Alternatively, the intersection between the imaging surface of the camera and the optical axis, the center point of the camera lens, the tool tip position after the tool is moved, and the arrangement position and shape of the workpiece are recognized.

  Next, based on the positional relationship recognized by the positional relationship recognition means, two-dimensional image data in which the tip of the tool is not hidden by at least the workpiece among the plurality of cameras is displayed by the camera selection means (the tip of the tool is displayed 2). A camera capable of generating (dimensional image data) is determined, and this camera is selected. Note that two or more cameras may be selected at this time.

  For example, for a plurality of cameras, a triangular plane formed by connecting three points of the intersection of the imaging surface of the camera and the optical axis, the center point of the camera lens, and the tool tip position before and after the tool movement. And whether or not there is an intersection between the workpiece shape and the workpiece shape. Or is there an intersection between the shape of the workpiece and the line connecting the two points of the intersection of the imaging surface of the camera and the optical axis, the center point of the camera lens, and the tool tip position after moving the tool? Each is confirmed.

  For a camera that has been confirmed to have an intersection, it is determined that the camera is not capable of generating two-dimensional image data in which the tip of the tool is not hidden. It is determined that the camera is capable of generating two-dimensional image data in which the tip of the camera is not hidden, and the camera is selected from those confirmed to have no intersection.

  Thereafter, the two-dimensional image data generated by the camera selected by the camera selection means is displayed on the screen display means by the camera switching means. In this way, the two-dimensional image data obtained from the camera is displayed on the screen display means while the camera is switched.

  Thus, according to the machining status monitoring apparatus according to the present invention, the two-dimensional image data generated by the selected at least one camera and in which the tip of the tool is not hidden is sequentially displayed on the screen display means. The operator can sufficiently monitor the machining status of the workpiece through the display image.

  Moreover, since the two-dimensional image data in which the tip of the tool is not hidden is displayed, it is possible to omit the display of an image that is not very useful for monitoring the machining status, and furthermore, all images are displayed uniformly. Compared to the above, the display image is not reduced, and the operator can confirm the processing status through the display image in detail. Further, even if the control state of the machine tool is displayed on the screen display means together with the image obtained from the camera, the display region of the control state is not unnecessarily narrow, and the operator can also control the control state of the machine tool. It can be fully confirmed. In addition, since the image displayed on the screen display means is automatically switched, it is possible to save the operator from selecting at least one image and switching to a desired image.

  The processing status monitoring device can generate two-dimensional image data in which the tip of the tool is not hidden by at least the workpiece among the plurality of cameras, based on the positional relationship recognized by the positional relationship recognition unit. Selection candidate extracting means for extracting a camera as a camera selection candidate, wherein the camera selection means selects and determines one camera from among the camera selection candidates extracted by the selection candidate extraction means; and the camera selection candidate When deciding on one camera from the above, check whether the camera selected last time is included in the current camera selection candidate, and if it is determined that it is included, the same as the previous time The camera may be configured to determine.

  In this way, first, based on the positional relationship recognized by the positional relationship recognition unit, the selection candidate extraction unit extracts a camera capable of generating two-dimensional image data in which the tip of the tool is not hidden as a camera selection candidate. The This extraction process is performed, for example, in the same manner as the above-described process in which the camera is selected by the camera selection unit based on the positional relationship recognized by the positional relationship recognition unit.

  When camera selection candidates are extracted, one camera is selected and determined from the extracted camera selection candidates by the camera selection means. In this case, it is confirmed whether or not the camera selected last time is included in the current camera selection candidate, and if it is determined that it is included, the same camera as the previous camera is determined.

  In this way, if the same camera as the previous one is selected and determined, the number of times of camera switching during workpiece machining can be reduced. As a result, the direction in which the tool and workpiece are viewed changes frequently, making it difficult to understand from which direction, and it is possible to prevent the machining status from becoming difficult to monitor.

The present invention also provides:
A machining operation mechanism unit that relatively moves a tool and a workpiece, and a control unit that analyzes a machining program, extracts an operation command of the machining operation mechanism unit, and controls the operation of the machining operation mechanism unit based on the extracted operation command An apparatus for monitoring the machining status of a machine tool equipped with
A plurality of cameras that capture at least the tool and the workpiece from different viewpoints at regular time intervals and sequentially generate two-dimensional image data thereof;
Screen display means for displaying two-dimensional image data generated by the camera;
A camera that associates and stores a type of machining executed by the machining program and a camera that can generate two-dimensional image data in which at least the tip of the tool is not hidden by the workpiece during the machining among the plurality of cameras. Information storage means;
Machining type recognition means for recognizing the type of machining based on an operation command obtained from the control means;
Based on the processing type recognized by the processing type recognition unit and the data stored in the camera information storage unit, a two-dimensional image to be displayed on the screen display unit, a camera corresponding to the processing type Camera selection means for selecting as a camera for generating data;
The present invention relates to a processing status monitoring apparatus comprising: a camera switching unit that causes the screen display unit to display two-dimensional image data generated by a camera selected by the camera selection unit.

