JP2015224947A - Optical coordinate measurement device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an optical coordinate measurement device that has measurement efficiency enhanced.SOLUTION: A contact part of a probe 140 is brought into contact with a measurement object S on a loading stage 120, a console 170 is operated by a user, and thereby a contact location of the contact part is set to a measurement location. A plurality of markers of the probe 140 is imaged by the main imaging unit 130, and thus image data is generated and on the basis of the image data, a coordinate of each measurement location is calculated. By an operation of the console 170, a plurality of measurement locations are determined as one or a plurality of measurement location groups, and on the basis of a coordinate of a plurality of measurement locations of one or the plurality of measurement location groups, a physical quantity about a part of the measurement object S to be measured is calculated.

Description

  The present invention relates to a contact-type optical coordinate measuring apparatus.

  The contact-type optical coordinate measuring device is provided with a probe having a contact portion. The contact portion of the probe is brought into contact with the measurement object, and the contact position between the measurement object and the contact portion is calculated. By calculating a plurality of positions on the measurement object, the dimensions of a desired portion of the measurement object are measured.

  Patent Document 1 describes a point-by-point measurement system for spatial coordinates including a data processor, a contact probe, and an angle sensor. The contact probe is provided with a plurality of point light sources in addition to the contact point. The angle sensor is provided so that an essential part of the measurement object can be observed and a plurality of point light sources of the contact probe can be observed.

  The spatial direction from the angle sensor towards each light source is recorded. Based on the recorded spatial direction, the position and direction of the contact probe with respect to the angle sensor is calculated by the data processor. The position of the contact probe is related to the position of the contact point and the position of the measurement object.

Japanese Patent Publication No. 6-511555

  In the point-by-point measurement system of Patent Document 1, it is necessary to fix the angle sensor so that a plurality of point light sources of the object and the contact probe can be observed using a fixing device such as a tripod. In this case, a relatively large measurement object can be measured with a certain efficiency. On the other hand, for a relatively small measurement object, the measurement efficiency is reduced by performing a procedure such as preparing a fixture and fixing the angle sensor. Further, if a high measurement accuracy of several μm to several tens of μm is to be realized with an optical measurement device, the measurement target range is relatively limited. Therefore, it takes time to adjust a fixing device such as a tripod, or it is difficult for the user to recognize the measurement target range. These are also factors that reduce the measurement efficiency.

  An object of the present invention is to provide an optical coordinate measuring apparatus with improved measurement efficiency.

  (1) An optical coordinate measuring apparatus according to the present invention includes a mounting table on which a measurement object is mounted, a probe having a plurality of markers and a contact portion that is in contact with the measurement object on the mounting table. A first imaging unit that generates image data by imaging a plurality of markers of the probe, and a first imaging unit and a mounting table so that an area above the mounting table is imaged by the first imaging unit. And a calculation unit for calculating a physical quantity related to a portion to be measured of the measurement object. The operation device is in contact with the contact portion of the probe. A measurement operation unit operated to set a measurement position as a measurement position, a confirmation operation unit operated to determine a plurality of set measurement positions as one or a plurality of measurement position groups, and a measurement operation unit or Operation of the confirmation operation section A calculation unit that calculates coordinates of a plurality of measurement positions of one or a plurality of measurement position groups based on the image data generated by the first imaging unit. A physical quantity relating to a portion to be measured is calculated based on the coordinates of the plurality of measurement positions.

  In this optical coordinate measuring apparatus, the contact portion of the probe is brought into contact with the measurement object placed on the placing table. By operating the measurement operation unit of the operating device, the contact position of the contact unit is set as the measurement position. Further, by operating the confirmation operation unit of the controller device, the set plurality of measurement positions are confirmed as one or a plurality of measurement position groups. When the user misoperates the measurement operation unit or the confirmation operation unit, the operation of the measurement operation unit or the confirmation operation unit is canceled by operating the cancel operation unit of the operation device.

  Image data is generated by imaging a plurality of markers of the probe by the first imaging unit. Coordinates of a plurality of measurement positions of one or a plurality of measurement position groups are calculated based on the generated image data, and physical quantities relating to a portion to be measured are calculated based on the calculated coordinates of the plurality of measurement positions.

  As described above, the user can easily and efficiently obtain a physical quantity related to a portion to be measured of the measurement object by operating the operating device while moving the probe.

  In addition, the imaging unit and the mounting table are integrally held by the holding unit so that the region above the mounting table is imaged by the imaging unit. Thereby, compared with the case where an imaging part and a mounting base are each provided separately, handling of an optical coordinate measuring device becomes easy. Further, it is not necessary to separately prepare a fixture for fixing the imaging unit. Thereby, the measurement efficiency by the optical coordinate measuring device is improved.

  (2) The operating device may be configured to be graspable with one hand of the user and movable independently of the mounting table, and may be communicable with the calculation unit by wire or wirelessly.

  In this case, the user can move the probe with the other hand while holding and operating the operating device with one hand. Thereby, operation of an operating device and movement of a probe can be performed easily and efficiently.

  (3) The operating device can be held and operated by the user and can be placed and operated, and can be moved independently of the mounting table, and can communicate with the calculation unit by wire or wirelessly. It may be.

  In this case, the user can use the operating device by gripping or placing it according to the situation. Thereby, the convenience of an operating device becomes high.

  (4) The operating device may be provided integrally with the mounting table. In this case, the operating device can be prevented from dropping or losing. In addition, the optical coordinate measuring device can be made compact.

  (5) The operation device may be configured to be operated by a user's foot, and may be connected to the calculation unit by wired communication or wireless communication.

  In this case, the user can move the probe with his / her hand while operating the operating device with his / her foot. Thereby, operation of an operating device and movement of a probe can be performed easily and efficiently. Moreover, since the probe can be moved with both hands, the contact position of the contact portion can be adjusted with high accuracy.

  (6) The operation device may further include a pointing substitute operation unit operated to cause the probe to function as a pointing device.

  In this case, it is not necessary to operate a pointing device provided separately, and the complication of the operation is suppressed.

  (7) The optical coordinate measuring apparatus is provided on the probe so as to have a certain positional relationship with respect to the plurality of markers, and includes a second imaging unit that images at least a part of the measurement object, and a position above the mounting table. And a display unit that displays a virtual image that virtually represents the area of the measurement object and displays at least a part of an image of the measurement target obtained by the second imaging unit as a captured image. You may further include the display switching operation part operated in order to selectively display a captured image by a display part.

  In this case, the measurement position can be set and the measurement position group can be determined efficiently based on the virtual image or the captured image displayed on the display unit. Further, by operating the display switching operation unit of the operation device, the virtual image and the captured image are selectively displayed on the display unit. Therefore, one of the virtual image and the captured image can be appropriately displayed on the display device according to the user's request.

  (8) The optical coordinate measuring device is provided in the probe so as to have a fixed positional relationship with respect to the storage unit and the plurality of markers, and generates image data by imaging at least a part of the measurement object. The controller may further include a second imaging unit, and the controller device may further include an imaging button operated to store the image data generated by the second imaging unit in the storage unit.

  In this case, the image data of the desired part of the measurement target can be stored in the storage unit by operating the imaging button while imaging the desired part of the measurement target with the second imaging unit. Further, based on the stored image data, a still image of a desired portion of the measurement object can be displayed on the display unit.

  (9) The operating device may further include a pointing operation unit operated as a pointing device.

  In this case, the operating device can function as a pointing device. Accordingly, it is not necessary to operate the pointing device separately from the operation device, and the operation efficiency is increased.

  According to the present invention, accurate measurement can be performed easily and quickly.

It is a block diagram which shows the structure of the optical coordinate measuring device which concerns on one embodiment of this invention. It is a perspective view which shows the structure of the measuring head of the optical coordinate measuring device of FIG. It is a perspective view which shows the structure of the probe of the measuring head of FIG. It is a figure for demonstrating the structure of a main imaging part. It is a schematic diagram for demonstrating the relationship between a main imaging part and a some light emission part. It is the external appearance perspective view of the console seen from the surface side. It is an external appearance perspective view of the console seen from the back side. It is a figure which shows an example of the image displayed on the display part of FIG. It is a figure which shows an example of a measuring object. It is a figure for demonstrating the specific example of a measurement in the measuring object of FIG. It is a figure for demonstrating the specific example of a measurement in the measuring object of FIG. It is a figure for demonstrating the specific example of a measurement in the measuring object of FIG. It is a figure for demonstrating the specific example of a measurement in the measuring object of FIG. It is a figure for demonstrating the specific example of a measurement in the measuring object of FIG. It is a figure which shows the example by which position figure information was displayed on the captured image. It is a figure which shows an example of the initial screen displayed on the display part of an optical coordinate measuring device. It is a figure for demonstrating one usage example of the optical coordinate measuring device in setting mode. It is a figure for demonstrating one usage example of the optical coordinate measuring device in setting mode. It is a figure for demonstrating one usage example of the optical coordinate measuring device in setting mode. It is a figure for demonstrating one usage example of the optical coordinate measuring device in setting mode. It is a figure for demonstrating one usage example of the optical coordinate measuring device in setting mode. It is a figure for demonstrating one usage example of the optical coordinate measuring device in setting mode. It is a figure for demonstrating one usage example of the optical coordinate measuring device in setting mode. It is a figure for demonstrating one usage example of the optical coordinate measuring device in setting mode. It is a figure for demonstrating one usage example of the optical coordinate measuring device in setting mode. It is a figure for demonstrating one usage example of the optical coordinate measuring device in setting mode. It is a figure for demonstrating one usage example of the optical coordinate measuring device in a measurement mode. It is a figure for demonstrating one usage example of the optical coordinate measuring device in a measurement mode. It is a figure for demonstrating one usage example of the optical coordinate measuring device in a measurement mode. It is a figure for demonstrating one usage example of the optical coordinate measuring device in a measurement mode. It is a figure for demonstrating one usage example of the optical coordinate measuring device in a measurement mode. It is a figure which shows an example of the display form of the some measurement position displayed on a captured image. It is an external appearance perspective view of the other example of a console. It is an external appearance perspective view of the other example of a console. It is a figure for demonstrating the example of another operating device. It is a figure for demonstrating the example of another operating device.

