JP2011158981A - 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 the working situation of a work through an image generated by a camera selected from among a plurality of cameras. <P>SOLUTION: A working situation monitoring device 1 is provided with: a working simulation execution part 16 for updating three-dimensional model data on the basis of a working program; a camera selection part 24 for selecting the cameras 11, 12, 13 and 14 capable of generating two-dimensional image data in which the top end of a tool is not concealed by a work by the block of a working program on the basis of the camera parameters and three-dimensional model data of the plurality of cameras 11, 12, 13 and 14, ; a selected camera storage part 25 for storing the block of the working program and the selected camera in association; and a camera switching part 27 for making a picture display device 66 display two-dimensional image data generated by the cameras 11, 12, 13 and 14 corresponding to an execution block obtained from a controller 60 on the basis of the data stored in the selected camera storage part 25. <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 the tool and the workpiece, and a machining program is analyzed for each block to extract an operation command of the machining operation mechanism unit, and the machining operation mechanism unit is operated based on the extracted operation command. An apparatus for monitoring a machining state in a machine tool provided with a control means for controlling,
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;
An operation command extraction unit that analyzes the machining program for each block and extracts an operation command, an operation command extracted by the operation command extraction unit, and data relating to a three-dimensional model of the tool, workpiece, and machining operation mechanism unit Based on the above, a machining simulation execution means having a model data update unit that generates and updates model data of the tool, workpiece, and machining operation mechanism unit when the machining operation mechanism unit operates according to the operation command;
Based on the camera parameters stored in the camera parameter storage means and the model data updated by the model data updating unit, a two-dimensional image in which the tip of the tool is not hidden by at least the workpiece among the plurality of cameras. Camera selection means for selecting a camera capable of generating data for each block of the machining program;
Selected camera storage means for storing the processing program block in association with the camera selected by the camera selection means;
When the processing program is executed by the control means, the camera corresponding to the execution block is recognized based on the data related to the execution block obtained from the control means and the data stored in the selected camera storage means. According to another aspect of the present invention, there is provided 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 recognized camera.

  According to the present invention, before the machining program is executed by the control means, that is, before the workpiece is actually machined on the machine tool, the display is made on the screen display means among the plurality of cameras as follows. A camera that generates two-dimensional image data to be processed is selected and determined.

  First, the operation command extraction unit analyzes the machining program for each block to extract the operation command of the machining operation mechanism unit, and also extracts the extracted operation command and model data of the tool, workpiece, and machining operation mechanism unit ( Based on the three-dimensional model data), the model data update unit generates and updates model data of the tool, workpiece, and machining operation mechanism unit when the machining operation mechanism unit operates according to the operation command.

  Next, based on the model data updated by the model data updating unit and the camera parameters stored in the camera parameter storage unit, the tip of the tool is not hidden by at least the workpiece among the plurality of cameras by the camera selection unit. A camera capable of generating two-dimensional image data (two-dimensional image data on which the tip of the tool is displayed) is selected for each block of the machining program. Note that two or more cameras may be selected at this time.

  When a camera is selected for each block of the machining program, the selected camera and the block of the machining program are associated with each other and stored in the selected camera storage unit by the camera selection unit. In this way, a camera that generates two-dimensional image data to be displayed on the screen display means is selected and determined.

  After that, when the machining program is executed by the control means, that is, the machining program is analyzed for each block by the control means, and the operation command of the machining operation mechanism unit is extracted, and machining is performed based on the extracted operation command. When the operation mechanism is controlled and the tool and the workpiece are relatively moved, the execution block is executed by the camera switching means based on the data relating to the execution block obtained from the control means and the data stored in the selected camera storage means. Is recognized, and two-dimensional image data generated by the recognized camera is displayed on the screen display means.

  Thus, according to the machining status monitoring apparatus of the present invention, two-dimensional image data that is generated by at least one camera selected for each block of the machining program and that does not hide the tip of the tool is sequentially displayed on the screen display means. Since it is displayed, the operator can sufficiently monitor the processing 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 machining status monitoring device includes positional relationship recognition means for recognizing the positional relationship between the plurality of cameras, tools, and at least the workpiece, and the machining simulation execution means receives the motion command extracted by the motion command extraction unit. A positional information generating unit that generates positional information of the tool based on the positional relationship recognition unit, wherein the positional relationship recognition unit includes the camera parameter stored in the camera parameter storage unit and the tool generated by the positional information generation unit; On the basis of the position information of the processing program and the model data updated by the model data update unit, the positional relationship is recognized for each block of the machining program, and the camera selection unit is configured to recognize the positional relationship. The camera may be selected on the basis of the positional relationship recognized by.

  In this way, first, based on the camera parameters stored in the camera parameter storage means, the tool position information generated by the position information generation unit, and the model data updated by the model data update unit, the positional relationship The positional relationship between the plurality of cameras, tools and at least the workpiece is recognized for each block of the machining program by the recognition means.

  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 unit, the camera selection unit determines a camera capable of generating two-dimensional image data in which the tip of the tool is not hidden, and selects this camera. 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.

  In this way, confirm whether there is an intersection between the workpiece and the triangular plane formed by connecting the three points, or the straight line connecting the two points, and which camera If it is determined whether the camera is capable of generating two-dimensional image data whose tip is not hidden, a camera capable of generating two-dimensional image data whose tool tip is not hidden is determined by a relatively simple process. Can do.

  Further, the machining status monitoring apparatus can generate two-dimensional image data in which at least 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 extraction means for extracting a camera as a camera selection candidate for each block of the processing program, selection candidate storage means for storing the processing program block and the camera selection candidate extracted by the selection candidate extraction means in association with each other The camera selection means selects and determines one camera from among the camera selection candidates for each block of the processing program based on the data stored in the selection candidate storage means The camera and the processing program block are associated with each other and stored in the selected camera storage means. When determining one camera from among the camera selection candidates, one camera is selected from the camera selection candidates for each block, and a plurality of camera combinations are set, and a camera is set for each set combination. After calculating the number of switching times, one camera may be determined based on the combination with the smallest number of camera switching times.

  In this way, first, based on the positional relationship recognized by the positional relationship recognition means, a camera that can generate two-dimensional image data in which the tip of the tool is not hidden by the selection candidate extraction means is processed as a camera selection candidate. It is extracted for each block. 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.

  Then, the extracted camera selection candidate and the processing program block are correlated with each other and stored in the selection candidate storage unit by the selection candidate extraction unit. Thereafter, based on the data stored in the selection candidate storage means, one camera is selected and determined from the camera selection candidates for each block of the processing program by the camera selection means. At that time, one camera is selected from the camera selection candidates for each block, a plurality of combinations of cameras are set, and the number of times of camera switching is calculated for each set combination. One camera is determined based on a small number of combinations. Then, the determined camera and the processing program block are associated with each other and stored in the selected camera storage means.

  In this way, if one camera is determined based on the combination with the smallest number of camera switching times, the number of camera switching times 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. In addition, it can be determined that the camera switching is performed when the selected camera is different between consecutive blocks, and the number of times of camera switching is obtained by integrating the number of times of camera switching. Can do.

  The camera selection means selects and determines one camera from the camera selection candidates extracted by the selection candidate extraction means for each block of the processing program, and the determined camera and the block of the processing program Are stored in the selected camera storage means, and when one camera is determined from among the camera selection candidates, the camera selection candidates of the block to be determined are immediately before this block. When it is determined whether or not the camera determined for the previous block is included, and it is determined that it is included, the same camera as the previous block may be determined.

  Even in this case, since the same camera can be selected between two consecutive blocks and the number of camera switching can be reduced, the same effect as described above can be obtained.

  Further, the processing status monitoring device includes a selection camera correction unit that corrects data stored in the selected camera storage unit, and the camera selection unit selects one of the cameras for each block of the processing program. The selected camera correction means calculates the number of camera switching times in a fixed number of consecutive blocks based on the data stored in the selected camera storage means, and the calculated camera switching times are set in advance. It is confirmed whether or not the number of switching is greater than the number of switching, and when it is determined that the number is larger, the data stored in the selected camera storage means is corrected, and the selected cameras of the predetermined number of consecutive blocks are set to the same camera. It may be configured.