  In the present invention, when the machining program is analyzed by the control means and the operation command of the machining operation mechanism unit is extracted, and the machining operation mechanism unit is controlled based on the extracted operation command and the tool and the workpiece are relatively moved. In the following manner, the monitoring image is displayed on the screen display means while the camera for generating the two-dimensional image data to be displayed on the screen display means is switched. The camera information storage means can generate two-dimensional image data in which the tip of the tool is not hidden by the workpiece during processing, for example, the type of processing executed by the processing program (for example, peripheral processing or pocket hole processing). At least one camera is associated and stored in advance.

  First, based on an operation command (for example, a G code indicating a fixed cycle) obtained from the control means, the processing type is recognized by the processing type recognition means, and the recognized processing type is stored in the camera information storage means. Based on the obtained data, the camera selection means selects a camera corresponding to the type of processing as a camera for generating two-dimensional image data to be displayed on the screen display means.

  Then, the two-dimensional image data generated by the selected camera is displayed on the screen display means by the camera switching means. In this way, the two-dimensional image data obtained from the camera is displayed on the screen display means while the camera is switched.

  Thus, even with the machining status monitoring device according to the present invention, two-dimensional image data generated by at least one selected camera that does not hide the tip of the tool can be sequentially displayed on the screen display means. The operator can sufficiently monitor the machining status of the workpiece through the display image.

  Moreover, since the two-dimensional image data in which the tip of the tool is not hidden is displayed, it is possible to omit the display of an image that is not very useful for monitoring the machining status, and furthermore, all images are displayed uniformly. Compared to the above, the display image is not reduced, and the operator can confirm the processing status through the display image in detail. Further, even if the control state of the machine tool is displayed on the screen display means together with the image obtained from the camera, the display region of the control state is not unnecessarily narrow, and the operator can also control the control state of the machine tool. It can be fully confirmed. In addition, since the image displayed on the screen display means is automatically switched, it is possible to save the operator from selecting at least one image and switching to a desired image.

  The camera information storage means is configured to prevent the tip of the tool from being hidden by at least the workpiece among the plurality of cameras when the tool moves to the position information of the tool and the position related to the position information. It is configured to store camera information associated with a camera capable of generating dimensional image data for each type of processing, and the camera selection unit includes: a processing type recognized by the processing type recognition unit; Based on the camera information stored in the camera information storage means and the tool position information obtained from the control means, the camera corresponding to the machining type and the tool position information is displayed on the screen display means. The camera may be configured to select at predetermined time intervals as a camera that generates power two-dimensional image data.

  In this case, the camera information storage means is associated with the tool position information and a camera capable of generating two-dimensional image data in which the tip of the tool is not hidden by the workpiece when the tool moves to a position related to the position information. The camera information is stored in advance for each type of processing. The camera associated with the tool position information can generate two-dimensional image data in which the tip of the tool is not hidden, for example, a camera that can generate an image in which the tool approaches or an image in which the tool leaves. A camera capable of reducing the number of times of camera switching during workpiece machining can be mentioned.

  Then, when the camera is selected by the camera selection means, the processing type recognized by the processing type recognition means, the camera information stored in the camera information storage means, and the tool position information obtained from the control means. Based on the processing type and the tool position information, the camera corresponding to the processing type and the tool position information is selected as a camera that generates two-dimensional image data to be displayed on the screen display means.

  Therefore, in this way, since it is possible to sequentially switch to a preset camera based on the type of machining and the tool position information, a more appropriate image can be displayed on the screen display means. In addition, if the camera information that can reduce the number of times of camera switching during workpiece processing is set in the camera information, the direction in which the tool and workpiece are viewed changes frequently, making it difficult to understand from which direction, On the contrary, it is possible to prevent the processing status from becoming difficult to monitor.

  As the machining operation mechanism unit, when the machine tool is a machining center, for example, a spindle for holding a tool, a table on which a workpiece is placed, a feed mechanism unit for relatively moving the spindle and the table, and the like can be given. When the machine tool is a lathe, for example, a turret for holding a tool, a main shaft for holding a workpiece, a feed mechanism section for relatively moving the turret and the main shaft, and the like can be given.

  As described above, according to the machining status monitoring apparatus according to the present invention, the operator can process the workpiece through the image generated by the camera selected from the plurality of cameras and the tip of the tool is not hidden by the workpiece. Therefore, it is possible to accurately grasp the machining status of the workpiece. In addition, unnecessary monitoring images can be omitted from being displayed, and the monitoring image and the image relating to the control state of the machine tool can be prevented from becoming unnecessarily small, so that the visibility of the operator can be improved.