(1) Configuration of Optical Coordinate Measuring Device FIG. 1 is a block diagram showing a configuration of an optical coordinate measuring device according to an embodiment of the present invention. FIG. 2 is a perspective view showing the configuration of the measuring head of the optical coordinate measuring apparatus 300 of FIG. FIG. 3 is a perspective view showing the configuration of the probe of the measurement head 100 of FIG. Hereinafter, the optical coordinate measuring apparatus 300 according to the present embodiment will be described with reference to FIGS. As shown in FIG. 1, the optical coordinate measuring device 300 includes a measuring head 100 and a processing device 200. The measurement head 100 includes a holding unit 110, a mounting table 120, a main imaging unit 130, a probe 140, a sub imaging unit 150, a display unit 160, a console 170, and a control board 180.

  As shown in FIG. 2, the holding unit 110 of the measurement head 100 includes an installation unit 111 and a stand unit 112. The installation unit 111 has a horizontal flat plate shape and is installed on the installation surface. The stand part 112 is provided so as to extend upward from one end of the installation part 111.

  A mounting table 120 is provided at the other end of the installation unit 111. The mounting table 120 is, for example, an optical surface plate. On the mounting table 120, the measuring object S is mounted. In this example, the mounting table 120 has a substantially square shape. A plurality of screw holes are formed in the mounting table 120 so as to be arranged at equal intervals in two directions orthogonal to each other. Thereby, the measuring object S can be fixed to the mounting table 120 by the clamp member and the fixing screw. The mounting table 120 may have magnetism. In this case, the measuring object S can be fixed to the mounting table 120 by a fixing member using a magnet such as a magnet base. Moreover, the upper surface of the mounting table 120 may have adhesiveness. Also in this case, the measuring object S can be easily fixed to the mounting table 120. The mounting table 120 may be configured to be detachable. For example, the mounting table 120 whose upper surface is adhesive may be realized by fixing a plate-like member whose upper surface is adhesive to the mounting table 120 formed with a plurality of screw holes.

  One or a plurality of connection terminals 113 are provided on the end surface of the installation unit 111 on the mounting table 120 side. In the example of FIG. 2, two connection terminals 113 are provided. One connection terminal 113 and the probe 140 are connected by a cable CA. Each connection terminal 113 is electrically connected to the control board 180.

  An interface part 114 is formed on the installation part 111 in front of the stand part 112 so as to protrude upward. The interface unit 114 is electrically connected to the control board 180. The interface unit 114 is provided with a power switch 114a, an operation display lamp 114b, and a USB (Universal Serial Bus) port 114c.

  The user can start the operation of the measuring head 100 by turning on the power switch 114a when a switch (not shown) of the processing apparatus 200 is on. The operation display lamp 114b is configured by, for example, an LED (light emitting diode). The operation display lamp 114b is turned on when the power switch 114a is in an on state, and is turned off when the power switch 114a is in an off state. Therefore, the user can recognize whether or not the measuring head 100 is operating by visually recognizing the operation display lamp 114b. The user can store data indicating the measurement result by the optical coordinate measuring apparatus 300 in the USB memory by connecting, for example, a USB memory to the USB port 114c.

  A main imaging unit 130 is provided above the stand unit 112. The main imaging unit 130 may be detachably provided on the top of the stand unit 112 or may be provided integrally with the stand unit 112. The main imaging unit 130 includes an imaging device 131 (FIG. 4 described later) and a plurality of lenses 132 (FIG. 4 described later). In the present embodiment, the image sensor 131 is a CMOS (complementary metal oxide semiconductor) image sensor capable of detecting infrared rays. The main imaging unit 130 is arranged to face obliquely downward so that infrared rays emitted from a predetermined imaging region V can be detected.

  The imaging region V is a certain region including the mounting table 120 of the installation unit 111 and its periphery. In the present embodiment, the imaging table V is defined as the mounting table 120 in FIG. 1 and a region protruding from the mounting table 120 by the length of the entire length of the probe 140 in FIG. The total length of the probe 140 is about 150 mm, for example. From each pixel of the main imaging unit 130, an analog electrical signal (hereinafter referred to as a light reception signal) corresponding to the detection amount is output to the control board 180.

  As shown in FIG. 3, the probe 140 includes a housing part 141, a grip part 142, a plurality of light emitting parts 143, a stylus 144, a power supply board 145, and a connection terminal 146. The grip portion 142 extends in the first direction D1, and the housing portion 141 extends in a second direction D2 that intersects the first direction D1. The user operates the probe 140 while holding the grip portion 142.

  In the following, unless otherwise specified, the probe 140 is vertically and longitudinally and vertically and vertically when the user holds the grip 142 vertically (the first direction D1 faces the vertical direction). Point to.

  The housing part 141 is provided at the upper end part of the grip part 142. The grip 142 is below the center of the lower surface of the housing 141 so that the front portion of the housing 141 protrudes forward of the grip 142 and the rear portion of the housing 141 protrudes rear of the grip 142. It extends to. Here, an angle formed by the first direction D1 and the second direction D2 is defined as an angle φ formed by the grip portion 142 and the front portion of the housing portion 141. In the present embodiment, the angle φ is an acute angle and is larger than 0 ° and smaller than 90 °.

  In a state in which the grip portion 142 is held vertically, the front end of the housing portion 141 is positioned below the rear end of the housing portion 141, and the upper surface of the housing portion 141 is inclined obliquely downward from the rear end to the front end. . In this case, the user can easily turn the upper surface of the housing part 141 obliquely upward.

  In the present embodiment, the upper surface of the housing 141 is composed of a front upper surface 141a, a central upper surface 141b, and a rear upper surface 141c. The front upper surface 141a, the central upper surface 141b, and the rear upper surface 141c are each parallel to the second direction D2. The front upper surface 141a, the central upper surface 141b, and the rear upper surface 141c are perpendicular to the plane including the first and second directions D1 and D2. The front upper surface 141a and the rear upper surface 141c are on the same plane, and the central upper surface 141b is on a higher plane than the front upper surface 141a and the rear upper surface 141c.

  A glass holding member that holds the plurality of light emitting units 143 is housed inside the housing unit 141. The housing 141 is formed with a plurality of openings 141h for exposing the plurality of light emitting units 143 therein.

  In the example of FIG. 3, seven light emitting units 143 are provided in the housing unit 141. Three light emitting units 143 are arranged at the front end of the casing 141, two light emitting units 143 are arranged at the center, and two light emitting units 143 are arranged at the rear end. On the front upper surface 141a, the central upper surface 141b, and the rear upper surface 141c of the casing 141, an opening 141h for exposing the three light emitting units 143 at the front end and the two light emitting units 143 at the center are exposed. An opening 141h for exposing the opening 141h and the two light emitting portions 143 at the rear end is formed.

  In this example, the three light emitting units 143 at the front end and the two light emitting units 143 at the rear end of the housing unit 141 are arranged on the same plane. The two light emitting units 143 at the center are arranged so as to be located on a plane higher than the plane on which the other light emitting units 143 are located.

  The three light emitting portions 143 at the front end are arranged so as to be exposed upward from the front upper surface 141a. The central two light emitting portions 143 are arranged so as to be exposed upward from the central portion upper surface 141b. The two light emitting portions 143 at the rear end are arranged so as to be exposed upward from the rear upper surface 141c.

  Each light emitting unit 143 includes a plurality of LEDs. In this example, each LED is an infrared LED, and each light emitting unit 143 periodically emits infrared light having a wavelength of 860 nm. Infrared rays emitted from the plurality of light emitting units 143 are imaged by the main imaging unit 130 of FIG. 2 through the plurality of openings 141 h of the housing unit 141.

  The main imaging unit 130 in FIG. 2 is located obliquely above the mounting table 120. As described above, the user can easily turn the upper surface of the housing unit 141 obliquely upward. Therefore, the main imaging unit 130 can efficiently image infrared rays emitted from the plurality of light emitting units 143 of the probe 140 when measuring the shape of the measurement object S on the mounting table 120.