  Even in this case, when the number of times of camera switching in a fixed number of consecutive blocks is greater than the preset allowable switching number, the selected cameras of a fixed number of consecutive blocks are set to the same camera, and the number of times of camera switching is reduced. Therefore, the same effect as described above can be obtained, and it is particularly effective when the tool repeats minute movements. In setting the selected camera of the fixed number of consecutive blocks to the same camera, for example, if it is set to the camera selected at least once in the fixed number of consecutive blocks or the most selected camera. good.

  The positional relationship recognizing means includes at least the camera parameters stored in the camera parameter storage means, the tool position information generated by the position information generating section, and the model updated by the model data updating section. Based on the data, the positional relationship and the movement direction of the tool are configured to be recognized for each block of the machining program, and the camera selection unit is configured to recognize the positional relationship and the tool detected by the positional relationship recognition unit. Based on the moving direction, a camera capable of generating two-dimensional image data in which at least the tip of the tool is not hidden by the workpiece is selected from the plurality of cameras, and a camera corresponding to the moving direction of the tool is selected. It may be configured.

  In this way, the camera selection means selects the camera in consideration of the moving direction of the tool, so that a more appropriate camera can be selected. Examples of the selection camera in consideration of the moving direction of the tool include a camera capable of generating an image approaching the tool and a camera capable of generating an image separating the tool.

  Further, the present invention does not select a camera that can generate two-dimensional image data in which the tip of the tool is not hidden for each block of the machining program, but every preset elapsed time from the start of the machining program execution. In addition, a camera capable of generating two-dimensional image data in which the tip of the tool is not hidden may be selected.

  In this case, the machining simulation execution unit includes an elapsed time calculation unit that calculates an elapsed time from the start of execution of the machining program based on the operation command extracted by the operation command extraction unit, and the camera selection unit includes Based on the camera parameters stored in the camera parameter storage means, the elapsed time calculated by the elapsed time calculation unit, and the model data updated by the model data update unit, among the plurality of cameras, At least a camera capable of generating two-dimensional image data in which the tip of the tool is not hidden by the workpiece is selected for each preset elapsed time, and the selected camera storage means includes the preset elapsed time And the camera selected by the camera selection means are stored in association with each other. When the machining program is executed by the control means, the la switching means is obtained from the control means, the data relating to the elapsed time from the start of execution of the machining program, the data stored in the selected camera storage means, Based on the above, a camera corresponding to the elapsed time is recognized, and two-dimensional image data generated by the recognized camera is displayed on the screen display means.

  According to the present invention, as described above, before the processing program is executed by the control means, a camera that generates two-dimensional image data to be displayed on the screen display means is selected and determined as follows.

  First, the operation command extraction unit analyzes the machining program and extracts the operation command of the machining operation mechanism unit. Based on the extracted operation command, the elapsed time calculation unit calculates the elapsed time from the start of execution of the machining program. Based on the calculated operation command and the model data of the tool, workpiece, and machining operation mechanism unit, the model data updating unit causes the tool, workpiece, and work when the machining operation mechanism unit operates according to the operation command. Model data of the machining operation mechanism unit is generated and updated.

  Next, based on the elapsed time calculated by the elapsed time calculation unit, the model data updated by the model data update unit, and the camera parameters stored in the camera parameter storage unit, a plurality of cameras are selected by the camera selection unit. Among them, a camera capable of generating at least two-dimensional image data in which the tip of the tool is not hidden by the work is selected at every preset elapsed time. Note that two or more cameras may be selected at this time.

  When a camera is selected for each preset elapsed time, the selected camera and the preset elapsed time are associated with each other and stored in the selected camera storage unit by the camera selection unit. In this way, a camera that generates two-dimensional image data to be displayed on the screen display means is selected and determined.

  After that, when the machining program is executed by the control means, and the tool and the workpiece are relatively moved by the machining operation mechanism unit, the data relating to the elapsed time from the start of execution of the machining program obtained from the control means, and the selected camera storage Based on the data stored in the means, the camera corresponding to the elapsed time is recognized by the camera switching means, and the two-dimensional image data generated by the recognized camera is displayed on the screen display means.

  Thus, even with the machining status monitoring apparatus according to the present invention, two-dimensional image data that is generated by at least one camera selected every elapsed time and that does not hide the tip of the tool is sequentially displayed on the screen display means. Therefore, similarly to the above, the operator can sufficiently monitor the processing state 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 machining status monitoring device includes positional relationship recognition means for recognizing the positional relationship between the plurality of cameras, tools, and at least the workpiece, and the machining simulation execution means receives the motion command extracted by the motion command extraction unit. A positional information generation unit that generates positional information of the tool based on the positional relationship recognition unit, wherein the positional relationship recognition unit includes a camera parameter stored in the camera parameter storage unit and an elapsed time calculated by the elapsed time calculation unit; And recognizing the positional relationship for each preset elapsed time based on the position information of the tool generated by the position information generation unit and the model data updated by the model data update unit. The camera selection unit selects the camera based on the positional relationship recognized by the positional relationship recognition unit. It may be configured to.

  According to this configuration, first, the camera parameters stored in the camera parameter storage unit, the elapsed time calculated by the elapsed time calculation unit, the tool position information generated by the position information generation unit, and the model data update unit Based on the updated model data, the positional relationship recognition means recognizes the positional relationship among the plurality of cameras, tools, and at least the workpiece at each preset elapsed time.

  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 unit, the camera selection unit determines a camera capable of generating two-dimensional image data in which the tip of the tool is not hidden, and selects this camera. 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.

  In this manner, as described above, it is confirmed whether there is an intersection between a triangular plane formed by connecting three points, or a straight line connecting two points, and the work, and which camera is selected. However, if it is determined whether the camera can generate 2D image data in which the tool tip is not hidden, the camera can generate 2D image data in which the tool tip is not hidden by a relatively simple process. Can be determined.

  Further, the machining status monitoring apparatus can generate two-dimensional image data in which at least 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 extraction means for extracting a camera as a camera selection candidate at each preset elapsed time, the preset elapsed time, and the camera selection candidate extracted by the selection candidate extraction means are stored in association with each other. Selection candidate storage means, wherein the camera selection means selects one camera from the camera selection candidates for each preset elapsed time based on data stored in the selection candidate storage means , Determine and store the determined camera and the preset elapsed time in association with the selected camera storage means, When determining one camera from among the camera selection candidates, select one camera from the camera selection candidates for each preset elapsed time, and set a plurality of combinations of cameras. After calculating the number of times of camera switching for the combination, one camera may be determined based on the combination having the smallest number of times of camera switching.

  In this way, first, a camera capable of generating two-dimensional image data in which the tip of the tool is not hidden by the selection candidate extraction unit is preset as a camera selection candidate based on the positional relationship recognized by the positional relationship recognition unit. It is extracted at every elapsed time. 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.

  Then, the extracted camera selection candidate and the preset elapsed time are associated with each other and stored in the selection candidate storage unit by the selection candidate extraction unit. Thereafter, based on the data stored in the selection candidate storage means, one camera is selected and determined from the camera selection candidates for each preset elapsed time by the camera selection means. In that case, after one camera is selected from camera selection candidates for each preset elapsed time and a plurality of combinations of cameras are set, and the number of times of camera switching is calculated for each set combination, One camera is determined based on the combination with the smallest number of camera switching times. Then, the determined camera and a preset elapsed time are associated with each other and stored in the selected camera storage means.

  In this way, if one camera is determined based on the combination with the smallest number of camera switching times, the number of camera switching times 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. Note that it can be determined that the camera switching is performed when two selected elapsed time is different between the selected cameras, and the camera switching frequency is obtained by adding up the number of times of camera switching. Can be sought.