It is the block diagram which showed schematic structure, such as the processing condition monitoring apparatus which concerns on one Embodiment of this invention. It is the perspective view which showed schematic structure of the machine tool provided with the processing condition monitoring apparatus of this embodiment. It is the top view which showed the arrangement | positioning relationship of the some CCD camera arrange | positioned at the machine tool. It is explanatory drawing which showed the example of an image obtained from a some CCD camera. It is explanatory drawing for demonstrating the process for discriminating the CCD camera which can produce | generate the two-dimensional image data which does not hide the front-end | tip of a tool. It is the flowchart which showed a series of processes in the camera selection part of this embodiment. It is the flowchart which showed the CCD camera switching process of this embodiment. It is the block diagram which showed schematic structure, such as the processing condition monitoring apparatus which concerns on other embodiment of this invention. It is explanatory drawing which showed the data structure of the data stored in the camera information storage part of other embodiment of this invention. 6 is a flowchart illustrating a CCD camera switching process according to another embodiment of the present invention.

  Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a block diagram showing a schematic configuration of a machining status monitoring device and the like according to one embodiment of the present invention, and FIG. 2 is a schematic configuration of a machine tool provided with the machining status monitoring device of this embodiment. It is the perspective view which showed. FIG. 3 is a plan view showing an arrangement relationship of a plurality of CCD cameras arranged on the machine tool.

  As shown in FIG. 1, the processing status monitoring apparatus 1 of this example includes a plurality (four in this example) of CCD cameras 11, 12, 13, and 14, a camera parameter storage unit 15, a model data storage unit 16, and model data. The update unit 17, the positional relationship recognition unit 18, the selection candidate extraction unit 19, the camera selection unit 20, the camera switching unit 21, and the screen display device 66 are provided, for example, in a machine tool 50 called a machining center as shown in FIG. It is done.

  First, the machine tool 50 will be described. As shown in FIGS. 1 and 2, the machine tool 50 includes a bed 51, a first saddle 52 disposed on the bed 51, which is movable in the horizontal direction and the front-rear direction (Y-axis direction), A second saddle 53 disposed on one saddle 52 and movable in the horizontal direction and in the left-right direction (X-axis direction) and supported by the second saddle 53 and movable in the vertical direction (Z-axis direction). The spindle head 54, the spindle 55 is supported by the spindle head 54 so that the axis is parallel to the Z axis and rotatable about the axis, the tool T is mounted on the lower end, the bed 51, and the workpiece W on the upper surface. , A Y-axis feed mechanism 57, an X-axis feed mechanism 58, and a Z-axis feed mechanism 59 that move the first saddle 52, the second saddle 53, and the spindle head 54 in the respective movement directions. And the operation of each feed mechanism 57, 58, 59 And a control unit 60 for controlling, and an operation panel 65 connected to the controller 60.

  The bed 51 has a structure in which side walls 51a, 51b, 51c are provided on the left and right sides and the back side, and the first saddle 52 is disposed on the left and right side walls 51a, 51b. The table 56 is disposed on the side wall 51c. The operation panel 65 is provided with the screen display device 66. The screen display device 66 is controlled by the control device 60 and images obtained from the CCD cameras 11, 12, 13, and 14. Is displayed. The operation panel 65 is provided with an input device for inputting various signals (not shown).

  The control device 60 includes a program storage unit 60a for storing a machining program created in advance, and controls the feed mechanism units 57, 58, and 59 based on the machining program stored in the program storage unit 60a. Specifically, the machining program is analyzed for each block, and operation commands relating to the movement position and feed speed of the tool T (each feed mechanism unit 57, 58, 59) are sequentially extracted. Each feed mechanism 57, 58, 59 is controlled based on feedback signals obtained from the mechanisms 57, 58, 59.

  Further, the control device 60 transmits the extracted operation command to the model data update unit 17. Further, the control device 60, after the elapse of a preset time (for example, several milliseconds) based on the extracted operation command and the current position, current speed and moving direction of the tool T mounted on the spindle 55. After that, the movement position of the tool T is predicted every preset time, and the predicted movement position (position information of the tool T) is sequentially transmitted to the positional relationship recognition unit 18.

  The first saddle 52, the second saddle 53, the spindle head 54, the spindle 55, the table 56, the Y-axis feeding mechanism 57, the X-axis feeding mechanism 58, and the Z-axis feeding mechanism 59 are within the scope of the claims. It functions as a machining operation mechanism.

  Next, the processing status monitoring apparatus 1 will be described. As described above, the processing status monitoring apparatus 1 includes the CCD cameras 11, 12, 13, and 14 (the first CCD camera 11, the second CCD camera 12, the third CCD camera 13, and the fourth CCD camera 14), the camera parameter storage unit 15, A model data storage unit 16, a model data update unit 17, a positional relationship recognition unit 18, a selection candidate extraction unit 19, a camera selection unit 20, a camera switching unit 21, and a screen display device 66 are provided.