  As shown in FIG. 3, the stylus 144 is a rod-shaped member having a contact portion 144 a that can contact the measurement object S. In the present embodiment, a spherical contact portion 144 a is provided at the tip of the stylus 144. An attachment portion (not shown) for attaching the stylus 144 is formed on the front end surface and the lower surface of the housing portion 141. The user can arbitrarily change the attachment position of the stylus 144 between the front end surface of the housing unit 141 and the lower surface of the front end according to the shape of the measurement object S. In the example of FIG. 3, the stylus 144 is attached to the front end surface of the housing unit 141.

  The power supply substrate 145 supplies power to the plurality of light emitting units 143. The power supply substrate 145 is housed inside the grip portion 142. The connection terminal 146 is disposed below the grip part 142. The operation of the plurality of light emitting units 143 is controlled by the control board 180 in FIG. 1 through a cable connected to the connection terminal 146.

  The sub imaging unit 150 is, for example, a CCD (charge coupled device) camera. The resolution of the sub imaging unit 150 may be lower than the resolution of the main imaging unit 130. The sub imaging unit 150 is disposed at a position where the positional relationship between the probe 140 and the contact portion 144a of the stylus 144 is known. In the present embodiment, the sub-imaging unit 150 is disposed on the end surface of the front end of the housing unit 141 of the probe 140. A light reception signal is output from each pixel of the sub-imaging unit 150 to the control board 180 through a cable connected to the connection terminal 146.

  As shown in FIG. 2, the display unit 160 is supported on the stand unit 112 of the holding unit 110, and is provided on the installation unit 111 so that the display screen of the display unit 160 faces obliquely upward. Thereby, the user can selectively visually recognize the measurement object S and the display unit 160 with a minimum movement of the line of sight, or can visually recognize the measurement object S and the display unit 160 at the same time.

  The display unit 160 is configured by, for example, a liquid crystal display panel or an organic EL (electroluminescence) panel. The display unit 160 displays an image generated by the processing device 200, an operation procedure screen of the optical coordinate measuring device 300, a measurement result, or the like based on control by the control board 180.

  The console 170 is an example of an operation device operated by a user. The user operates the console 170 while moving the probe 140. Details of the console 170 will be described later.

  The control board 180 is provided in the stand part 112 of the holding part 110. The control board 180 is connected to the main imaging unit 130, the probe 140, the sub imaging unit 150, the display unit 160 and the console 170. The processing apparatus 200 controls operations of the main imaging unit 130, the probe 140, the sub imaging unit 150, the display unit 160, and the console 170 via the control board 180.

  On the control board 180, an A / D converter (analog / digital converter) and a FIFO (First In First Out) memory (not shown) are mounted. The received light signals output from the main imaging unit 130 and the sub imaging unit 150 are sampled at a constant sampling period by the A / D converter of the control board 180 and converted into a digital signal. Digital signals output from the A / D converter are sequentially stored in the FIFO memory. The digital signal stored in the FIFO memory is sequentially transferred to the processing device 200 as pixel data.

  In the present embodiment, the light emission timings of the plurality of light emitting units 143 in FIG. 3 and the detection timing of the main imaging unit 130 in FIG. 2 are synchronized. Pixel data accumulated during the light emission period of the plurality of light emitting units 143 is transferred from the control substrate 180 to the processing apparatus 200 during the next light extinction period of the light emitting unit 143.

  As illustrated in FIG. 1, the processing device 200 includes a storage unit 210, a control unit 220, and an operation unit 230. The storage unit 210 includes a ROM (read only memory), a RAM (random access memory), and a hard disk. The storage unit 210 stores a system program. The storage unit 210 is used for processing various data and storing various data such as pixel data given from the measurement head 100.

  Control unit 220 includes a CPU (Central Processing Unit). In the present embodiment, storage unit 210 and control unit 220 are realized by a personal computer. The control unit 220 generates image data based on the pixel data given from the measurement head 100. Image data is a set of a plurality of pixel data. The controller 220 calculates the coordinates of the contact portion 144a of the stylus 144 of the probe 140 based on the generated image data.

  The operation unit 230 includes a keyboard and a pointing device. The pointing device includes a mouse or a joystick. The operation unit 230 is operated by a user.

(2) Configuration of Main Imaging Unit FIG. 4 is a diagram for describing the configuration of the main imaging unit 130. 4A is a schematic cross-sectional view of the main imaging unit 130, and FIG. 4B is an external perspective view of the main imaging unit 130.

  As shown in FIG. 4A, the main imaging unit 130 includes an element holding unit 130a, a lens holding unit 130b, an imaging element 131, and a plurality of lenses 132. The element holding part 130a and the lens holding part 130b are made of titanium, for example. The element holding part 130a and the lens holding part 130b may be provided as a common member by integral molding, or may be provided as separate members.

  A concave portion 133 having a rectangular cross section is formed on one surface of the element holding portion 130a. The image sensor 131 is fitted in the recess 133. In order to prevent displacement of the image sensor 131, the image sensor 131 may be fixed in the recess 133. A through hole 134 is formed from the bottom surface of the recess 133 to the other surface parallel to the one surface of the element holding portion 130a.

  As shown in FIGS. 4A and 4B, the lens holding portion 130b has a cylindrical shape. One end portion of the lens holding portion 130b is fixed to the other surface of the element holding portion 130a. The lens holding unit 130b holds a plurality of lenses 132 having various sizes. The plurality of lenses 132 are arranged so as to overlap the through holes 134 of the element holding portion 130a and have optical axes that coincide with each other. Light enters the image sensor 131 through the plurality of lenses 132 from the other end of the lens holding portion 130b.

(3) Detection by Main Imaging Unit As described above, the main imaging unit 130 detects infrared rays emitted from the plurality of light emitting units 143 of the probe 140. FIG. 5 is a schematic diagram for explaining the relationship between the main imaging unit 130 and the plurality of light emitting units 143. In FIG. 5, a description will be given using a so-called pinhole camera model for easy understanding. FIG. 5 shows only one lens 132 among the plurality of lenses 132 of the main imaging unit 130, and light is guided to the imaging element 131 so as to pass through the main point 132 a of the lens 132.

  As shown in FIG. 5, the main imaging unit 130 has a certain angle of view (viewing angle) θ. The imaging region V is included in the range of the angle of view θ of the main imaging unit 130. When a plurality of light emitting units 143 are located in the imaging region V, infrared rays emitted from the light emitting units 143 are incident on the imaging element 131 through the principal point 132a of the lens 132.

  In this case, the direction from the principal point 132a of the lens 132 toward each light emitting unit 143 is specified based on the light receiving position P of the imaging element 131. In the example of FIG. 5, each light emitting unit 143 is positioned on each straight line passing through each light receiving position P and the main point 132 a of the lens 132, as indicated by a dashed line. Moreover, the relative positional relationship of the several light emission part 143 is beforehand memorize | stored in the memory | storage part 210 of FIG. 1, for example.

  Based on the direction from the principal point 132a of the lens 132 to each light emitting unit 143 and the positional relationship of the plurality of light emitting units 143, the position of the center of each light emitting unit 143 is uniquely determined. In the present embodiment, the x axis, the y axis, and the z axis that are orthogonal to the origin are defined, and the absolute position in the imaging region V is represented by three-dimensional coordinates. The control unit 220 in FIG. 1 calculates the coordinates of the center of each light emitting unit 143 based on the light receiving position P of the image sensor 131 and the positional relationship between the plurality of light emitting units 143 stored in advance.

  Based on the calculated coordinates of the center of each light emitting section 143, the coordinates of the contact position between the contact section 144a (FIG. 3) of the probe 140 and the measuring object S are calculated by the control section 220 of FIG.

  For example, the positional relationship between the center of each light emitting unit 143 and the center of the contact unit 144a (FIG. 3) is stored in advance in the storage unit 210 of FIG. Based on the calculated coordinates of the center of each light emitting part 143 and the positional relationship between the center of each light emitting part 143 and the center of the contact part 144a stored in advance, the coordinates of the center of the contact part 144a are specified.

  Further, the position and orientation of the probe 140 are specified based on the coordinates of the center of each light emitting unit 143. Thereby, the position of the stylus 144 is specified. Further, based on the position and orientation of the probe 140 or the positional relationship between the stylus 144 and the probe 140, the relative positional relationship between the center of the contact portion 144a and the contact position, that is, the measurement position is estimated. Based on the estimated positional relationship, the coordinates of the contact position (measurement position) between the contact portion 144a and the measurement object S are calculated from the coordinates of the center of the contact portion 144a.

  Note that a sensor that detects the direction of the force applied from the measurement object S to the contact portion 144a may be provided in the probe 140. In that case, the coordinates of the contact position between the contact portion 144a and the measurement object S can be calculated based on the detection result of the sensor.

  If there are individual differences in the positional relationship between the imaging element 131 and the plurality of lenses 132, the positional relationship between the plurality of light emitting units 143, the positional relationship between the plurality of light emitting units 143 and the contact unit 144a, the calculated coordinates vary. Occurs. Therefore, it is preferable to perform calibration to prevent variation due to individual differences before performing measurement by the optical coordinate measuring apparatus 300.