  Further, the camera selection means selects and determines one camera from the camera selection candidates extracted by the selection candidate extraction means for each preset elapsed time, the determined camera, and the preset And the stored elapsed time in association with each other and stored in the selected camera storage means, and when determining one camera from among the camera selection candidates, It is configured to check whether or not the camera determined for the elapsed time one time before is included, and to determine that the camera is the same as the previous elapsed time when it is determined that it is included May be.

  Even in this case, the same camera can be selected in two consecutive elapsed times to reduce the number of times of camera switching, so that the same effect as described above can be obtained.

  In addition, the processing status monitoring device includes a selection camera correction unit that corrects data stored in the selected camera storage unit, and the camera selection unit selects one of the cameras for each preset elapsed time. The selected camera correction means calculates the number of times of camera switching in a fixed time based on the data stored in the selected camera storage means, and the calculated allowable number of camera switching is preset. It is configured to check whether or not the number is greater than the number of times, and when it is determined that the number is larger, the data stored in the selected camera storage means is corrected and the selected camera at the predetermined time is set to the same camera. Also good.

  Even in this case, when the number of camera switching times in a certain time is larger than the preset allowable switching number, the selected camera in the certain time can be set to the same camera, and the number of camera switching times can be reduced. The same effect can be obtained, and is particularly effective when the tool repeats minute movements. In setting the selected camera at the predetermined time as the same camera, for example, it may be set to the camera selected at least once in the predetermined time or the most selected camera.

  The positional relationship recognition means includes at least the camera parameters stored in the camera parameter storage means, the elapsed time calculated by the elapsed time calculation section, and the position of the tool generated by the position information generation section. On the basis of the information and the model data updated by the model data update unit, the positional relationship and the moving direction of the tool are configured to be recognized for each preset elapsed time, and the camera selection means The camera is capable of generating 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 means and the moving direction of the tool. The camera may be selected according to the moving direction of the tool.

  In this way, as described above, since the camera is selected by the camera selection means in consideration of the moving direction of the tool, a more appropriate camera can be selected. Examples of the selection camera in consideration of the moving direction of the tool include a camera capable of generating an image approaching the tool and a camera capable of generating an image separating the tool.

  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 explanatory drawing which showed the data structure of the data stored in the selection candidate memory | storage part of this embodiment. It is the flowchart which showed a series of processes in the camera selection part of this embodiment. It is explanatory drawing for demonstrating the example of a combination of the CCD camera in this embodiment. It is explanatory drawing which showed the data structure of the data stored in the selection camera memory | storage part of this embodiment. It is the flowchart which showed a series of processes in the selection camera correction part of this embodiment. It is explanatory drawing for demonstrating the correction example of the selected CCD camera in this embodiment. It is the flowchart which showed the CCD camera selection and determination 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 the flowchart which showed a series of processes in the camera selection part of other embodiment of this invention. 6 is a flowchart illustrating a process of selecting and determining a CCD camera according to another embodiment of the present invention. 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 selection candidate memory | storage part of other embodiment of this invention. It is explanatory drawing for demonstrating the example of a combination of the CCD camera in other embodiment of this invention. It is explanatory drawing which showed the data structure of the data stored in the selection camera memory | storage part of other embodiment of this invention. It is explanatory drawing for demonstrating the correction example of the selected CCD camera in other embodiment of this invention. 6 is a flowchart illustrating a process of selecting and determining a CCD camera according to another embodiment of the present invention. 6 is a flowchart illustrating a process of selecting and determining a CCD camera according to another embodiment of the present invention. It is the block diagram which showed schematic structure, such as the processing condition monitoring apparatus which concerns on other embodiment of this invention. 6 is a flowchart illustrating a process of selecting and determining a CCD camera according to another embodiment of the present invention. 6 is a flowchart illustrating a process of selecting and determining a CCD camera 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 processing simulation execution unit 16, and positional relationships. 2 includes a recognition unit 21, a selection candidate extraction unit 22, a selection candidate storage unit 23, a camera selection unit 24, a selected camera storage unit 25, a selected camera correction unit 26, a camera switching unit 27, and a screen display device 66. As shown, it is provided in a machine tool 50 called a machining center.

  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 sequentially analyzes a machining program stored in the program storage unit 61 and a program storage unit 61 in which a machining program created in advance is stored for each block, and the tool T (each feed mechanism unit 57, 58, 59), a program analysis unit 62 that extracts an operation command relating to the movement position and feed speed, an analysis result storage unit 63 that stores the operation command extracted by the program analysis unit 62, and an analysis result storage unit 63. And a drive control unit 64 that controls the feed mechanism units 57, 58, and 59 based on feedback signals obtained from the feed mechanism units 57, 58, and 59.

  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, Processing simulation execution unit 16, positional relationship recognition unit 21, selection candidate extraction unit 22, selection candidate storage unit 23, camera selection unit 24, selected camera storage unit 25, selected camera correction unit 26, camera switching unit 27, and screen display device 66 It has.

  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 27.

  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 machining simulation execution unit 16 includes an operation command extraction unit 17, a position information generation unit 18, a model data storage unit 19, and a model data update unit 20. The operation command extraction unit 17 reads the machining program stored in the program storage unit 61, sequentially analyzes the read machining program for each block, and moves the tool T (each feed mechanism unit 57, 58, 59). Extract operation commands related to position and feed speed.

  The position information generation unit 18 is based on the operation command extracted by the operation command extraction unit 17 and information on the tool T mounted on the spindle 55 (for example, tool diameter, tool length, etc.). Position information (information relating to the tip position of the tool T) is generated for each block.

  The model data storage unit 19 stores data relating to a three-dimensional model of the entire machine tool 50 (model data) 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 20 includes a first saddle 52 and a second saddle 52 based on the model data of the entire machine tool 50 stored in the model data storage unit 19 and the operation command extracted by the operation command extraction unit 17. The model data of the entire machine tool 50 is generated for each block so that the two saddles 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 19. The model data in the storage unit 19 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 21 includes the camera parameters stored in the camera parameter storage unit 15, the position information of the tool T generated by the position information generation unit 18, and the model updated by the model data update unit 20. Based on the data, the positional relationship among the CCD cameras 11, 12, 13, 14, the tool T and the workpiece W is recognized for each block.

  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, Recognize the center point, and from the position information of the tool T, before the execution of the operation command related to the block whose positional relationship should be recognized (before the movement of the tool, that is, the execution of the operation command related to the block immediately before the block) The tip position of the tool T in (after) and the tip position of the tool T after execution of the operation command relating to the block whose position relationship should be recognized (after tool movement), and the arrangement position of the workpiece W from the model data And the shape of the workpiece W before or after execution of the operation command related to the block whose position relationship should be recognized (before or after the tool movement).

  Based on the positional relationship recognized by the positional relationship recognition unit 21, the selection candidate extraction unit 22 is a two-dimensional model in which the tip of the tool T is not hidden by the workpiece W from among the CCD cameras 11, 12, 13, and 14. CCD cameras 11, 12, 13, and 14 capable of generating image data are extracted for each block 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.

  Further, as shown in FIG. 6, the selection candidate extraction unit 22 stores the processing program block and the extracted camera selection candidate in the selection candidate storage unit 23 in association with each other.

  The camera selection unit 24 executes a series of processes as shown in FIG. 7, and based on the data stored in the selection candidate storage unit 23, each block of the processing program is selected from among the camera selection candidates. One CCD camera 11, 12, 13, 14 is selected and determined.

  That is, the camera selection unit 24 first reads the data stored in the selection candidate storage unit 23 to recognize the camera selection candidates of each block (step S1), and one CCD camera from the camera selection candidates for each block. 11, 12, 13, and 14 are selected, and a plurality of combinations of the CCD cameras 11, 12, 13, and 14 are set (step S2). For example, if camera selection candidates are set for each block as shown in FIG. 8A, a plurality of combinations are set as shown in FIG. 8B.