  As shown in FIGS. 2 and 3, the CCD cameras 11, 12, 13, and 14 are arranged so as to surround the work W on the table 56, and are configured to be able to image the work W from four directions. Specifically, the first CCD camera 11 and the second CCD camera 12 are attached to the front upper part and the rear upper part of the left side wall 51a of the bed 51 via brackets 11a and 12a, respectively. The 4CCD camera 14 is attached to the front upper part and the rear upper part of the right side wall 51b of the bed 51 via brackets 13a and 14a, respectively. The CCD cameras 11, 12, 13, and 14 sequentially generate 2D image data by capturing the tool T mounted on the spindle 55 and the workpiece W on the table 56 at regular time intervals, and generating 2D data. The dimensional image data is output to the camera switching unit 21.

  An example of the image generated at this time is shown in FIG. 4A is the first CCD camera 11, FIG. 4B is the second CCD camera 12, FIG. 4C is the third CCD camera 13, and FIG. 4D is the fourth CCD camera 14. Each of the image data generated by is shown. In addition to the tool T and the workpiece W, these images include a part of the bed 51, a part of the spindle head 54, a part of the spindle 55, and a part of the table 56.

  The camera parameter storage unit 15 stores internal parameters and external parameters related to the CCD cameras 11, 12, 13, and 14 as camera parameters. The internal parameters are specific to each CCD camera 11, 12, 13, and 14, and include, for example, principal point coordinates, a scale factor, and distortion between two axes of an image. On the other hand, the external parameter represents the arrangement position and orientation of each CCD camera 11, 12, 13, 14 in the coordinate system of the machine tool 50. Note that these parameters are calculated in advance by a calibration process.

  The model data storage unit 16 stores data (model data) relating to a three-dimensional model of the entire machine tool 50 that is created in advance. The model data of the entire machine tool 50 includes model data of main components of the machine tool 50 such as the bed 51, the first saddle 52, the second saddle 53, the spindle head 54, the spindle 55, and the table 56, and the spindle 55. The model data of the tool T mounted on the table 56 and the model data of the workpiece W placed on the table 56, and the model data of each component, the tool T and the workpiece W are associated with each other. Composed.

  The model data update unit 17 includes a first saddle 52 and a second saddle based on the model data of the entire machine tool 50 stored in the model data storage unit 16 and the operation command transmitted from the control device 60. 53. The model data of the entire machine tool 50 is generated for each block so that the head 53 and the spindle head 54 are moved according to the operation command, and the generated model data is stored in the model data storage unit 16, and this model data storage unit The model data in 16 is updated. When the first saddle 52, the second saddle 53, and the spindle head 54 are moved, if there is an overlapping portion between the model data of the tool T and the model data of the workpiece W, the overlapping portion is cut. The model data of the workpiece W is generated so that the cutting region is deleted from the workpiece W, and the model data of the entire machine tool 50 is updated.

  The positional relationship recognition unit 18 includes camera parameters stored in the camera parameter storage unit 15, position information of the tool T transmitted from the control device 60, and information about the tool T mounted on the spindle 55 (for example, , Tool information such as tool diameter and tool length) and the model data updated by the model data updating unit 17, the positional relationship among the CCD cameras 11, 12, 13, 14, the tool T, and the workpiece W is determined. Recognize every preset time.

  For example, for each CCD camera 11, 12, 13, 14, based on the camera parameters, the intersection of the imaging surface of the CCD camera 11, 12, 13, 14 and the optical axis, and the lens of the CCD camera 11, 12, 13, 14, A center point is recognized, and the tip position of the tool T at the present time (before the tool movement) and the tip position of the tool T after a preset time (after the tool movement) are obtained from the position information and tool information of the tool T. And the arrangement position of the workpiece W and the shape of the workpiece W are recognized from the model data.

  The selection candidate extracting unit 19 is a two-dimensional model in which the tip of the tool T is not hidden by the workpiece W from the CCD cameras 11, 12, 13, and 14, based on the positional relationship recognized by the positional relationship recognition unit 18. CCD cameras 11, 12, 13, and 14 capable of generating image data are extracted as camera selection candidates.

  For example, as shown in FIG. 5, first, for each CCD camera 11, 12, 13, 14, the intersection K between the imaging surface of the CCD camera 11, 12, 13, 14 and the optical axis, or the CCD camera 11, 12, 13. , 14 and the tip position L, M of the tool T before and after the tool movement (tip position L before movement, tip position M after movement) is connected to a triangular plane P And confirm whether or not there is an intersection between the plane P and the shape of the workpiece W. For the CCD cameras 11, 12, 13, and 14 determined to have an intersection, it is recognized that it is not possible to generate two-dimensional image data in which the tip of the tool T is not hidden, while the CCD is determined to have no intersection. For the cameras 11, 12, 13, and 14, it is recognized that two-dimensional image data in which the tip of the tool T is not hidden can be generated. Thereafter, the CCD cameras 11, 12, 13, and 14 determined to have no intersection are recognized and extracted as camera selection candidates. At this time, if there is no CCD camera 11, 12, 13, or 14 determined to have no intersection, the preset CCD cameras 11, 12, 13, and 14 are recognized and extracted as camera selection candidates.