(4) Details of Console Details of the console 170 will be described. FIG. 6 is an external perspective view of the console 170 viewed from the front surface side, and FIG. 7 is an external perspective view of the console 170 viewed from the back surface side. As shown in FIGS. 6 and 7, the console 170 has a main body 171. The main body 171 is formed in a size that can be gripped with one hand, and is connected to the control board 180 of FIG. Note that the console 170 may be connected to the control board 180 or the processing apparatus 200 of FIG. 1 by wireless communication.

  The main body 171 has a front surface 171a (FIG. 6) and a back surface 171b (FIG. 7). In the following description, two directions parallel to the surface 171a and perpendicular to each other are referred to as a length direction DR1 and a width direction DR2. The main body 171 is provided so as to extend in the length direction DR1.

  A measurement button B1, a confirmation button B2, a cancel button B3, a display switching button B4, and an imaging button B5 are provided on the surface 171a of the main body 171. The measurement button B1 is provided at one end of the surface 171a in the length direction DR1. The measurement button B1 is operated to set the contact position of the contact portion 144a of the probe 140 as the measurement position. The dimension in the width direction DR2 of the measurement button B1 is substantially equal to the dimension in the width direction DR2 of the surface 171a.

  A confirmation button B2 and a cancel button B3 are provided so as to be adjacent to the measurement button B1 in the length direction DR1. The confirmation button B2 and the cancel button B3 are arranged so as to be aligned in the width direction DR2. The confirm button B2 is operated to confirm one or a plurality of measurement position groups. Each measurement position group includes a plurality of measurement positions, and corresponds to an element (hereinafter referred to as a measurement element) for specifying a part to be measured (hereinafter, a measurement target part) of the measurement object S. The relationship between the measurement target portion, the measurement element, and the measurement position group will be described later.

  The cancel button B3 is operated to cancel the operations of the measurement button B1 and the confirmation button B2. The user presses the cancel button B3 when the measurement button B1 or the confirmation button B2 is erroneously operated. In that case, the previous operation of the measurement button B1 or the confirmation button B2 is canceled.

  The dimension in the width direction DR2 of the confirmation button B2 is larger than the dimension in the width direction DR2 of the cancel button B3. Further, the dimension in the length direction DR1 of the confirmation button B2 and the cancel button B3 is smaller than the dimension in the length direction DR1 of the measurement button B1.

  Even if the operation of the measurement button B1 or the confirmation button B2 can be canceled by operating the measurement button B1 or the confirmation button B2 continuously for a certain period of time or more, the operation of the measurement button B1 or the confirmation button B2 can be canceled. Good.

  On the opposite side of the measurement button B1 with respect to the confirmation button B2 and the cancel button B3, a display switching button B4 and an imaging button B5 are provided so as to be arranged in the length direction DR1. The display switching button B4 is operated for switching the display by the display unit 160 of FIG. The imaging button B5 is operated for imaging by the sub imaging unit 150 in FIG.

  A curved end surface 171c is formed between one end of the front surface 171a and one end of the back surface 171b. A pointing substitute button B6 is provided from the end surface 171c to the back surface 171b. The pointing substitute button B <b> 6 is operated to use the probe 140 of FIG. 1 instead of the pointing device of the operation unit 230. An operation on an image displayed on the display unit 160 is usually performed using a pointing device such as a mouse. In a state where the pointing substitute button B6 is pressed, an operation on an image displayed on the display unit 160 can be performed using the probe 140 instead of the pointing device.

  Specifically, when the probe 140 is moved, the cursor displayed on the display unit 160 is moved. In this case, the movement of the probe 140 is detected by imaging the plurality of light emitting units 143 of the probe 140 by the main imaging unit 130, and the cursor is moved based on the detection. Further, for example, the measurement button B1 and the confirmation button B2 of the console 170 are used instead of the left button and the right button of the mouse.

  Normally, the user holds the probe 140 of FIG. 3 with one hand (for example, a dominant hand) and holds the console 170 with the other hand. The measurement button B1, the confirm button B2, the cancel button B3, the display switching button B4, and the imaging button B5 are operated with the thumb, and the pointing substitute button B6 is operated with the index finger. The measurement button B1 is larger than the other buttons and is in a position where the thumb naturally overlaps. Therefore, the operation of the measurement button B1 is easier than other buttons. The confirmation button B2 is close to the measurement button B1 and has a relatively large dimension in the width direction DR2. Therefore, the operation of the confirmation button B2 is easy after the measurement button B1.

  In the present embodiment, the physical quantity of the portion to be measured of the measurement object S is calculated by the control unit 220 in FIG. 1 based on the coordinates of one or a plurality of measurement position groups determined by operating the confirmation button B2. . Here, the physical quantity includes distance, angle, flatness and the like.

  Hereinafter, an operation example of each button of the console 170 will be described together with the basic operation of the optical coordinate measuring apparatus 300.

(5) Basic Measurement Example A basic measurement example of the dimension of the measuring object S by the optical coordinate measuring apparatus 300 will be described. FIG. 8 is a diagram illustrating an example of an image displayed on the display unit 160 of FIG. FIG. 9 is a diagram illustrating an example of the measuring object S.

  FIG. 8 shows an image VI (hereinafter referred to as an imaging region virtual image) VI that virtually represents the imaging region V. As described above, the origin, x axis, y axis, and z axis are defined in the imaging region V, respectively. In this example, the x axis and the y axis are set so as to be parallel to and orthogonal to the upper surface of the mounting table 120, and the z axis is set perpendicular to the upper surface of the mounting table 120. The center of the mounting table 120 is set to the origin O. The imaging area virtual image VI in FIG. 8 includes the origin O, the x-axis, the y-axis, and the z-axis, and also includes a line representing the outer periphery of the mounting table 120 (dotted line in FIG. 8).

  The measuring object S in FIG. 9 has a rectangular parallelepiped shape. In this example, the distance between one side surface Sa of the measuring object S and the opposite side surface Sb is measured. In this case, the side surfaces Sa and Sb correspond to measurement target portions, and the plane corresponding to the side surface Sa and the plane corresponding to the side surface Sb correspond to measurement elements, respectively. The side surfaces Sa and Sb are each perpendicular to the x-axis.

  10-14 is a figure for demonstrating the specific example of a measurement in the measuring object S of FIG. 10 (a) and 12 (a) are front views showing the positional relationship between the mounting table 120, the main imaging unit 130, the probe 140, and the measurement object S. FIGS. 10 (b) and 12 (b). These are external appearance perspective views of the probe 140 and the measuring object S. FIG. 11, 13, and 14 show examples of the imaging region virtual image VI displayed on the display unit 160.

  10 (a) and 10 (b), the contact portion 144a of the stylus 144 is placed on the side surface Sa of the measuring object S so that the plurality of light emitting portions 143 of the probe 140 are positioned in the imaging region V. Touched. In this state, when the measurement button B1 on the console 170 (FIG. 6) is pressed, as shown in FIG. 10B, the contact position between the measurement object S and the contact portion 144a is set as the measurement position M1a. The In this case, the coordinates of the measurement position M1a are calculated and stored in the storage unit 210 in FIG.

  Similarly, three positions on the side surface Sa of the measurement object S are set as measurement positions M2a, M3a, and M4a. Thereby, the coordinates of the measurement positions M2a, M3a, and M4a are calculated and stored in the storage unit 210 of FIG. Subsequently, when the confirmation button B2 of the console 170 (FIG. 6) is pressed, the measurement positions M1a to M4a are confirmed as a measurement position group. In this case, the plane ML1 passing through the measurement positions M1a to M4a is set as a measurement element corresponding to the side surface Sb of the measurement object S. Hereinafter, a plane set as a measurement element is referred to as a measurement plane. In this case, as shown in FIG. 11, the set measurement plane ML1 is superimposed on the imaging region virtual image VI.

  Subsequently, as shown in FIGS. 12A and 12B, the contact portion 144 a of the stylus 144 is placed on the measurement object S so that the plurality of light emitting portions 143 of the probe 140 are positioned in the imaging region V. It contacts the side surface Sb. In this state, when the measurement button B1 on the console 170 (FIG. 6) is pressed, as shown in FIG. 12B, the contact position between the measurement object S and the contact portion 144a is set as the measurement position M1b. The In this case, the coordinates of the measurement position M1b are calculated and stored in the storage unit 210 in FIG.

  Similarly, three positions on the side surface Sb of the measurement object S are set as measurement positions M2b, M3b, and M4b. Thereby, the coordinates of the measurement positions M2b, M3b, and M4b are calculated and stored in the storage unit 210 of FIG. Subsequently, when the confirmation button B2 on the console 170 (FIG. 6) is pressed, the measurement positions M1b to M4b are confirmed as a measurement position group. In this case, the measurement plane ML2 passing through the measurement positions M1b to M4b is set as a measurement element corresponding to the side surface Sb of the measurement object S. In this case, as shown in FIG. 13, the set measurement plane ML2 is superimposed on the imaging region virtual image VI in addition to the measurement plane ML1.

  When the measurement planes ML1 and ML2 are set, the control unit 220 in FIG. 1 calculates the distance between the measurement planes ML1 and ML2, and the calculation result is displayed on the imaging region virtual image VI as shown in FIG. Is done. The calculation result may be displayed on the display unit 160 separately from the imaging region virtual image VI. In addition, the calculation method of the distance between the two measurement planes ML1 and ML2 may be set as appropriate by the user.