  Thereafter, for each set combination, the number of times of camera switching is calculated (step S3). After recognizing the combination with the smallest number of times of camera switching (step S4), one CCD for each block based on the recognized combination. Cameras 11, 12, 13, and 14 are determined (step S5). It can be determined that the camera switching is performed when the selected CCD cameras 11, 12, 13, and 14 are different between successive blocks. It can be obtained by accumulating the number of times.

  Then, as shown in FIG. 9, the camera selection unit 24 associates the processing program block with the selected and determined CCD cameras 11, 12, 13, and 14 and stores them in the selected camera storage unit 25. (Step S6), the above series of processing ends.

  The selected camera correction unit 26 executes a series of processes as shown in FIG. 10 to correct data (selected camera information) stored in the selected camera storage unit 25. That is, the selected camera correction unit 26 first reads the selected camera information from the selected camera storage unit 25 (step S11), calculates the number of times of camera switching in a predetermined number of consecutive blocks (step S12), and It is checked whether or not the calculated number of camera switching times is larger than a preset allowable switching number (step S13). The number of times of camera switching can be calculated in the same manner as the process in step S3 of the camera selection unit 24.

  When it is determined in step S13 that the number is not large, the above-described series of processes is terminated. On the other hand, when it is determined that the number is large, the CCD cameras 11 and 12 that are most selected among a predetermined number of consecutive blocks are selected. , 13, and 14 (step S14), and the selected cameras of a predetermined number of consecutive blocks are corrected to the recognized CCD cameras 11, 12, 13, and 14, and the same CCD cameras 11, 12, 13, and 14 is set (step S15). Thereafter, the corrected data is stored in the selected camera storage unit 25, the data in the selected camera storage unit 25 is updated (step S16), and the above series of processing ends.

  By correcting the selected camera information in this way, for example, the selected camera information as shown in FIG. 11A is corrected to the selected camera information as shown in FIG. In the illustrated example, A is selected four times, B is selected twice, and C is selected once, and A is selected most. Therefore, the selected camera of a predetermined number of consecutive blocks is set to A.

  The camera switching unit 27 is based on the data relating to the execution block obtained from the drive control unit 64 and the data stored in the selected camera storage unit 25, and the CCD cameras 11, 12, 13 corresponding to the execution block. , 14 and the two-dimensional image data generated by the recognized CCD cameras 11, 12, 13, 14 are displayed on the screen display device 66.

  According to the machining status monitoring device 1 of the present example configured as described above, before the machining program is executed by the control device 60, that is, before the workpiece W is actually machined by the machine tool 50, In this manner, among the plurality of CCD cameras 11, 12, 13, and 14, the CCD cameras 11, 12, 13, and 14 that generate two-dimensional image data to be displayed on the screen display device 66 are selected and determined.

  Specifically, as shown in FIG. 12, first, the machining program stored in the program storage unit 61 is read by the operation command extraction unit 17 (step S21), and the counter n is set to 1 (step S21). S22), an operation command for the first block of the machining program is extracted (step S23). Thereafter, position information of the tool T is generated by the position information generation unit 18 (step S24), and the model data is updated by the model data update unit 20 (step S25).

  Next, the positional relationship recognition unit 21 recognizes the positional relationship among the CCD cameras 11, 12, 13, 14, the tool T, and the workpiece W (step S 26), and the selection candidate extraction unit 22 extracts camera selection candidates ( Step S27) is stored in the selection candidate storage unit 23 (step S28).

  Then, the processes from step S23 to step S28 are executed until the process is completed for all blocks of the machining program while the counter n is updated (steps S29 and S30). When camera selection candidates are extracted for all blocks, one CCD camera 11, 12, 13, 14 is selected and determined by the camera selection unit 24 (step S31) and stored in the selected camera storage unit 25 (step S31). S32). The data in the selected camera storage unit 25 is corrected by the selected camera correction unit 26 as necessary (step S33).

  Thereafter, when the machining program is executed by the control device 60, that is, the machining program is sequentially analyzed for each block by the program analysis unit 62, and operation commands are extracted. Based on the extracted operation commands, the drive control unit When the feed mechanism units 57, 58, and 59 are controlled by 64 to move the tool T and the workpiece W relative to each other, the data relating to the execution block obtained from the drive control unit 64 and the data in the selected camera storage unit 25 are used. Based on this, the camera switching unit 27 recognizes the CCD cameras 11, 12, 13, and 14 corresponding to the execution block, and switches to the recognized CCD cameras 11, 12, 13, and 14 (recognized CCD camera 11, The two-dimensional image data generated by 12, 13, and 14 is displayed on the screen display device 66).

  As described above, according to the machining status monitoring apparatus 1 of this example, two-dimensional image data that is generated by the CCD cameras 11, 12, 13, and 14 selected for each block of the machining program and does not hide the tip of the tool T. Are sequentially displayed on the screen display device 66, the operator can sufficiently monitor the machining 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 one CCD camera 11, 12, 13, 14 is determined, one CCD camera 11, 12, 13, 14 is determined by obtaining a combination having the smallest number of camera switching times. The number of camera switching operations during processing can be reduced. 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.

  Further, when the number of times of camera switching in the preset number of consecutive blocks is greater than the preset allowable switching number, the selected cameras of the preset number of consecutive blocks are used as the same CCD camera 11, 12, 13. , 14, it is possible to reduce the number of times of camera switching. This is particularly effective when the tool T repeats minute movements.

  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.

  The processing status monitoring apparatus 1 is configured to select and determine one CCD camera 11, 12, 13, and 14 after extracting camera selection candidates for all blocks of the processing program. One CCD camera 11, 12, 13, and 14 may be selected and determined each time extraction is performed, and this may be repeated for all blocks.

  In this case, as shown in FIG. 13, the processing status monitoring apparatus 2 is configured, the selection candidate storage unit 23 is omitted, and a camera selection unit 31 is provided instead of the camera selection unit 24. This is different from the processing status monitoring apparatus 1. Since points other than these are the same as those in the processing status monitoring apparatus 1, the same reference numerals are given and detailed descriptions thereof are omitted.

  The camera selection unit 31 executes a series of processes as shown in FIG. 14 and, based on the camera selection candidates extracted by the selected camera extraction unit 22, for each block of the processing program, Each CCD camera 11, 12, 13, and 14 is selected and determined.

  That is, the camera selection unit 31 first receives and recognizes the camera selection candidate of the block to be determined, which is extracted by the selected camera extraction unit 22 (step S41), and blocks one block before this block. The CCD cameras 11, 12, 13, and 14 determined for are recognized (step S42).

  Then, it is confirmed whether or not the camera selection candidates recognized in step S41 include the CCD cameras 11, 12, 13, and 14 recognized in step S42 (step S43). In some cases, the CCD cameras 11, 12, 13, and 14 recognized in step S42 are determined (step S44). For example, if the camera selection candidates for the block to be determined are A, B, and C, and the camera determined for the previous block is A, the common selection is A.

  On the other hand, when it is determined in step S43 that it is not included, one CCD camera 11, 12, 13, 14 is selected and determined from the camera selection candidates recognized in step S41 (step S45). Then, the block to be determined and the selected and determined CCD cameras 11, 12, 13, and 14 are associated with each other and stored in the selected camera storage unit 25 (step S46), and the above series of processing ends. .

  Then, according to the machining status monitoring device 2, as in the machining status monitoring device 1, before the machining program is executed by the control device 60, a plurality of CCD cameras 11, 12, 13,. 14, the CCD cameras 11, 12, 13, and 14 that generate two-dimensional image data to be displayed on the screen display device 66 are selected and determined.

  Specifically, as shown in FIG. 15, first, after the machining program stored in the program storage unit 61 is read by the operation command extraction unit 17 (step S51) and the counter n is set to 1 (step S51). S52), an operation command for the first block of the machining program is extracted (step S53). Thereafter, position information of the tool T is generated by the position information generation unit 18 (step S54), and the model data is updated by the model data update unit 20 (step S55).