  FIG. 5A is an explanatory diagram for explaining processing for confirming whether or not the first CCD camera 11 can generate two-dimensional image data in which the tip of the tool T is not hidden. FIG. 5B is an explanatory diagram for explaining processing for confirming whether or not the second CCD camera 12 can generate two-dimensional image data in which the tip of the tool T is not hidden. is there. In the illustrated example, the first CCD camera 11 is not capable of generating two-dimensional image data in which the plane P and the workpiece W intersect and the tip of the tool T is not hidden, while the second CCD camera 12 The plane P and the workpiece W do not intersect with each other, and two-dimensional image data in which the tip of the tool T is not hidden can be generated.

  The camera selection unit 20 executes a series of processes as shown in FIG. 6, and based on the camera selection candidates extracted by the selected camera extraction unit 19, one CCD camera 11, Select 12, 13 and 14 and decide.

  That is, the camera selection unit 20 first receives and recognizes the camera selection candidate extracted by the selected camera extraction unit 19 (step S1), and then selects the previously determined CCD cameras 11, 12, 13, and 14. Recognize (step S2).

  Then, it is checked whether or not the CCD camera 11, 12, 13, 14 recognized in step S2 is included in the camera selection candidates recognized in step S1 (step S3), and is determined to be included. In some cases, the CCD cameras 11, 12, 13, and 14 recognized in step S2 are determined (step S4). For example, if the camera selection candidates recognized in step S1 are A, B, and C, and the camera determined last time is A, the common selection is A.

  On the other hand, when it is determined in step S3 that it is not included, one CCD camera 11, 12, 13, 14 is selected and determined from the camera selection candidates recognized in step S1 (step S5). When one CCD camera 11, 12, 13, 14 is determined in this way, the above series of processing is terminated.

  The camera switching unit 21 causes the screen display device 66 to display two-dimensional image data generated by the CCD cameras 11, 12, 13, and 14 selected and determined by the camera selection unit 20.

  According to the machining status monitoring apparatus 1 of the present example configured as described above, when the machining program is executed by the control device 60, that is, the machining program is sequentially analyzed for each block by the control device 60, and an operation command is issued. When the feed mechanisms 57, 58, 59 are controlled based on the extracted operation commands and the tool T and the workpiece W are moved relative to each other, they should be displayed on the screen display device 66 as follows. While the CCD cameras 11, 12, 13, and 14 that generate the two-dimensional image data are switched at preset time intervals (while the two-dimensional image data displayed on the screen display device 66 is switched), the screen display device 66. A monitoring image is displayed on the screen.

  Specifically, as illustrated in FIG. 7, first, the operation command transmitted from the control device 60 is received by the model data update unit 17 (step S11), and the model data update unit 17 updates the model data. (Step S12), the positional information of the tool T transmitted from the control device 60 is received by the positional relationship recognition unit 18 (Step S13). The positional relationship recognition unit 18 receives the CCD cameras 11, 12, 13, 14, and the tool T. And the positional relationship of the workpiece | work W is recognized (step S14).

  Next, camera selection candidates are extracted by the selection candidate extraction unit 19 (step S15), and one CCD camera 11, 12, 13, 14 is selected and determined by the camera selection unit 20 (step S16). Then, the two-dimensional image data generated by the determined CCD cameras 11, 12, 13, and 14 is displayed on the screen display device 66 by the camera switching unit 21 (step S17).

  Thereafter, it is confirmed whether or not the machining program has been completed (step S18). If the machining program has not been completed, new position information of the tool T transmitted from the control device 60 is received by the positional relationship recognition unit 18. (Step S19), and if it is received, the processing after Step S14 is executed. On the other hand, if it has not been received in step S19, it is confirmed whether or not a new operation command transmitted from the control device 60 has been received by the model data updating unit 17 (step S20). The processes after step S12 are executed. If not received in step S20, the processing from step S19 onward is executed. Further, when the machining program is finished in the step S18, the above series of processing is finished.

  As described above, according to the processing status monitoring apparatus 1 of this example, the two-dimensional image data generated by the selected CCD cameras 11, 12, 13, and 14 without hiding the tip of the tool T is displayed on the screen display device 66. Since the images are sequentially displayed, the operator can sufficiently monitor the processing status of the workpiece W through the display image.

  In addition, since the two-dimensional image data in which the tip of the tool T is not hidden is displayed, it is possible to omit the display of an image that is not very useful for monitoring the machining status, and to display all the images uniformly. Compared to the conventional case, the display image is not reduced, and the operator can check the processing status through the display image in detail. Further, even if the control state of the machine tool 50 and the images obtained from the CCD cameras 11, 12, 13, and 14 are simultaneously displayed on the screen display device 66, the display area of the control state does not become unnecessarily narrow. The operator can sufficiently check the control state of the machine tool 50. Further, since the image displayed on the screen display device 66 is automatically switched, it is possible to save the operator from selecting one image and switching to a desired image.