  In this example, the measurement plane is set based on four measurement positions, but the measurement plane can be set based on at least three measurement positions. On the other hand, the measurement plane can be set more accurately by setting four or more measurement positions. Further, the flatness of the measurement plane can be obtained based on four or more measurement positions.

  In this example, a plane passing through a plurality of measurement positions is set as the measurement element. However, the measurement element is not limited thereto, and a cylinder or a sphere passing through the plurality of measurement positions may be set as the measurement element. For example, when the measuring object S has a columnar protrusion and the cross-sectional diameter of the protrusion is measured, the protrusion corresponds to the measurement target portion, and a cylinder corresponding to the outer peripheral surface of the protrusion is set as the measurement element. . When measuring the angle formed by the two surfaces of the measurement object S, the two surfaces correspond to the measurement object portion, and a plane corresponding to each surface is set as a measurement element.

(6) Usage Example of Sub-imaging Unit Image data indicating the measurement target S based on the light reception signal output from the sub-imaging unit 150 is obtained by imaging the measurement target S with the sub-imaging unit 150 of FIG. 1 control unit 220. An image of the measurement object S can be displayed on the display unit 160 based on the generated image data. Hereinafter, image data obtained by the sub-imaging unit 150 is referred to as captured image data, and an image based on the captured image data is referred to as a captured image.

  Switching between the display of the imaging region virtual image VI and the display of the captured image on the display unit 160 is performed by pressing a display switching button B4 of the console 170 (FIG. 6). Further, when the imaging button B5 of the console 170 (FIG. 6) is pressed while the captured image is displayed on the display unit 160, the captured image data at that time is stored in the storage unit 210 of FIG. Thereby, the still image of the measuring object S can be displayed on the display unit 160.

  The positional relationship between the plurality of light emitting units 143 and the sub imaging unit 150 and the characteristics (such as the angle of view and distortion) of the sub imaging unit 150 are stored in advance as imaging information in the storage unit 210 of FIG. Therefore, when the plurality of light emitting units 143 are in the imaging region V, the region captured by the sub imaging unit 150 is recognized by the control unit 220 in FIG. That is, based on the calculation result of the positions of the plurality of light emitting units 143 obtained by the main imaging unit 130 and the positional relationship of the sub imaging unit 150 with respect to the plurality of light emitting units 143, the three-dimensional space corresponding to the captured image is the control unit 220. Is recognized.

  As described above, information on the measurement position and measurement element (plane in the above example) (hereinafter referred to as position graphic information) is set in a three-dimensional space. In the present embodiment, the position graphic information is associated with the captured image, and an appropriate position on the captured image (for example, the coordinate position indicated by the position graphic information is represented on the three-dimensional space corresponding to the captured image. Position graphic information can be displayed at a position on the captured image.

  FIG. 15 is a diagram illustrating an example in which position graphic information is displayed on a captured image. In the example of FIG. 15, the side surface Sb of the measurement object S is imaged by the sub imaging unit 150. On the captured image SI, a plurality of spherical images P1b, P2b, P3b, and P4b representing the measurement positions M1b to M4b are displayed, and a graphic PL2 representing the measurement plane ML2 is displayed. Furthermore, an image showing the origin O, the x axis, the y axis, and the z axis defined in the three-dimensional space is displayed on the captured image SI.

  As described above, the position graphic information is displayed at an appropriate position on the captured image SI obtained by actually imaging the measurement object S, so that the user can easily grasp the position graphic information visually. Become. In addition, after performing measurement on one measurement object S, when performing the same measurement on another measurement object S, the user refers to the captured image SI on which the position graphic information is superimposed. Thus, it is possible to easily perform measurements on other measurement objects S.

  If the positional relationship between the plurality of light emitting units 143 and the sub-imaging unit 150 is deviated from the designed positional relationship, there is a gap between the three-dimensional space defined for the imaging region V and the three-dimensional space corresponding to the captured image SI. Deviation occurs. In this case, the position graphic information cannot be displayed at an appropriate position on the captured image SI. Therefore, before performing measurement by the optical coordinate measuring apparatus 300, calibration (calibration) for preventing a shift between the three-dimensional space defined in the imaging region V and the three-dimensional space corresponding to the captured image SI. Is preferably performed.

(7) Setting Mode and Measurement Mode In the following description, a user who manages the measurement work of the measurement object S among users of the optical coordinate measuring apparatus 300 is called a measurement manager, and is under the management of the measurement manager. The user who performs the measurement work on the measurement object S is called a measurement worker.

  The optical coordinate measuring apparatus 300 can be used in two types of modes: a setting mode for measurement managers and a measurement mode for measurement workers. In the setting mode, when the measurement manager measures one measurement object S, information regarding the measurement conditions and measurement procedure of the measurement object S is generated as setting information. The generated setting information is stored in the storage unit 210 of FIG. On the other hand, in the measurement mode, the measurement operator can measure the other measurement object S according to the setting information stored in the storage unit 210 of FIG. 1 by visually recognizing the display unit 160 of FIG.

  In the present embodiment, the measurement condition of the measurement object S includes the measurement item and the target part shape. The measurement item indicates what is to be measured for the measurement object S, and includes various physical quantities such as a distance. Note that the measurement items may include calculation methods for these various physical quantities. The target portion shape is a type of geometric shape indicating the shape of the measurement element. Types of geometric shapes include points, straight lines, planes, circles, cylinders, spheres, and the like.

(7-1) Setting Mode FIG. 16 is a diagram illustrating an example of the initial screen SC1 displayed on the display unit 160 of the optical coordinate measuring apparatus 300. As shown in FIG. 16, a measurement button 601 and a setting button 602 are displayed on the initial screen SC1 of the optical coordinate measuring apparatus 300.

  When the measurement manager selects the setting button 602, the optical coordinate measuring apparatus 300 operates in the setting mode. An example in which setting information is generated by the measurement manager measuring the distance between the two side surfaces Sa and Sb of the measuring object S in FIG. 9 in the setting mode will be described.

  FIGS. 17 to 26 are diagrams for explaining an example of use of the optical coordinate measuring apparatus 300 in the setting mode. First, as shown in FIG. 17, the measurement manager places the measurement object S on the mounting table 120 at a predetermined position and posture.

  When the setting button 602 in FIG. 16 is selected, a measurement condition setting screen SC2 is displayed on the display unit 160 as shown in FIG. The measurement condition setting screen SC2 includes a first image display field 611, a measurement item selection field 612, and a target part shape selection field 613.

  In the first image display field 611, the imaging region virtual image VI is displayed. In the measurement item selection field 612, a plurality of buttons indicating a plurality of types of physical quantities are displayed. In the example of FIG. 18, a distance button 612a and an angle button 612b are displayed in the measurement item selection field 612. The measurement manager can designate a measurement item by operating the operation unit 230 in FIG. 1 and selecting any button in the measurement item selection field 612.

  In the target part shape selection field 613, a plurality of buttons indicating a plurality of types of geometric shapes are displayed. In the example of FIG. 18, a plane button 613a, a straight line button 613b, a point button 613c, and a circle button 613d are displayed in the target part shape selection field 613. The measurement manager can specify the target part shape by operating the operation unit 230 of FIG. 1 and selecting any button in the target part shape selection field 613.

  The measurement manager selects the distance button 612a in the measurement item selection field 612 and the plane button 613a in the target part shape selection field 613 in order to measure the distance between the two side surfaces Sa and Sb of the measurement object S. To do. Thereby, the measurement condition of the measuring object S is set to measure the distance between the two planes. In this example, the two planes to be set under the measurement conditions are referred to as “plane 1” and “plane 2”, respectively.

  When the measurement conditions for the measurement object S are set, a measurement procedure setting screen SC3 is displayed on the display unit 160 as shown in FIG. The measurement procedure setting screen SC3 includes a first image display field 611, a target part display field 621, and a measurement point coordinate display field 622.

  In the first image display field 611, the imaging region virtual image VI of FIG. 18 is continuously displayed. In the target portion display field 621, a character string (in this example, “plane 1”) indicating one of the two planes to be set is displayed. In the measurement point coordinate display field 622, the calculation result (coordinates) of the measurement position by the probe 140 is displayed. In the example of FIG. 19, since the probe 140 is not operated, the measurement position calculation result is not displayed in the measurement point coordinate display field 622.

  As shown in FIG. 20, the measurement manager adjusts the position and orientation of the probe 140 so that a plane corresponding to “Plane 1” (in this example, the side surface Sa of the measurement object S) is imaged. In this state, when the imaging button B5 of the console 170 (FIG. 6) is pressed, captured image data corresponding to “Plane 1” is stored.

  In this case, as shown in FIG. 21, the captured image SI corresponding to “Plane 1” is displayed in the first image display field 611. The captured image SI in FIG. 21 is a still image. The captured image SI in FIG. 21 represents the side surface Sa of the measurement object S and includes an image showing the x axis, the y axis, and the z axis defined in the three-dimensional space.