  Next, after the positional relationship recognition unit 21 recognizes the positional relationship among the CCD cameras 11, 12, 13, 14, the tool T, and the workpiece W (step S 56), the selection candidate extraction unit 22 extracts the camera selection candidate. (Step S57), one CCD camera 11, 12, 13, 14 is selected and determined by the camera selection unit 31 (Step S58) and stored in the selected camera storage unit 25 (Step S59).

  Then, the processes from step S53 to step S59 are executed until the process is completed for all blocks of the machining program while the counter n is updated (steps S60 and S61). Accordingly, the data in the selected camera storage unit 25 is corrected by the selected camera correction unit 26 (step S62).

  Thereafter, the machining program is sequentially analyzed for each block by the program analysis unit 62 and operation commands are extracted, and the feed control units 57, 58, and 59 are controlled by the drive control unit 64 based on the extracted operation commands. When the tool T and the workpiece W are moved relative to each other, the camera switching unit 27 corresponds to the execution block based on the data regarding the execution block obtained from the drive control unit 64 and the data in the selected camera storage unit 25. The CCD cameras 11, 12, 13, and 14 are recognized, and two-dimensional image data generated by the recognized CCD cameras 11, 12, 13, and 14 are displayed on the screen display device 66.

  Thus, this machining status monitoring device 2 can also determine the same CCD camera 11, 12, 13, 14 between two consecutive blocks, and reduce the number of times of camera switching when machining the workpiece W. In addition, the same effects as described above can be obtained.

  In the machining status monitoring devices 1 and 2, the CCD cameras 11, 12, 13, and 14 that can generate two-dimensional image data that does not hide the tip of the tool T are selected and determined for each block of the machining program. Although configured, the 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 at every preset elapsed time from the start of execution of the machining program are selected. It may be configured to determine.

  In this case, for example, as shown in FIG. 16, the machining status monitoring device 3 is configured, and a machining simulation execution unit 16, a positional relationship recognition unit 21, a selection candidate extraction unit 22, a selection candidate storage unit 23, a camera selection unit 24, Instead of the selected camera storage unit 25, the selected camera correction unit 26, and the camera switching unit 27, a processing simulation execution unit 32, a positional relationship recognition unit 36, a selection candidate extraction unit 37, a selection candidate storage unit 38, a camera selection unit 39, and a selection The processing status monitoring apparatus 1 is different in that a camera storage unit 40, a selected camera correction unit 41, and a camera switching unit 42 are provided. Since points other than these are the same as those in the processing status monitoring apparatus 1, the same reference numerals are given and detailed descriptions thereof are omitted.

  The machining simulation execution unit 32 includes the operation command extraction unit 17, model data storage unit 19, elapsed time calculation unit 33, position information generation unit 34, and model data update unit 35. The operation command extraction unit 17 and the model data storage unit 19 are the same as those in the machining status monitoring device 1.

  The elapsed time calculation unit 33 calculates an elapsed time from the start of execution of the machining program based on the operation command extracted by the operation command extraction unit 17.

  The position information generation unit 34 includes information on the operation command extracted by the operation command extraction unit 17, the elapsed time calculated by the elapsed time calculation unit 33, and the tool T attached to the spindle 55 (for example, Position information of the tool T (information on the tip position of the tool T) at every preset elapsed time, that is, for example, after 5 seconds, 10 seconds, and 15 seconds. As described later, the position information of the tool T is generated at intervals of 5 seconds.

  The model data update unit 35 includes a first saddle 52 and a second saddle 52 based on the model data of the entire machine tool 50 stored in the model data storage unit 19 and the operation command extracted by the operation command extraction unit 17. The model data of the entire machine tool 50 is generated for each block so that the two saddles 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 19. The model data in the storage unit 19 is updated. The model data updating unit 35 transmits model data of the entire machine tool 50 to the positional relationship recognition unit 36 for each preset elapsed time based on the elapsed time calculated by the elapsed time calculation unit 33. . 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 36 includes the camera parameters stored in the camera parameter storage unit 15, the elapsed time calculated by the elapsed time calculation unit 33, and the position of the tool T generated by the position information generation unit 34. Based on the information and the model data transmitted from the model data updating unit 35, the positional relationship among the CCD cameras 11, 12, 13, 14, the tool T and the work W is recognized at each preset elapsed 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, The center point is recognized, and the tip position of the tool T in the elapsed time (before the tool movement) one time before the elapsed time in which the positional relationship should be recognized and the positional relationship from the position information of the tool T Recognize the tip position of the tool T at time (after tool movement), and from the model data, at the position where the workpiece W is to be recognized and the elapsed time at which the positional relationship should be recognized or at the elapsed time one time before this elapsed time Recognize the shape of the workpiece W.

  The selection candidate extraction unit 37 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 36. The CCD cameras 11, 12, 13, and 14 capable of generating image data are extracted as camera selection candidates at every preset elapsed time. Then, as shown in FIG. 17, the preset elapsed time and the extracted camera selection candidate are associated with each other and stored in the selection candidate storage unit 38. This extraction process can be performed in the same manner as the selection candidate extraction unit 22. Also, for camera selection candidates immediately after the start of execution of the machining program, that is, when the elapsed time is 0 seconds, preset camera selection candidates are stored in the selection candidate storage unit 38.

  Similarly to the camera selection unit 24, the camera selection unit 39 executes a series of processes as shown in FIG. 7 and sets each process set in advance based on the data stored in the selection candidate storage unit 38. Regarding the time, one CCD camera 11, 12, 13, and 14 is selected and determined from the camera selection candidates.

  That is, the camera selection unit 39 first reads the data stored in the selection candidate storage unit 38 to recognize the camera selection candidate at each elapsed time (step S1), and selects one of the camera selection candidates for each elapsed time. The CCD cameras 11, 12, 13, and 14 are selected and a plurality of combinations of the CCD cameras 11, 12, 13, and 14 are set (step S2). For example, if camera selection candidates are set for each elapsed time as shown in FIG. 18A, a plurality of combinations are set as shown in FIG. 18B.

  Thereafter, for each set combination, the number of times of camera switching is calculated (step S3). After recognizing the combination with the smallest number of times of camera switching (step S4), one time is determined for each elapsed time based on the recognized combination. The CCD cameras 11, 12, 13, and 14 are determined (step S5). Note that it can be determined that the camera switching is performed when the selected CCD cameras 11, 12, 13, and 14 are different at two successive elapsed times. It can be obtained by integrating the number of times of switching.

  Then, as shown in FIG. 19, the camera selection unit 39 associates the preset elapsed time with the selected and determined CCD cameras 11, 12, 13, and 14 in the selected camera storage unit 40. Store (step S6), and the above series of processing ends.

  Similar to the selected camera correction unit 26, the selected camera correction unit 41 executes a series of processes as shown in FIG. 10 and corrects data (selected camera information) stored in the selected camera storage unit 40. . That is, the selected camera correction unit 41 first reads out the selected camera information from the selected camera storage unit 40 (step S11), calculates the number of times of camera switching in a predetermined time (step S12), and the calculated number of times of camera switching is calculated in advance. It is confirmed whether or not the number is larger than the set allowable switching number (step S13). The number of times of camera switching can be calculated in the same manner as the process in step S3 of the camera selection unit 39.

  When it is determined in step S13 that the number is not large, the above-described series of processing is terminated. On the other hand, when it is determined that the number is large, the CCD cameras 11 and 12 that are most selected in each elapsed time included in the predetermined time. , 13, and 14 (step S14), and the selected cameras at the respective elapsed times included in the predetermined time are corrected to the recognized CCD cameras 11, 12, 13, and 14, and the same CCD camera 11, 12, 13 and 14 are set (step S15). Thereafter, the corrected data is stored in the selected camera storage unit 40, the data in the selected camera storage unit 40 is updated (step S16), and the above series of processing ends.

  By correcting the selected camera information in this way, for example, the selected camera information as shown in FIG. 20A is corrected to the selected camera information as shown in FIG. In the illustrated example, A is selected four times, B is selected twice, and C is selected once, and A is selected most. Therefore, the selected camera for each elapsed time included in the certain time is set to A.