  Further, when extracting the camera selection candidates, it is confirmed whether there is an intersection between the triangular plane P formed by connecting the three points and the workpiece W, and which CCD camera 11, Since it is determined whether 12, 13, and 14 are CCD cameras 11, 12, 13, and 14 that can generate two-dimensional image data in which the tip of the tool T is not hidden, the tool T can be processed with relatively simple processing. It is possible to discriminate the CCD cameras 11, 12, 13, and 14 that are capable of generating two-dimensional image data that does not cover the tip of the camera.

  Further, when the CCD cameras 11, 12, 13, and 14 are switched, the same CCD cameras 11, 12, 13, and 14 as those of the previous time are selected and determined, so that the number of times of camera switching when processing the workpiece W is reduced. Can do. As a result, the direction in which the tool T and the workpiece W are viewed frequently changes, making it difficult to understand the direction from which the tool T and the workpiece W are viewed. On the other hand, it is possible to prevent difficulty in monitoring the machining status.

  As mentioned above, although one Embodiment of this invention was described, the specific aspect which this invention can take is not limited to this at all.

  For example, the machining status monitoring device 1 may be configured as a machining status monitoring device 2 as shown in FIG. In this case, as shown in FIG. 8, the processing status monitoring apparatus 2 includes a plurality of CCD cameras 11, 12, 13, and 14, a camera information storage unit 31, a processing type recognition unit 32, a camera selection unit 33, and a camera switching unit. 21 and a screen display device 66. In addition, about the same component as the said process condition monitoring apparatus 1, the same code | symbol is attached | subjected and the detailed description is abbreviate | omitted.

  The camera information storage unit 31 stores camera information for each type of processing such as outer periphery processing and pocket hole processing executed by a processing program. As shown in FIG. 9, the camera information is obtained by the work W among the CCD cameras 11, 12, 13, and 14 when the tool T moves to the position related to the position information and the position related to the position information. Information relating to one CCD camera 11, 12, 13, 14 capable of generating two-dimensional image data in which the tip of the tool T is not hidden is associated with each other.

  The CCD cameras 11, 12, 13, and 14 associated with the tool position information can generate two-dimensional image data in which the tip of the tool T is not hidden. Possible CCD cameras 11, 12, 13, and 14 and CCD cameras 11, 12, 13, and 14 that can generate an image in which the tool T moves away. For example, when the tool T moves as shown in FIG. 4, the CCD camera 11, 12, 13, 14 that can generate an image approaching the tool T includes the second CCD camera 12, while the tool T As the CCD cameras 11, 12, 13, and 14 that can generate images that move away from each other, a fourth CCD camera 14 can be cited.

  The machining type recognition unit 32 recognizes the type of machining executed by the machining program based on an operation command (for example, a G code indicating a fixed cycle) transmitted from the control device 60.

  The camera selection unit 33 includes a processing type recognized by the processing type recognition unit 32, camera information stored in the camera information storage unit 31, and position information of the tool T transmitted from the control device 60. The CCD cameras 11, 12, 13, 14 for generating the two-dimensional image data to be displayed on the screen display device 66 by the CCD cameras 11, 12, 13, 14 corresponding to the processing type and the position information of the tool T are used. 14 is selected and determined every preset time.

  According to the processing status monitoring device 2, when the processing program is executed by the control device 60, the CCD cameras 11 and 12 that generate two-dimensional image data to be displayed on the screen display device 66 as follows. , 13, 14 are switched at preset time intervals, and the monitoring image is displayed on the screen display device 66.

  Specifically, as shown in FIG. 10, first, an operation command transmitted from the control device 60 is received by the machining type recognition unit 32 (step S31), and the machining type is recognized by the machining type recognition unit 32. After (step S32), the position information of the tool T transmitted from the control device 60 is received by the camera selection unit 33 (step S33), and the camera information stored in the camera information storage unit 31 is recognized by the camera selection unit 33. (Step S34).

  Next, one CCD camera 11, 12, 13, 14 is selected and determined by the camera selection unit 33 (step S35), and the two-dimensional image data generated by the determined CCD camera 11, 12, 13, 14 is obtained. The image is displayed on the screen display device 66 by the camera switching unit 21 (step S36).

  Thereafter, whether or not the machining program has been completed is confirmed (step S37). If the machining program has not been completed, whether or not new position information of the tool T transmitted from the control device 60 has been received by the camera selection unit 33. It is confirmed whether or not (step S38), and if it is received, the processing after step S34 is executed. On the other hand, if it is not received in step S38, it is confirmed whether or not a new operation command transmitted from the control device 60 has been received by the machining type recognition unit 32 (step S39). The processes after step S32 are executed. If not received in step S39, the processing from step S38 onward is executed. Further, when the machining program is finished in step S37, the above series of processing is finished.

  As described above, according to the machining status monitoring device 2, the two-dimensional image data generated by the selected CCD cameras 11, 12, 13, and 14 without hiding the tip of the tool T is sequentially displayed on the screen display device 66. Therefore, the operator can obtain the same effect as the processing status monitoring apparatus 1 such that the processing status of the workpiece W can be sufficiently monitored through the display image.