  Thereafter, as in the example of FIG. 10, the measurement manager sequentially presses the measurement button B1 of the console 170 while moving the probe 140, thereby identifying the “plane 1” side surface of the measurement object S. Four measurement positions M1a, M2a, M3a, and M4a (FIG. 10B) on Sa are sequentially set.

  When setting a plurality of measurement positions M1a, M2a, M3a, and M4a, each time the measurement position is set, an image indicating the set measurement position is superimposed on the captured image SI. FIG. 22 shows a display state of the display unit 160 when the measurement positions M1a and M2a are set. In the example of FIG. 22, by setting the measurement positions M1a and M2a, spherical images P1a and P2a representing the measurement positions M1a and M2a are displayed on the captured image SI.

  In addition, when setting a plurality of measurement positions M1a, M2a, M3a, and M4a, an image PP indicating the position of the contact portion 144a is displayed on the captured image SI. In this example, a schematic diagram of the probe 140 is used as the image PP indicating the position of the contact portion 144a. Thereby, the measurement manager can easily and accurately recognize the positional relationship of the contact portion 144a with respect to the measurement object S.

  After the setting of the plurality of measurement positions M1a to M4a is completed, the plurality of measurement positions M1a to M4a are determined as measurement position groups by pressing the confirmation button B2 of the console 170 (FIG. 6). In this case, the measurement plane ML1 that passes through the measurement positions M1a to M4a and has the shape specified in the measurement conditions is set as the measurement element corresponding to “plane 1”, and the position of the measurement plane ML1 is calculated.

  In this case, as shown in FIG. 23, the figure PL1 indicating the position and shape of the measurement plane ML1 is displayed on the captured image SI together with the images P1a, P2a, P3a, and P4a indicating the plurality of measurement positions M1a, M2a, M3a, and M4a. Is done.

  Subsequently, the measurement plane ML2 is set. In the target part display field 621, a character string (in this example, “plane 2”) indicating the other of the two planes to be set is displayed.

  As in the example of FIG. 20, the measurement manager adjusts the position and orientation of the probe 140 so that a plane corresponding to “Plane 2” (in this example, the side surface Sb of the measurement object S) is imaged. In this state, when the imaging button B5 of the console 170 (FIG. 6) is pressed, captured image data corresponding to “Plane 2” is stored.

  As a result, the captured image SI corresponding to “Plane 2” is displayed in the first image display field 611 as shown in FIG. Similar to the example of FIG. 21, the captured image SI of FIG. 25 is a still image.

  Thereafter, as in the example of FIG. 12, the measurement manager sequentially presses the measurement button B1 of the console 170 while moving the probe 140, thereby specifying the side surface of the measurement object S to specify “plane 2”. Four measurement positions M1b, M2b, M3b, and M4b (FIG. 12B) on Sb are sequentially set. In this case, similar to the example of FIG. 22, spherical images P1b to P4b representing the measurement positions M1b, M2b, M3b, and M4b and an image indicating the position of the contact portion 144a are displayed on the captured image SI.

  After the setting of the plurality of measurement positions M1b to M4b is completed, the determination button B2 on the console 170 (FIG. 6) is pressed, so that the plurality of measurement positions M1b to M4b are determined as the measurement position group. In this case, the measurement plane ML2 that passes through the measurement positions M1b to M4b and has the shape specified in the measurement conditions is set as the measurement element corresponding to the “plane 2”, and the position of the measurement plane ML2 is calculated.

  When the measurement planes ML1 and ML2 ("plane 1" and "plane 2") are set in this way, the measurement planes ML1 and ML2 are shown on the imaging region virtual image VI as shown in FIG. Figures PL1 and PL2 are displayed. Further, the distance between the set measurement planes ML1 and ML2 is calculated, and the calculated distance is superimposed and displayed on the imaging region virtual image VI as a measurement result.

  Further, on the screen of the display unit 160, a measurement result display field 623 is displayed instead of the target part display field 621 and the measurement point coordinate display field 622 of FIG. In the measurement result display field 623, the distance between “Plane 1” and “Plane 2” is displayed as a measurement result, and a setting save button 623a is displayed.

  Finally, the measurement manager operates the setting save button 623a in FIG. Thereby, the setting information including the captured image data of the captured image SI and the position graphic information respectively corresponding to the set measurement conditions, “plane 1” and “plane 2” is stored in the storage unit 210 of FIG. The position graphic information of this example includes the setting order of the plurality of measurement positions M1a to M4a, M1b to M4b, the positions of the plurality of measurement positions M1a to M4a, M1b to M4b, the positions of the two measurement planes ML1 and ML2, and Information indicating the shape is included. Thereafter, the initial screen SC1 of FIG. 16 is displayed on the screen of the display unit 160.

  In this example, when the measurement planes ML1 and ML2 are set, the captured images SI corresponding to the side surface Sa (“plane 1”) and the side surface Sb (“plane 2”) are displayed on the display unit 160. By pressing the display switching button B4 of the console 170, the captured image SI and the captured area virtual image VI can be selectively displayed on the display unit 160.

(7-2) Measurement Mode When the measurement operator operates the measurement button 601 in FIG. 16, the optical coordinate measuring apparatus 300 operates in the measurement mode. In the measurement mode, the measurement operator measures the measurement object S. As in the example of FIG. 17, the measurement operator places a new measurement object S on the mounting table 120 at a predetermined position and posture.

  FIGS. 27 to 31 are diagrams for explaining an example of use of the optical coordinate measuring apparatus 300 in the measurement mode. By starting the operation in the measurement mode, the setting information stored in the storage unit 210 in FIG. 1 is read by the control unit 220 in FIG. In this example, it is assumed that the setting information set in the setting mode is read.

  In this case, as shown in FIG. 27, the actual measurement screen SC4 is displayed on the display unit 160. On the actual measurement screen SC4, a first image display field 611, a measurement start button 624a, and a second image display field 625 are displayed.

  The imaging region virtual image VI is displayed in the first image display field 611 in FIG. On the imaging area virtual image VI, an x-axis, a y-axis and a z-axis, figures PL1 and PL2 indicating the measurement planes ML1 and ML2 set in the setting mode, and arrows indicating the distances between the measurement planes ML1 and ML2 are displayed. Is done.

  Thereby, the measurement operator recognizes that the distance between “Plane 1” and “Plane 2” specified by the measurement planes ML1 and ML2 should be measured by visually recognizing the first image display field 611. be able to. Further, an image PP indicating the position of the contact portion 144a of the probe 140 is displayed on the imaging region virtual image VI. At this time, no image is displayed in the second image display field 625.

  Next, the measurement operator operates the measurement start button 624a in FIG. In this case, as shown in FIG. 28, in the first image display column 611, a graphic PL1 indicating the measurement plane ML1 corresponding to “Plane 1” to be set first is highlighted.

  As shown in FIG. 28, the captured image SI corresponding to “Plane 1” is displayed in the second image display field 625. At this time, similarly to the example of FIG. 23, the figure PL1 indicating the measurement plane ML1 set in the setting mode is displayed on the captured image SI together with the x axis, the y axis, and the z axis. The measurement operator can recognize which part of the measurement object S should be measured by visually recognizing the figure PL1 on the captured image SI.

  Similarly to the example of FIG. 23, images P1a, P2a, P3a, and P4a indicating the measurement positions M1a, M2a, M3a, and M4a set in the setting mode are displayed on the captured image SI. The measurement operator can easily and accurately recognize which portion of the measurement object S should be set by visually recognizing the images P1a, P2a, P3a, and P4a on the captured image SI. .

  The read setting information includes the measurement procedure of the plurality of measurement positions M1a, M2a, M3a, and M4a by the measurement manager as described above. Therefore, in the captured image SI, each time the measurement operation proceeds, an image indicating the measurement position that should be currently set by the measurement operator is displayed in a display form different from the image indicating the other measurement position.

  The display form includes the color or shape of the image. In this example, the image P1a indicating the measurement position M1a to be currently set is displayed in a color (black) different from the color (white) of the images P2a, P3a, and P4a indicating the other measurement positions M2a, M3a, and M4a. The Thereby, the measurement operator can easily recognize the measurement position to be currently set.

  In addition, on the captured image SI, an image ia indicating the position of the contact portion 144a of the probe 140 is displayed, and an image ib indicating a straight line connecting the contact portion 144a and the measurement position to be currently set is displayed. . Thereby, the measurement operator can easily recognize in which direction the contact part 144a should be moved with respect to the measurement object S.

  Further, an indicator ic indicating the distance from the contact portion 144a of the probe 140 to the currently set measurement position is displayed in the captured image SI. The measurement operator can accurately recognize the distance from the contact portion 144a to the currently set measurement position by visually recognizing the indicator ic. Accordingly, the user can easily and accurately contact the contact portion 144a with the measurement position of the measurement object S.

  The indicator ic in this example represents a distance from the measurement position to be set at present to the contact portion 144a by a bar graph. However, the indicator ic may represent the distance from the contact portion 144a to the currently set measurement position by a numerical value.

  From these, the measurement operator can easily and accurately set the measurement plane ML1 that identifies “plane 1” while visually recognizing the captured image SI displayed in the second image display field 625 of FIG.

