JP2017146805A - Cutting device, imaging method, program, and imaging device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain imaging data indicating a desired place of a work more simply by photographing the desired place.SOLUTION: In a machining center 1 that runs an NC program to numerically control a machine and processes a workpiece, an imaging unit 21 is attached to a main shaft 22. A main control unit 83 interprets a code of the NC program. If the interpreted code is a code for imaging, a radio communication unit 90 transmits a command on imaging to the imaging unit 21, and receives imaging data obtained by imaging and transmitted by the imaging unit 21 that has received the command on imaging. A storage unit 82 stores the received imaging data.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a cutting apparatus, an imaging method, a program, and an imaging apparatus, and more particularly, to a cutting apparatus, an imaging method, a program, and an imaging apparatus for imaging a workpiece.

  Cutting apparatuses that process workpieces by cutting are widely used.

  2. Description of the Related Art Conventionally, a camera for a machine tool that is used by being attached to a machine tool such as a machining center including a head having a spindle on which a tool is detachably attached to a tip and a table on which a workpiece is placed, A camera having a chucked portion having a cylindrical shape, a square shape, or a tapered shape in accordance with a chuck shape to be detachably mounted, and the chucked portion of the camera is attached to the chuck portion of the machine tool Therefore, there has been proposed a camera for a machine tool configured to dispose an imaging unit at the opposite end of the chucked portion so that a workpiece or a table on which the workpiece is placed enters the field of view of the imaging device and can be imaged (for example, Patent Document 1).

JP 2008-6534 A

  However, the camera for a machine tool in Patent Document 1 is in a shooting mode when attached, receives a signal from the camera via a receiver at a machining center, and displays an image from the camera on an attached monitor. Without looking at the workpiece, it was impossible to know which part of the workpiece was being projected.

  The present invention has been made in view of such a situation, and more simply, at a desired point in time during cutting of a workpiece, a desired part of the workpiece is imaged and a desired portion during cutting of the workpiece is obtained. The cutting state of the desired part at the time point can be shown at the desired time point after imaging. In addition, more simply, a desired part of the workpiece can be imaged at a desired time during the cutting of the workpiece, and imaging data indicating the part can be obtained.

  A cutting apparatus according to a first aspect of the present invention executes a numerical control program for numerically controlling a machining operation to control a machining operation on the workpiece, and a tool for cutting the workpiece. A cutting device provided with an imaging device mounted on a spindle on which is mounted, wherein the control unit interprets a code of the numerical control program, and the code interpreted by the interpretation unit captures an image. A first transmission unit that transmits an imaging command to the imaging device, the imaging device receives an imaging command transmitted from the control unit; When an imaging command is received, the imaging unit includes an imaging unit that images the workpiece and a second transmission unit that transmits imaging data obtained by imaging to the control unit. The imaging device Further comprising a second receiving means for receiving the imaging data transmitted, and memory means for storing the captured data received from.

  In the cutting device according to the first aspect of the present invention, the imaging device is mounted on the spindle on which the tool is mounted when cutting the workpiece, so that the workpiece is cut with the tool, for example, roughing, medium cutting or finishing. If the imaging device is attached to the spindle at a desired time such as cutting, the workpiece at the desired time during cutting can be imaged. In addition, since the imaging of the imaging device mounted on the spindle that is numerically controlled by the numerical control program is controlled by the numerical control program, the imaging device is numerically controlled at a desired position, for example, the position of the workpiece part, It is possible to move to a desired position such as a part that requires high-precision finishing, a part that is difficult to cut, or a specific hole among a number of holes that are formed in the same shape, and image at that position. it can. Furthermore, if a numerical control program for performing cutting and imaging is used, it is possible to perform workpiece cutting and workpiece imaging in one step. A numerical control program for imaging can be generated relatively easily by editing and using a numerical control program used for workpiece machining. If the numerical control program is generated, the workpiece can be imaged from a more accurate position with respect to the workpiece. Furthermore, since the imaging data is stored, the state of cutting a desired part of the workpiece by the stored imaging data at a desired time after imaging, even when the imaging is completed or after the imaging is completed. Can be shown. In this way, after capturing a desired part of the workpiece at a desired point in time during the cutting of the workpiece, the state of the cutting of the desired part at the desired point in time during the cutting of the workpiece is imaged. Can be shown at any desired time.