  The camera switching unit 42 corresponds to the elapsed time based on the data obtained from the drive control unit 64 regarding the elapsed time from the start of processing program execution and the data stored in the selected camera storage unit 40. The two-dimensional image data generated by the recognized CCD cameras 11, 12, 13, 14 are displayed on the screen display device 66.

  According to the machining status monitoring device 3 of this example configured as described above, before the machining program is executed by the control device 60, the plurality of CCD cameras 11, 12, 13, and 14 are as follows. Among them, the CCD cameras 11, 12, 13, and 14 that generate two-dimensional image data to be displayed on the screen display device 66 are selected and determined.

  Specifically, as shown in FIGS. 21 and 22, first, after the machining program stored in the program storage unit 61 is read by the operation command extraction unit 17 (step S71), an operation command is received from the machining program. The blocks are sequentially extracted (step S72), and the elapsed time calculation unit 33 calculates the elapsed time from the start of execution of the machining program (step S73). In addition, the selection candidate extraction unit 37 stores the camera selection candidates immediately after the start of execution of the processing program in the selection candidate storage unit 38 (step S74).

  Next, after the counter T is set to 5 (step S75), the position information generation unit 34 generates position information of the tool T after 5 seconds from the start of execution of the machining program (step S76), and the model data update unit The model data is updated by 35 (step S77). Next, the positional relationship recognition unit 36 recognizes the positional relationship among the CCD cameras 11, 12, 13, 14, tool T and workpiece W (step S78), and the selection candidate extraction unit 37 extracts camera selection candidates (step S78). S79) and stored in the selection candidate storage unit 38 (step S80).

  Such processing from step S76 to step S80 is executed until the machining program is completed while the counter T is updated (steps S81 and S82). The CCD cameras 11, 12, 13, and 14 are selected and determined (step S83) and stored in the selected camera storage unit 40 (step S84). Note that the data in the selected camera storage unit 40 is corrected by the selected camera correction unit 41 as necessary (step S85).

  Thereafter, the machining program is sequentially analyzed for each block by the program analysis unit 62 and operation commands are extracted, and the feed control units 57, 58, and 59 are controlled by the drive control unit 64 based on the extracted operation commands. When the tool T and the workpiece W are moved relative to each other, the camera switching unit is obtained based on the data relating to the elapsed time from the start of execution of the machining program and the data in the selected camera storage unit 40 obtained from the drive control unit 64. 42, the CCD cameras 11, 12, 13, and 14 corresponding to the elapsed time are recognized, and the two-dimensional image data generated by the recognized CCD cameras 11, 12, 13, and 14 is displayed on the screen display device 66. .

  As described above, according to the processing status monitoring device 3, the two-dimensional image data generated by the CCD cameras 11, 12, 13, and 14 selected every elapsed time so that the tip of the tool T is not hidden is displayed on the screen display device. 66, the operator can sufficiently monitor the machining status of the workpiece W through the display image as described above. Further, when the number of times of camera switching in a certain time is greater than a preset allowable number of times of switching, the selected camera in the certain time is set to the same CCD camera 11, 12, 13, and 14, and therefore when the workpiece W is processed. The number of times of camera switching can be reduced, and this is particularly effective when the tool T repeats minute movements. In addition, it is possible to obtain the same effects as those of the processing status monitoring apparatus 1.

  The processing status monitoring device 3 is configured to select and determine one CCD camera 11, 12, 13, and 14 after extracting camera selection candidates for all preset elapsed times. Each time a selection candidate is extracted, one CCD camera 11, 12, 13, 14 may be selected and determined, and this may be repeated for all elapsed times.

  In this case, as shown in FIG. 23, the processing status monitoring device 4 is configured, the selection candidate storage unit 38 is omitted, and the camera selection unit 43 is provided instead of the camera selection unit 39. This is different from the processing status monitoring device 3. Since points other than these are the same as those in the machining status monitoring device 3, the same reference numerals are given and detailed descriptions thereof are omitted.

  Similarly to the camera selection unit 39, the camera selection unit 43 executes a series of processes as shown in FIG. 14 and is set in advance based on the camera selection candidates extracted by the selected camera extraction unit 37. For each elapsed time, one CCD camera 11, 12, 13, 14 is selected and determined from the camera selection candidates.

  That is, the camera selection unit 43 first receives and recognizes the camera selection candidate of the elapsed time to be determined, extracted by the selected camera extraction unit 37 (step S41), and immediately before this elapsed time. The CCD cameras 11, 12, 13, and 14 determined for the elapsed time are recognized (step S42).

  Then, it is confirmed whether or not the camera selection candidates recognized in step S41 include the CCD cameras 11, 12, 13, and 14 recognized in step S42 (step S43). In some cases, the CCD cameras 11, 12, 13, and 14 recognized in step S42 are determined (step S44). For example, if the camera selection candidates for the elapsed time to be determined are A, B, and C, and the camera determined for the previous elapsed time is A, the camera is selected as a common A.

  On the other hand, when it is determined in step S43 that it is not included, one CCD camera 11, 12, 13, 14 is selected and determined from the camera selection candidates recognized in step S41 (step S45). Then, the elapsed time to be determined and the selected and determined CCD cameras 11, 12, 13, and 14 are stored in the selected camera storage unit 40 in association with each other (step S46), and the above series of processing ends. To do.

  Then, according to the machining status monitoring device 4, like the machining status monitoring device 3, before the machining program is executed by the control device 60, a plurality of CCD cameras 11, 12, 13, 14, the CCD cameras 11, 12, 13, and 14 that generate two-dimensional image data to be displayed on the screen display device 66 are selected and determined.

  Specifically, as shown in FIGS. 24 and 25, first, after the machining program stored in the program storage unit 61 is read by the operation command extraction unit 17 (step S91), an operation command is received from the machining program. The blocks are sequentially extracted (step S92), and the elapsed time calculation unit 33 calculates the elapsed time from the start of execution of the machining program (step S93). The selection candidate extraction unit 37 stores the camera selection candidate immediately after the start of execution of the processing program in the selection candidate storage unit 38 (step S94).

  Next, after the counter T is set to 5 (step S95), the position information generation unit 34 generates position information of the tool T after 5 seconds from the start of execution of the machining program (step S96), and the model data update unit The model data is updated by 35 (step S97). Next, the positional relationship recognition unit 36 recognizes the positional relationship among the CCD cameras 11, 12, 13, 14, the tool T, and the work W (step S 98), and the selection candidate extraction unit 37 extracts the camera selection candidate ( In step S99, one CCD camera 11, 12, 13, 14 is selected and determined by the camera selection unit 43 (step S100) and stored in the selected camera storage unit 40 (step S101).

  Such processing from step S96 to step S101 is executed until the machining program is completed while the counter T is updated (steps S102 and S103). When the machining program is completed, the selected camera is selected as necessary. Data in the storage unit 40 is corrected by the selected camera correction unit 41 (step S104).

  Thereafter, the machining program is sequentially analyzed for each block by the program analysis unit 62 and operation commands are extracted, and the feed control units 57, 58, and 59 are controlled by the drive control unit 64 based on the extracted operation commands. When the tool T and the workpiece W are moved relative to each other, the camera switching unit is obtained based on the data relating to the elapsed time from the start of execution of the machining program and the data in the selected camera storage unit 40 obtained from the drive control unit 64. 42, the CCD cameras 11, 12, 13, and 14 corresponding to the elapsed time are recognized, and the two-dimensional image data generated by the recognized CCD cameras 11, 12, 13, and 14 is displayed on the screen display device 66. .

  Thus, this machining status monitoring device 4 can also determine the same CCD camera 11, 12, 13, 14 in two consecutive elapsed times, and reduce the number of times of camera switching when machining the workpiece W. In addition, the same effects as described above can be obtained.