  Specifically, the measurement operator sequentially sets the measurement positions M1a, M2a, M3a, and M4a by sequentially pressing the measurement buttons B1 on the console 170 while moving the probe 170. In this case, the measurement positions M1a, M2a, M3a, and M4a are automatically determined as measurement position groups based on the stored setting information without pressing the confirm button B2, and the measurement plane ML1 is automatically set. Is done.

  In the first image display field 611 in the measurement mode, as shown in FIG. 28, together with the image PP indicating the current position of the contact portion 144a, the contact portion 144a is brought into contact with the measurement position to be currently set. An image PPx indicating the ideal position and posture of the probe 140 may be displayed.

  In the example of FIG. 28, a schematic diagram of the probe 140 is used as the image PPx. In this case, the measurement operator can easily recognize the measurement position to be currently set by visually recognizing the image PPx. Further, the measurement operator can easily recognize the ideal posture of the probe 140 for accurately setting the measurement position to be set now.

  Here, in the first image display field 611, for example, as shown in FIGS. 28 and 29, the image PP is always displayed in black, and the image PPx is alternately displayed blinking in black and white (or yellow). May be. In this case, the measurement operator can easily identify the images PP and PPx by visually recognizing the display forms of the images PP and PPx.

  When the measurement operator completes the setting of the measurement plane ML1, as shown in FIG. 30, the figure PL1 indicating the measurement plane ML1 in the first image display field 611 is switched to the normal display, and the “plane” to be set next is displayed. The figure PL2 indicating the measurement plane ML2 of “2” is highlighted.

  In the second image display field 625, the captured image SI corresponding to “Plane 2” is displayed. At this time, the figure PL2 indicating the measurement plane ML2 set in the setting mode is displayed on the captured image SI together with the x axis, the y axis, and the z axis, as in the example of FIG. On the captured image SI, images P1b, P2b, P3b, and P4b showing the measurement positions M1b, M2b, M3b, and M4b set in the setting mode are displayed. Further, in the captured image SI, as in the example of FIG. 28, an image ia showing the position of the contact portion 144a of the probe 140, an image ib showing a straight line connecting the contact portion 144a and the measurement position to be currently set, and An indicator ic indicating the distance from the contact portion 144a to the currently set measurement position is superimposed and displayed.

  Thus, the measurement operator can visually recognize the captured image SI displayed in the second image display field 625 and the image PPx displayed in the first image display field 611 in FIG. ML2 can be set easily and accurately.

  Specifically, the measurement operator sequentially sets the measurement positions M1b, M2b, M3b, and M4b by sequentially pressing the measurement buttons B1 on the console 170 while moving the probe 170. In this case, the measurement positions M1b, M2b, M3b, and M4b are automatically determined as measurement position groups and the measurement plane ML2 is automatically set based on the stored setting information without pressing the confirm button B2. Is done.

  When the setting of the measurement planes ML1 and ML2 is completed, the graphic PL2 indicating the measurement plane ML2 in the first image display field 611 is switched to normal display as shown in FIG. Further, the distance between “Plane 1” and “Plane 2” is calculated, and the calculated measurement result is superimposed and displayed on the imaging region virtual image VI.

  Further, as shown in FIG. 31, on the screen of the display unit 160, a measurement result display field 626 is displayed instead of the second image display field 625 of FIG. In the measurement result display field 626, the distance between “Plane 1” and “Plane 2” is displayed as a measurement result. At this time, the measurement result is stored in the storage unit 210 of FIG.

  In the setting mode, a reference range for pass / fail judgment may be set in advance by the measurement administrator as a measurement condition. In the measurement mode, pass / fail judgment of manufactured parts or the like is performed based on the set reference range and the measurement result. May be. In this case, when the measurement result is within the reference range in the measurement mode, a determination result (for example, “OK”) indicating a non-defective product may be displayed in the measurement result display field 626 as shown in FIG. On the other hand, when the measurement result is out of the reference range, a determination result (for example, “NG”) indicating a defective product may be displayed in the measurement result display field 626 together with the measurement result.

  In the measurement result display field 626, a next measurement button 626a and a main menu button 626b are displayed. The measurement operator can perform the same measurement as in the above example on a new measurement object S by operating the next measurement button 626a.

  The measurement operator can end the measurement operation by operating the main menu button 626b. In this case, the initial screen SC1 of FIG.

  In the measurement mode, of the plurality of measurement positions displayed on the captured image SI, the image indicating the measurement position that has been set is an image that indicates the measurement position that should be currently set and an image that indicates the measurement position that has not been set. It may be displayed in a different display form.

  FIG. 32 is a diagram illustrating an example of a display form of a plurality of measurement positions displayed on the captured image SI. In the example of FIG. 32, the images P1a and P2a indicating the measurement positions M1a and M2a that have been set are hatched. Further, an image P3a indicating the measurement position M3a to be set at present is displayed in black. Further, an image P4a indicating the measurement position M4a that has not been set is displayed in white. In this case, the measurement operator can easily recognize the measurement position where the contact portion 144a should be brought into contact. In addition, the measurement operator can easily recognize the progress of the measurement work.

(8) Effect In the optical coordinate measuring apparatus 300 according to the above embodiment, when the measurement button B1 of the console 170 is operated, the contact position of the contact portion 144a of the probe 140 is set as the measurement position. When the confirmation button B2 is operated, one or a plurality of measurement position groups are confirmed. When the user mistakenly operates the measurement button B1 or the confirmation button B2, the operation of the measurement button B1 or the confirmation button B2 is canceled by pressing the cancel button B3 of the console 170.

  The plurality of light emitting units 143 of the probe 140 are imaged by the main imaging unit 130, and the coordinates of each measurement position of one or a plurality of measurement position groups are calculated based on the image data. Based on the calculated coordinates of each measurement position, the physical quantity of the measurement target portion is calculated.

  Thus, the user can easily and efficiently obtain the physical quantity of the measurement target portion of the measurement target S by operating the console 170 while moving the probe 140.

  In addition, the main imaging unit 130 and the mounting table 120 are integrally held by the holding unit 110 so that the main imaging unit 130 images the imaging region V above the mounting table 120. Thereby, it is easier to handle the optical coordinate measuring apparatus 300 than when the main imaging unit 130 and the mounting table 120 are provided separately. Further, it is not necessary to separately prepare a fixing tool for fixing the main imaging unit 130. Thereby, the measurement efficiency by the optical coordinate measuring apparatus 300 is improved.

  In addition, since the console 170 is provided so that it can be held with one hand, the user can operate the console 170 with the other hand while moving the probe 140 with one hand. Thereby, the operation of the console 170 and the movement of the probe 140 can be easily and efficiently performed.

  In addition, the measurement button B1 having the highest use frequency among the plurality of buttons of the console 170 is provided so as to be most easily operated, and the confirmation button B2 having the highest use frequency next to the measurement button B1 is operated next to the measurement button B1. It is provided so that it is easy to do. Thereby, operation of the console 170 can be performed easily.

(9) Other examples of operating device (9-1)
33 and 34 are external perspective views of other examples of the console 170. FIG. A difference between the console 170 of FIGS. 33 and 34 and the console 170 of FIGS. 6 and 7 will be described.

  In the console 170 of FIGS. 33 and 34, a joystick JT is provided on the surface 171a of the main body 171 in addition to the measurement button B1, the confirmation button B2, the cancel button B3, the display switching button B4, and the imaging button B5. The joystick JT is disposed adjacent to the measurement button B1 in the length direction DR1. The display switching button B4 and the imaging button B5 are arranged so as to be aligned in the width direction DR2.

  A protruding portion 173 is provided so as to protrude from one end portion of the main body portion 171 to the back surface 171b side. As shown in FIG. 34, a left click button B31 and a right click button B32 are provided on the protruding portion 173 adjacent to the end surface 171c of the main body portion 171. Further, the pointing substitute button B6 of FIGS. 6 and 7 is not provided.

  The function of the pointing device is realized by operating the joystick JT. Specifically, an operation using a cursor on an image displayed on the display unit 160 can be performed by operating the joystick JT. Further, the same function as the left click of the mouse is realized by operating the left click button B31, and the same function as the right click of the mouse is realized by operating the right click button B32. Accordingly, an operation on an image displayed on the display unit 160 can be performed by operating the console 170 without operating a pointing device provided separately.

  The console 170 shown in FIGS. 33 and 34 can be operated while being held by one hand, and can also be placed and operated in a predetermined place. A plurality of leg portions 174 are provided on the bottom surface 173 a of the protruding portion 173 and the back surface 171 b of the main body portion 171. When the console 170 is placed, the console 170 is supported by the legs 173. Thereby, the stability of the console 170 is ensured.

(9-2)
In the embodiment described above, the console 170 that can be held with one hand is used as the operation device, but another operation device may be used instead of the console 170. FIG. 35 and FIG. 36 are diagrams for explaining examples of other operating devices.

  The operation device 170a in FIG. 35 is configured to be operable with a foot, and is connected to the control board or the processing device 200 in FIG. 1 by wired communication or wireless communication. The operating device 170a includes a measurement pedal B11, a confirmation pedal B12, and a cancel pedal B13. The measurement pedal B11, the confirmation pedal B12, and the cancel pedal B13 have the same functions as the measurement button B1, the confirmation button B2, and the cancel button B3 in FIG.