  The cutting device according to the second aspect of the present invention is a cutting device that executes a numerical control program for numerically controlling a machining operation to cut a workpiece, and the tool is mounted when the workpiece is cut. A cutting device in which an imaging device is attached to the main shaft, and when the code interpreted by the interpretation means is an imaging code, the interpretation device that interprets the code of the numerical control program is attached to the main shaft. Transmitting means for transmitting an imaging command to the imaging apparatus, receiving means for receiving imaging data obtained by imaging by the imaging apparatus, transmitted from the imaging apparatus to which imaging is commanded, and received Storage means for storing the imaging data.

  An imaging method according to a second aspect of the present invention is a cutting device that performs a numerical control program for numerically controlling a machining operation to cut a workpiece, and a tool is mounted when the workpiece is cut. An imaging method of a cutting apparatus in which an imaging device is mounted on a main spindle, wherein the main spindle includes an interpretation step for interpreting the code of the numerical control program, and the code interpreted in the interpretation step is an imaging code. A transmission step of transmitting an imaging command to the imaging device attached to the imaging device; and a reception step of receiving imaging data obtained by imaging by the imaging device and transmitted from the imaging device to which imaging is commanded And a storing step for storing the imaging data received in the receiving step.

  A program according to a second aspect of the present invention is a cutting apparatus that performs a numerical control program for numerically controlling a machining operation to cut a workpiece, and the tool is mounted when the workpiece is cut. When the computer that controls the cutting device on which the imaging device is mounted on the main shaft has an interpretation step for interpreting the code of the numerical control program, and when the code interpreted in the interpretation step is an imaging code, it is mounted on the main shaft. A transmission control step for controlling transmission of an imaging command to the imaging device, and control of reception of imaging data obtained by imaging by the imaging device and transmitted from the imaging device to which imaging is commanded An imaging process including a reception control step and a storage control step for controlling storage of the received imaging data is performed.

  In the second aspect of the present invention, since the imaging device is mounted on the spindle on which the tool is mounted when cutting the workpiece, the workpiece is cut with the tool, for example, at a desired time such as roughing, medium cutting or finishing. If the imaging device is attached to the spindle, the workpiece at a desired time during the cutting process can be imaged. In addition, since the imaging command to the imaging device mounted on the spindle that is numerically controlled by the numerical control program is controlled by the numerical control program, the imaging device is controlled numerically to a desired position, for example, the part of the workpiece. Move to a desired position, such as a part that requires high-precision finishing, a part that is difficult to cut, or a specific hole among many holes that are formed in the same shape. Can be made. Furthermore, if a numerical control program for performing cutting and imaging is used, it is possible to perform workpiece cutting and workpiece imaging in one step. A numerical control program for imaging can be generated relatively easily by editing and using a numerical control program used for workpiece machining. If the numerical control program is generated, the workpiece can be imaged from a more accurate position with respect to the workpiece. Furthermore, since the imaging data is stored, the state of cutting a desired part of the workpiece by the stored imaging data at a desired time after imaging, even when the imaging is completed or after the imaging is completed. Can be shown. In this way, after capturing a desired part of the workpiece at a desired point in time during the cutting of the workpiece, the state of the cutting of the desired part at the desired point in time during the cutting of the workpiece is imaged. Can be shown at any desired time.

  An imaging device according to a third aspect of the present invention is a spindle of a cutting apparatus that executes a numerical control program for numerically controlling a machining operation, and is attached to a spindle on which a tool is mounted when cutting a workpiece. An imaging apparatus, wherein the numerical control program executed by the cutting apparatus includes an imaging code, and receiving means for receiving an imaging instruction transmitted from the cutting apparatus; and an imaging instruction When receiving, the imaging means for imaging the workpiece, and the transmission means for transmitting imaging data obtained by imaging to the cutting apparatus.