  Further, in the machining status monitoring devices 1, 2, 3, and 4, the positional relationship recognition units 21 and 36 are configured to recognize the positional relationship among the CCD cameras 11, 12, 13, and 14, the tool T, and the workpiece W. However, in addition to this positional relationship, the moving direction of the tool T may be recognized.

  In other words, the positional relationship recognition unit 21 is updated by the camera parameter stored in the camera parameter storage unit 15, the position information of the tool T generated by the position information generation unit 18, and the model data update unit 20. Updated based on the model data, or the camera parameters stored in the camera parameter storage unit 15, the position information of the tool T generated by the position information generation unit 18, and the model data update unit 20. Based on the model data obtained and the motion command extracted by the motion command extraction unit 17, the positional relationship between the CCD cameras 11, 12, 13, 14, the tool T and the workpiece W and the moving direction of the tool T are blocked. Recognize every time.

  As for the movement direction of the tool T, for example, before execution of an operation command related to a block whose positional relationship should be recognized (before the movement of the tool, that is, after execution of an operation command related to a block immediately before that block). Is recognized based on the tip position of the tool T and the tip position of the tool T after the execution of the operation command related to the block whose positional relationship should be recognized (after the tool is moved). Alternatively, it is recognized from the operation command extracted by the operation command extraction unit 17.

  On the other hand, the positional relationship recognition unit 36 includes the camera parameters stored in the camera parameter storage unit 15, the elapsed time calculated by the elapsed time calculation unit 33, and the tool T generated by the position information generation unit 34. Based on the position information and the model data transmitted from the model data update unit 35, or the camera parameters stored in the camera parameter storage unit 15 and the elapsed time calculated by the elapsed time calculation unit 33 And based on the position information of the tool T generated by the position information generation unit 34, the model data transmitted from the model data update unit 35, and the operation command extracted by the operation command extraction unit 17. The positional relationship between each CCD camera 11, 12, 13, 14, tool T and workpiece W, and the moving direction of tool T are preset. Recognize every elapsed time.

  As for the movement direction of the tool T, as described above, the tip position of the tool T in the elapsed time one time before the positional relationship should be recognized (before the tool movement) and the positional relationship to be recognized. Recognize based on the tip position of the tool T in time (after tool movement), or recognize from the operation command extracted by the operation command extraction unit 17.

  The selection candidate extraction units 22 and 37 are selected from the CCD cameras 11, 12, 13, and 14 based on the positional relationship recognized by the positional relationship recognition units 21 and 36 and the moving direction of the tool T. The CCD cameras 11, 12, 13, and 14 can generate two-dimensional image data in which the tip of the tool T is not hidden by the workpiece W, and the CCD cameras 11, 12, 13, and 14 corresponding to the moving direction of the tool T are cameras. The selection candidate is extracted for each block or for each preset elapsed time.

  Specifically, the selection candidate extraction units 22 and 37 first extract 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 by the workpiece W as camera selection candidates. Thereafter, based on the moving direction of the tool T and the camera parameters, the CCD cameras 11, 12, 13, and 14 that can generate an image in which the tool T approaches from the extracted camera selection candidates, and the tool T CCD cameras 11, 12, 13, and 14 that can generate images that move away from each other are further extracted. For example, when the tool T moves as shown in FIG. 4, when extracting the CCD cameras 11, 12, 13, and 14 that can generate an image approaching the tool T, the second CCD camera 12 is selected as a camera selection candidate. On the other hand, when extracting the CCD cameras 11, 12, 13, and 14 that can generate an image that is extracted and the tool T moves away, the fourth CCD camera 14 is extracted as a camera selection candidate.

  In this way, if camera selection candidates are extracted in consideration of the moving direction of the tool T, two-dimensional image data generated by more appropriate CCD cameras 11, 12, 13, and 14 can be displayed on the screen display device 66. Can do.

  In the above example, when the selection candidate extraction units 22 and 37 extract the 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 camera selection candidates, The intersection K between the imaging surface of the 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 positions L, M of the tool T before and after the tool movement These three points are respectively connected to form a triangular plane P, and whether or not there is an intersection between the plane P and the shape of the workpiece W is confirmed. Instead, 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 of the tool T after moving the tool A straight line connecting two points with position M It may be whether or not there is a crossing portion between the shape of the workpiece W to be independently confirmed.

  Further, when it is determined by the selection candidate extraction units 22 and 37 that there is no CCD camera 11, 12, 13, or 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 the selection candidate extraction units 22 and 37 extract camera selection candidates, first, after recognizing 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, The CCD cameras 11, 12, 13, and 14 arranged at positions close to the recognized areas and spaces are recognized, and only the recognized CCD cameras 11, 12, 13, and 14 are recognized. 14 may determine 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 units 22 and 37 are omitted, and the camera selection units 24, 31, 39, and 43 are arranged so that the tip of the tool T is moved by the workpiece W from the CCD cameras 11, 12, 13, and 14. CCD cameras 11, 12, 13, and 14 that can generate non-hidden two-dimensional image data, and 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 by the workpiece W In addition, the CCD cameras 11, 12, 13, and 14 may be selected and determined according to the moving direction of the tool T.

  Further, when the workpiece W is attached to the table 56, since a fixture is usually used, the selection candidate extraction units 22 and 37 can perform two-dimensional image data in which the tip of the tool T is not hidden by the fixture and the workpiece W. CCD cameras 11, 12, 13, and 14 that can generate a camera selection candidate are extracted as camera selection candidates, and the camera selection units 24, 31, 39, and 43 do not obscure the tip of the tool T by this fixture and workpiece W 2 The CCD cameras 11, 12, 13, and 14 that can generate the dimensional image data may be selected and determined.

  In addition, the camera switching units 27 and 42 display all the CCD cameras 11, 12, 13, 14 when displaying the two-dimensional image data generated by the CCD cameras 11, 12, 13, 14 on the screen display device 66. The two-dimensional image data generated by the CCD camera 11, 12, 13, 14 recognized from the data in the selected camera storage units 25, 40 is displayed on the screen display device 66. Is displayed largely on the display screen of the screen display device 66 (main display), and the other two-dimensional image data generated by the CCD cameras 11, 12, 13, and 14 is displayed on the display screen of the screen display device 66. It may be configured to be displayed in a small corner or as a background image of the main display.

  In addition, the position information generation units 18 and 34 and the model data update units 20 and 35 may be provided integrally, and may be configured to generate the position information of the tool T by updating the model data. The model data updating units 20 and 35 may be configured to update the model data based on the position information of the tool T generated by the position information generation units 18 and 34 instead of the operation command. 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.

DESCRIPTION OF SYMBOLS 1 Processing condition monitoring apparatus 11, 12, 13, 14 CCD camera 15 Camera parameter memory | storage part 16 Processing simulation execution part 17 Operation command extraction part 18 Position information generation part 19 Model data storage part 20 Model data update part 21 Position relation recognition part 22 Selection candidate extraction unit 23 Selection candidate storage unit 24 Camera selection unit 25 Selected camera storage unit 26 Selected camera correction unit 27 Camera switching unit 60 Control device 66 Screen display device

Claims (12)