  35 is used, the user can move the probe 140 with his / her hand while operating the operation device 170a with his / her foot. Thereby, the physical quantity of the measurement target portion can be measured easily and efficiently. Moreover, since the probe 140 can be moved with both hands, the contact position of the contact part 144a can be adjusted with high precision.

  35 may further include an operation unit corresponding to at least one of the display switching button B4, the imaging button B5, and the pointing substitute button B6 in FIG. 35 may further include an operation unit corresponding to at least one of the joystick JT, the left click button B31, and the right click button B32 in FIG.

  The operating device 170b of FIG. 36 is provided integrally with the mounting table 120. The operation device 170 b includes a plate-like main body 175 fixed to the mounting table 120. A measurement button B21, a confirm button B22, a cancel button B23, a display switching button B24, and an imaging button B25 are provided on the upper surface of the main body 175. A pointing substitute button B26 is provided on the side surface of the main body 175. The measurement button B21, the confirmation button B22, the cancel button B23, the display switching button B24, the imaging button B25, and the pointing substitute button B26 are the measurement button B1, the confirmation button B2, the cancel button B3, the display switching button B4, and the imaging button B5 in FIG. And has the same function as the pointing substitute button B6.

  The use of the operation device 170b of FIG. 36 prevents the operation device 170b from being dropped or lost. Further, the optical coordinate measuring apparatus 300 can be made compact. In the operation device 170b of FIG. 36, an operation unit corresponding to at least one of the joystick JT, the left click button B31, and the right click button B32 of FIG. 34 may be further provided.

  The console 170 shown in FIGS. 6 and 33 and the operation devices 170a and 170b shown in FIGS. 35 and 36 may be used in combination. For example, the measurement pedal B11, the confirmation pedal B12, and the cancel pedal B13 of the operation device 170a in FIG. 35 are combined with the display switching button B24, the imaging button B25, and the pointing substitute button B26 of the operation device 170b in FIG. Also good. 6 may be used in combination with the measurement button B1, the confirmation button B2, and the cancel button B3 of the console 170, the display switching button B24, the imaging button B25, and the pointing substitute button B26 of the operation device 170b of FIG. Good. In this case, an unused button or pedal may not be provided.

(10) Other embodiments (10-1)
In the above embodiment, the console 170 and the operation devices 170a and 170b include various buttons or pedals, but other operation units such as sticks or knobs may be provided instead of these buttons or pedals.

(10-2)
In the above embodiment, the captured image SI is displayed on the display unit 160 when the measurement object S is measured in the setting mode and the measurement mode. These captured images SI are still images, but the present invention is not limited to this. A plurality of captured images SI obtained at a predetermined frame rate by the sub imaging unit 150 may be continuously displayed in real time on the display unit 160. In this case, the measurement operator can confirm the appearance of the measuring object S viewed from various positions and various directions on the screen of the display unit 160 by changing the position and orientation of the sub-imaging unit 150. it can. Moreover, the several measurement position and measurement object part in the measurement object S can be confirmed from various directions.

(10-3)
In the above embodiment, the probe 140 and the control board 180 are connected via a cable, but the present invention is not limited to this. The probe 140 may be connected to the control board 180 by wireless communication. In this case, the operations of the plurality of light emitting units 143 of the probe 140 are controlled by wireless communication from the control board 180. In addition, a light reception signal output from the sub imaging unit 150 is transmitted to the control board 180 by wireless communication. Thereby, the operability of the probe 140 is improved.

(10-4)
In the above embodiment, the light emitting unit 143 that emits light from the LED is used as the marker of the probe 140 imaged by the main imaging unit 130, but the marker of the probe 140 is not limited to this. For example, a light emitting part that emits light from another light emitting element such as a filament may be used as a marker, or a non-light emitting part having a specific color such as a fluorescent color may be used as a marker, and has a specific shape. A non-light emitting part may be used as a marker.

(10-5)
The above embodiment is an example in which the present invention is applied to a single-camera optical coordinate measuring device in which the coordinates of a measurement position are measured by imaging a probe by one imaging unit. The present invention may be applied to a multi-camera optical coordinate measuring apparatus in which coordinates of a measurement position are measured by imaging a probe by a unit. A plurality of imaging units may be provided to widen the imaging region V.

(11) Correspondence between each component of claim and each part of embodiment The following describes an example of a correspondence between each component of the claim and each component of the embodiment. It is not limited to examples.

  In the above embodiment, the optical coordinate measuring device 300 is an example of an optical coordinate measuring device, the mounting table 120 is an example of a mounting table, the probe 140 is an example of a probe, and the light emitting unit 143 is a marker. For example, the contact unit 144a is an example of a contact unit, the main imaging unit 130 is an example of a first imaging unit, the holding unit 110 is an example of a holding unit, and the console 170 and the operation devices 170a and 170b are This is an example of an operation device, the processing device 200 is an example of a calculation unit, the measurement buttons B1, B21 and the measurement pedal B11 are examples of a measurement operation unit, and the confirmation buttons B2, B22 and the confirmation pedal B12 are the confirmation operation unit. For example, the cancel buttons B3 and B23 and the cancel pedal B13 are examples of the cancel operation unit, and the pointing substitute buttons B6 and B26 are pointing. It is an example of a replacement operation unit, the sub imaging unit 150 is an example of a second imaging unit, the display unit 160 is an example of a display unit, and the display switching buttons B4 and B24 are examples of a display switching operation unit, The imaging buttons B5 and B25 are examples of imaging buttons, the storage unit 210 is an example of a storage unit, and the joystick JT is an example of a pointing operation unit.

  As each constituent element in the claims, various other constituent elements having configurations or functions described in the claims can be used.

  The present invention can be effectively used for measuring dimensions and the like of various measurement objects.

DESCRIPTION OF SYMBOLS 100 Measuring head 110 Holding | maintenance part 111 Installation part 112 Stand part 120 Mounting base 140 Probe 143 Light emission part 144 Stylus 144a Contact part 150 Sub imaging part 160 Display part 170 Console 170a, 170b Operation apparatus 180 Control board 200 Processing apparatus 210 Storage part 220 Control Part 300 Optical coordinate measuring device B1, B21 Measurement button B2, B22 Confirm button B3, B23 Cancel button B4, B24 Display switching button B5, B25 Imaging button B6, B26 Pointing substitute button B11 Measurement pedal B12 Confirmation pedal B13 Cancel pedal S Measurement Object

Claims (9)

A mounting table on which a measurement object is mounted;
A probe having a plurality of markers and having a contact portion that comes into contact with the measurement object on the mounting table,
A first imaging unit that generates image data by imaging the plurality of markers of the probe;
A holding unit that integrally holds the first imaging unit and the mounting table so that an area above the mounting table is imaged by the first imaging unit;
An operating device operated by a user;
A calculation unit for calculating a physical quantity related to a portion to be measured of the measurement object,
The operating device is:
A measurement operation unit operated to set a position where the contact part of the probe is contacted as a measurement position;
A confirming operation unit operated to confirm a plurality of set measurement positions as one or a plurality of measurement position groups;
A cancel operation unit operated to cancel the operation of the measurement operation unit or the confirmation operation unit,
The calculation unit calculates coordinates of the plurality of measurement positions of the one or plurality of measurement position groups based on the image data generated by the first imaging unit, and sets the calculated coordinates of the plurality of measurement positions. An optical coordinate measuring device that calculates a physical quantity related to the portion to be measured based on the measured value. The optical device according to claim 1, wherein the operation device is configured to be graspable with one hand of a user and movable independently of the mounting table, and to be able to communicate with the calculation unit by wire or wirelessly. Coordinate measuring device. The operating device can be gripped and operated by a user and can be placed and operated, and can be moved independently of the mounting table, and can communicate with the calculation unit by wire or wirelessly. The optical coordinate measuring device according to claim 1, wherein The optical coordinate measuring device according to claim 1, wherein the operating device is provided integrally with the mounting table. The optical coordinate measurement device according to claim 1, wherein the operation device is configured to be operable by a user's foot and connected to the calculation unit by wired communication or wireless communication. 6. The optical coordinate measurement apparatus according to claim 1, wherein the operation device further includes a pointing substitute operation unit operated to cause the probe to function as a pointing device. A second imaging unit that is provided in the probe so as to have a certain positional relationship with respect to the plurality of markers, and images at least a part of the measurement object;
A display unit that displays a virtual image that virtually represents an area above the mounting table and displays at least a partial image of the measurement target obtained by the second imaging unit as a captured image;
The optical device according to claim 1, wherein the operation device further includes a display switching operation unit operated to selectively display the virtual image and the captured image by the display unit. Coordinate measuring device. A storage unit;
A second imaging unit that is provided in the probe so as to have a certain positional relationship with respect to the plurality of markers, and that generates image data by imaging at least a part of the measurement object;
The optical device according to any one of claims 1 to 6, wherein the operation device further includes an imaging button operated to store image data generated by the second imaging unit in the storage unit. Coordinate measuring device. The optical coordinate measuring device according to claim 1, wherein the operation device further includes a pointing operation unit operated as a pointing device.

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