  Further, since it is possible to sequentially switch to the preset CCD cameras 11, 12, 13, and 14 based on the processing type, camera information, and position information of the tool T, a more appropriate image is displayed on the screen display device 66. be able to. Furthermore, if the CCD cameras 11, 12, 13, and 14 that can reduce the number of times of camera switching when processing the workpiece W are set as camera information, the direction in which the tool T and the workpiece W are viewed changes frequently. It is difficult to understand from which direction the user is looking, and on the other hand, it is possible to prevent difficulty in monitoring the machining status.

  In the above example, the camera information is stored in the camera information storage unit 31 for each type of processing. However, the camera information storage unit 31 simply stores the type of processing and the CCD cameras 11, 12, 13. , 14, one CCD camera 11, 12, 13, 14 capable of generating two-dimensional image data in which the tip of the tool T is not hidden by the workpiece W may be stored in association with each other. In this case, the camera selection unit 33 uses the CCD cameras 11, 12, and 12 corresponding to the processing types based on the processing types recognized by the processing type recognition unit 32 and the data stored in the camera information storage unit 31. 13 and 14 are selected and determined as CCD cameras 11, 12, 13, and 14 that generate two-dimensional image data to be displayed on the screen display device 66.

  Further, when the control device 60 is configured to transmit not the operation command but the position information of the tool T to the model data update unit 17, the model data update unit 17 includes the model data storage unit. 16, the first saddle 52, the second saddle 53, and the spindle head 54 (tool T) are based on the model data of the entire machine tool 50 stored in 16 and the position information of the tool T transmitted from the control device 60. The model data of the entire machine tool 50 is updated so as to be moved to the position according to the position information, and the positional relationship recognition unit 18 is configured to update the entire machine tool 50 stored in the model data storage unit 16. From the model data, the position of the workpiece W and the shape of the workpiece W after the current or preset time has elapsed (before or after the tool movement) CCD cameras 11, 12, 13, 14, configured to recognize the positional relationship between the tool T and the workpiece W.

  In the above example, when the selection candidate extraction unit 19 extracts CCD cameras 11, 12, 13, and 14 that can generate two-dimensional image data in which the tip of the tool T is not hidden as the camera selection candidates, 3 of the intersection point K of the imaging surface of 11, 12, 13, 14 and the optical axis, the center point K of the lens of the CCD camera 11, 12, 13, 14 and the tip position L, M of the tool T before and after the tool movement. Triangular planes P are formed by connecting points, and it is checked whether or not there is an intersection between the plane P and the shape of the workpiece W. However, the present invention is not limited to this. Rather, the intersection K between the imaging surface of each CCD camera 11, 12, 13, 14 and the optical axis, the center point K of the lens of the CCD camera 11, 12, 13, 14 and the tip position M of the tool T after the tool is moved. A straight line connecting the two points There are intersections between the shape of the click W whether a may be independently confirmed.

  Further, when it is determined by the selection candidate extraction unit 19 that there is no CCD camera 11, 12, 13, 14 capable of generating two-dimensional image data in which the tip of the tool T is not hidden, coolant is discharged. In such a case, the screen display device 66 may display a simulation image. When the coolant discharge amount is small and the tip of the tool T is visible, two-dimensional image data obtained from the CCD cameras 11, 12, 13, and 14 may be displayed instead of the simulation image.

  In addition, when extracting the camera selection candidate, the selection candidate extraction unit 19 first recognizes a region where the workpiece W is processed by the tool T and a space where the tool T exists with respect to the workpiece W, and then recognizes it. The CCD cameras 11, 12, 13, 14 arranged in positions close to the areas and spaces recognized are recognized, and the CCD cameras 11, 12, 13, 14 are recognized only for the recognized CCD cameras 11, 12, 13, 14. It may be determined whether it is possible to generate two-dimensional image data in which the tip of the tool T is not hidden. In this way, the process can be simplified.

  Further, the selection candidate extraction unit 19 is omitted, and the camera selection unit 20 generates two-dimensional image data in which the tip of the tool T is not hidden by the workpiece W from the CCD cameras 11, 12, 13, and 14. The possible CCD cameras 11, 12, 13, and 14 may be selected and determined.

  Furthermore, since a fixture is usually used for attaching the workpiece W to the table 56, the selection candidate extraction unit 19 generates two-dimensional image data in which the tip of the tool T is not hidden by the fixture and the workpiece W. CCD capable of extracting possible CCD cameras 11, 12, 13, and 14 as camera selection candidates, or the camera selection unit 20 can generate two-dimensional image data in which the tip of the tool T is not hidden by the fixture and the workpiece W The camera 11, 12, 13, 14 may be selected and determined.