A machining operation mechanism unit that relatively moves the tool and the workpiece, and a machining program is analyzed for each block to extract an operation command of the machining operation mechanism unit, and the machining operation mechanism unit is operated based on the extracted operation command. An apparatus for monitoring a machining state in a machine tool provided with a control means for controlling,
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;
An operation command extraction unit that analyzes the machining program for each block and extracts an operation command, an operation command extracted by the operation command extraction unit, and data relating to a three-dimensional model of the tool, workpiece, and machining operation mechanism unit Based on the above, a machining simulation execution means having a model data update unit that generates and updates model data of the tool, workpiece, and machining operation mechanism unit when the machining operation mechanism unit operates according to the operation command;
Based on the camera parameters stored in the camera parameter storage means and the model data updated by the model data updating unit, a two-dimensional image in which the tip of the tool is not hidden by at least the workpiece among the plurality of cameras. Camera selection means for selecting a camera capable of generating data for each block of the machining program;
Selected camera storage means for storing the processing program block in association with the camera selected by the camera selection means;
When the processing program is executed by the control means, the camera corresponding to the execution block is recognized based on the data related to the execution block obtained from the control means and the data stored in the selected camera storage means. A processing state monitoring apparatus comprising: a camera switching unit that causes the screen display unit to display two-dimensional image data generated by the recognized camera. A positional relationship recognition means for recognizing the positional relationship between the plurality of cameras, tools and at least the workpiece;
The machining simulation execution unit further includes a position information generation unit that generates position information of the tool based on the operation command extracted by the operation command extraction unit,
The positional relationship recognition means is based on the camera parameters stored in the camera parameter storage means, the tool position information generated by the position information generation section, and the model data updated by the model data update section. In addition, the positional relationship is configured to recognize each block of the machining program,
The processing status monitoring apparatus according to claim 1, wherein the camera selection unit is configured to select the camera based on the positional relationship recognized by the positional relationship recognition unit. Based on the positional relationship recognized by the positional relationship recognition means, the processing program with a camera that can generate two-dimensional image data in which at least the tip of the tool is not hidden by the workpiece among the plurality of cameras as a camera selection candidate Selection candidate extraction means for extracting each block of
A selection candidate storage unit that associates and stores the block of the processing program and the camera selection candidate extracted by the selection candidate extraction unit;
The camera selection means selects and determines one camera from the camera selection candidates for each block of the processing program based on the data stored in the selection candidate storage means, and the determined camera, The processing program blocks are associated with each other and stored in the selected camera storage means, and when one camera is determined from the camera selection candidates, one camera is selected from the camera selection candidates for each block. Then, a plurality of combinations of cameras are set, and after calculating the number of times of camera switching for each set combination, one camera is determined based on the combination with the smallest number of times of camera switching. The processing status monitoring device according to claim 2. Based on the positional relationship recognized by the positional relationship recognition means, the processing program with a camera that can generate two-dimensional image data in which at least the tip of the tool is not hidden by the workpiece among the plurality of cameras as a camera selection candidate Selection candidate extraction means for extracting for each block of
The camera selection means selects and determines one camera from the camera selection candidates extracted by the selection candidate extraction means for each block of the processing program, and determines the determined camera and the block of the processing program. In association with storage in the selected camera storage means, when determining one camera from among the camera selection candidates, a block immediately preceding this block among the camera selection candidates of the block to be determined It is configured to check whether or not the camera determined for is included, and when it is determined that the camera is included, the same camera as the previous block is determined. 2. The processing status monitoring device according to 2. A selection camera correction unit that corrects data stored in the selected camera storage unit;
The camera selection means is configured to select one camera for each block of the machining program,
The selected camera correction means calculates the number of times of camera switching in a fixed number of consecutive blocks based on the data stored in the selected camera storage means, and the calculated number of times of camera switching is greater than a preset allowable number of switching times. It is configured to check whether or not there is a large number, and when it is determined that the number is large, the data stored in the selected camera storage means is corrected and the selected cameras of the fixed number of consecutive blocks are set to the same camera. The processing status monitoring apparatus according to claim 1 or 2, wherein The positional relationship recognition means includes at least camera parameters stored in the camera parameter storage means, position information of the tool generated by the position information generation section, and model data updated by the model data update section. Based on the above, the positional relationship and the moving direction of the tool is configured to be recognized for each block of the machining program,
The camera selection unit generates 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 and the moving direction of the tool. The machining status monitoring apparatus according to claim 2, wherein the machining status monitoring apparatus is configured to select a camera that is a possible camera and that corresponds to a moving direction of the tool. 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;
An operation command extraction unit that analyzes the machining program and extracts an operation command, and an elapsed time calculation unit that calculates an elapsed time from the start of execution of the machining program based on the operation command extracted by the operation command extraction unit And the tool when the machining operation mechanism unit is operated according to the operation command based on the operation command extracted by the operation command extraction unit and the data regarding the three-dimensional model of the tool, workpiece and machining operation mechanism unit. , A machining simulation execution means having a model data update unit that generates and updates model data of the workpiece and the machining operation mechanism unit;
Based on the camera parameters stored in the camera parameter storage unit, the elapsed time calculated by the elapsed time calculation unit, and the model data updated by the model data update unit, at least of the plurality of cameras Camera selection means for selecting a camera capable of generating two-dimensional image data in which the tip of the tool is not hidden by the workpiece for each preset elapsed time;
Selected camera storage means for storing the preset elapsed time and the camera selected by the camera selection means in association with each other;
When the processing program is executed by the control means, based on the data obtained from the control means regarding the elapsed time from the start of execution of the processing program and the data stored in the selected camera storage means, A processing status monitoring apparatus comprising: a camera switching means for recognizing a camera corresponding to an elapsed time and displaying the two-dimensional image data generated by the recognized camera on the screen display means. A positional relationship recognition means for recognizing the positional relationship between the plurality of cameras, tools and at least the workpiece;
The machining simulation execution unit further includes a position information generation unit that generates position information of the tool based on the operation command extracted by the operation command extraction unit,
The positional relationship recognition means includes the camera parameters stored in the camera parameter storage means, the elapsed time calculated by the elapsed time calculation section, the position information of the tool generated by the position information generation section, Based on the model data updated by the model data update unit, configured to recognize the positional relationship for each preset elapsed time,
The processing status monitoring apparatus according to claim 7, wherein the camera selection unit is configured to select the camera based on the positional relationship recognized by the positional relationship recognition unit. Based on the positional relationship recognized by the positional relationship recognition means, 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 is set as the camera selection candidate in advance. Selection candidate extracting means for extracting every elapsed time,
Selection candidate storage means for storing the preset elapsed time in association with the camera selection candidate extracted by the selection candidate extraction means;
The camera selection means selects and determines one camera from the camera selection candidates for each preset elapsed time based on the data stored in the selection candidate storage means, and the determined camera , Storing the preset elapsed time in association with the selected camera storage means, and determining the camera for each preset elapsed time when determining one camera from the camera selection candidates. Select one camera from the candidates, set multiple combinations of cameras, calculate the number of camera switching for each set combination, and then determine one camera based on the combination with the smallest number of camera switching The processing status monitoring device according to claim 2, wherein Based on the positional relationship recognized by the positional relationship recognition means, 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 is set as the camera selection candidate in advance. Selection candidate extracting means for extracting every elapsed time
The camera selection means selects and determines one camera from the camera selection candidates extracted by the selection candidate extraction means for each preset elapsed time, the determined camera, and the preset In association with the elapsed time and stored in the selected camera storage means, when determining one camera from the camera selection candidates, from the elapsed time to the camera selection candidates of the elapsed time to be determined It is also configured to check whether the camera determined for the previous elapsed time is included, and to determine that the camera is the same as the previous elapsed time when it is determined that it is included. The processing status monitoring apparatus according to claim 8, wherein A selection camera correction unit that corrects data stored in the selected camera storage unit;
The camera selection means is configured to select one camera for each preset elapsed time,
The selected camera correcting means calculates the number of times of camera switching in a predetermined time based on the data stored in the selected camera storage means, and whether or not the calculated number of times of camera switching is greater than a preset allowable switching number. If it is determined that there is a large number, the data stored in the selected camera storage means is corrected, and the selected camera at the predetermined time is set to the same camera. Item 7. The processing status monitoring device according to Item 7 or 8. The positional relationship recognition means includes at least camera parameters stored in the camera parameter storage means, elapsed time calculated by the elapsed time calculation section, and position information of the tool generated by the position information generation section. , Based on the model data updated by the model data update unit, configured to recognize the positional relationship and the movement direction of the tool for each preset elapsed time,
The camera selection unit generates 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 and the moving direction of the tool. 9. The processing status monitoring apparatus according to claim 8, wherein the processing status monitoring apparatus is configured to select a camera that is a possible camera and that corresponds to a moving direction of the tool.

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