  Further, the camera switching unit 21 generates the two-dimensional image data generated by the CCD cameras 11, 12, 13, 14 on the screen display device 66 by all the CCD cameras 11, 12, 13, 14. The displayed 2D image data is displayed on the screen display device 66, and the 2D image data generated by the CCD cameras 11, 12, 13, and 14 selected and determined by the camera selection units 20 and 33 is displayed on the screen. The two-dimensional image data generated by the CCD camera 11, 12, 13, 14 is displayed in a large size on the display screen of the display device 66 (main display), and small at the corner of the display screen of the screen display device 66. It may be configured to be displayed or displayed as a background image of the main display.

  Further, the machine tool 50 provided with the machining status monitoring device 1 is not limited at all, and any machine tool 50 may be used. For example, it may be provided on a lathe instead of the machining center as in the above example.

  The control device 60 calculates the current position of the tool T based on the extracted operation command, and transmits the calculated movement position (position information of the tool T) to the positional relationship recognition unit 18 and the camera selection unit 33. It may be configured to.

DESCRIPTION OF SYMBOLS 1 Processing condition monitoring apparatus 11, 12, 13, 14 CCD camera 15 Camera parameter memory | storage part 16 Model data memory | storage part 17 Model data update part 18 Positional relationship recognition part 19 Selection candidate extraction part 20 Camera selection part 21 Camera switching part 60 Control apparatus 66 Screen display device

Claims (4)

A machining operation mechanism unit that relatively moves a tool and a workpiece, and a control unit that analyzes a machining program, extracts an operation command of the machining operation mechanism unit, and controls the operation of the machining operation mechanism unit based on the extracted operation command An apparatus for monitoring the machining status of a machine tool equipped with
A plurality of cameras that capture at least the tool and the workpiece from different viewpoints at regular time intervals and sequentially generate two-dimensional image data thereof;
Screen display means for displaying two-dimensional image data generated by the camera;
Camera parameter storage means for storing camera parameters indicating the position and orientation of the plurality of cameras;
Based on the operation command obtained from the control means and the data relating to the three-dimensional model of the tool, workpiece and machining operation mechanism unit, the tool, workpiece and machining when the machining operation mechanism unit operates according to the operation command. Model data updating means for generating and updating model data of the operation mechanism unit;
Based on the camera parameters stored in the camera parameter storage means, the model data updated by the model data updating means, and the position information of the tool obtained from the control means, the plurality of cameras, tools, and at least Positional relationship recognition means for recognizing the positional relationship of the work at preset time intervals;
Camera selection means for selecting a camera capable of generating two-dimensional image data in which at least the tip of the tool is not hidden by the workpiece among the plurality of cameras based on the positional relation recognized by the positional relation recognition means;
A processing status monitoring apparatus, comprising: a camera switching unit that causes the screen display unit to display two-dimensional image data generated by the camera selected by the camera selection unit. Based on the positional relationship recognized by the positional relationship recognizing means, a selection is made to extract a camera capable of generating at least two-dimensional image data in which the tip of the tool is not hidden by the workpiece from among the plurality of cameras as a camera selection candidate With candidate extraction means,
The camera selection means selects and determines one camera from the camera selection candidates extracted by the selection candidate extraction means, and determines the current camera when determining one camera from the camera selection candidates. It is configured to check whether or not the previously selected camera is included in the camera selection candidates, and when it is determined that it is included, the same camera as the previous one is determined. The processing status monitoring device according to claim 1. A machining operation mechanism unit that relatively moves a tool and a workpiece, and a control unit that analyzes a machining program, extracts an operation command of the machining operation mechanism unit, and controls the operation of the machining operation mechanism unit based on the extracted operation command An apparatus for monitoring the machining status of a machine tool equipped with
A plurality of cameras that capture at least the tool and the workpiece from different viewpoints at regular time intervals and sequentially generate two-dimensional image data thereof;
Screen display means for displaying two-dimensional image data generated by the camera;
A camera that associates and stores a type of machining executed by the machining program and a camera that can generate two-dimensional image data in which at least the tip of the tool is not hidden by the workpiece during the machining among the plurality of cameras. Information storage means;
Machining type recognition means for recognizing the type of machining based on an operation command obtained from the control means;
Based on the processing type recognized by the processing type recognition unit and the data stored in the camera information storage unit, a two-dimensional image to be displayed on the screen display unit, a camera corresponding to the processing type Camera selection means for selecting as a camera for generating data;
A processing status monitoring apparatus, comprising: a camera switching unit that causes the screen display unit to display two-dimensional image data generated by the camera selected by the camera selection unit. The camera information storage means is a two-dimensional image in which the tip of the tool is not hidden by at least the workpiece among the plurality of cameras when the tool moves to a position related to the position information of the tool and the position information. It is configured to store camera information associated with a camera capable of generating data for each type of processing,
The camera selection means is based on the machining type recognized by the machining type recognition means, the camera information stored in the camera information storage means, and the tool position information obtained from the control means. It is configured to select a camera corresponding to a processing type and tool position information at a preset time as a camera for generating two-dimensional image data to be displayed on the screen display means. The processing status monitoring device according to claim 3.

Images