  An image of the workpiece can be captured by the imaging means.

  Further, the imaging means can be a three-dimensional scanner, and the second transmission means can transmit imaging data including a three-dimensional point group indicating the shape of the workpiece to the machine tool.

  The imaging device can be attached to the spindle of the machine tool by an automatic tool changer.

  An imaging method according to a third aspect of the present invention is a spindle of a cutting apparatus that executes a numerical control program for numerically controlling a machining operation, and is attached to a spindle on which a tool is mounted when cutting a workpiece. A receiving step of receiving an imaging command transmitted from the cutting device when an imaging code is included in the numerical control program executed by the cutting device; When an imaging command is received, the imaging step includes an imaging step of imaging the workpiece, and a transmission step of transmitting imaging data obtained by imaging to the cutting apparatus.

  A program according to a third aspect of the present invention is a spindle of a cutting apparatus that executes a numerical control program for numerically controlling a machining operation, and is mounted on a spindle on which a tool is mounted when cutting a workpiece. A reception control step for controlling reception of an imaging command transmitted from the cutting apparatus when the computer for controlling the imaging apparatus includes an imaging code in the numerical control program executed by the cutting apparatus; When an imaging command is received, an imaging process including an imaging control step for controlling imaging of the workpiece and a transmission control step for controlling transmission of imaging data obtained by imaging to the cutting apparatus is performed. .

  In the third aspect of the present invention, since the imaging device is mounted on a spindle on which a tool is mounted when cutting a workpiece, the workpiece is cut with the tool, for example, a desired shape such as roughing, medium cutting or finishing. If the imaging device is mounted on the spindle at the time, the workpiece at a desired time during the cutting process can be imaged. In addition, since the imaging of the imaging device mounted on the spindle that is numerically controlled by the numerical control program is controlled by the numerical control program, the imaging device is numerically controlled at a desired position, for example, the position of the workpiece part, It is possible to move to a desired position such as a part that requires high-precision finishing, a part that is difficult to cut, or a specific hole among a number of holes that are formed in the same shape, and image at that position. it can. Furthermore, if a numerical control program for performing cutting and imaging is used, it is possible to perform workpiece cutting and workpiece imaging in one step. A numerical control program for imaging can be generated relatively easily by editing and using a numerical control program used for workpiece machining. If the numerical control program is generated, the workpiece can be imaged from a more accurate position with respect to the workpiece. In this way, it is possible to more easily capture a desired part of the workpiece at a desired point in time during cutting of the workpiece and obtain imaging data indicating the part.

  As described above, according to the present invention, a desired part of a workpiece can be imaged more easily at a desired time during the cutting of the work, and The state of the cutting process can be shown at a desired time after imaging.

  In addition, according to the present invention, it is possible to more easily capture a desired part of a workpiece at a desired point in time during cutting of the workpiece and obtain imaging data indicating the part.

It is an external view which shows the external appearance of the process part 11 of the machining center 1. FIG. 4 is a diagram illustrating an example of imaging of a work 51 by an imaging unit 21. FIG. 2 is a block diagram showing a hardware configuration of a machining center 1. FIG. It is a block diagram which shows the structure of the function implement | achieved in the main control part 83 which performs a control program. It is a figure which shows the structure of the imaging unit 21-1. It is a block diagram which shows the hardware constitutions of the imaging unit 21-1. It is a block diagram which shows the structure of the function implement | achieved in the control part 203 which performs an imaging control program. It is a figure which shows the structure of the imaging unit 21-2. It is a block diagram which shows the hardware constitutions of the imaging unit 21-2. It is a block diagram which shows the structure of the function implement | achieved in the control part 302 which performs an imaging control program. 5 is a diagram illustrating an example of the structure of an imaging data table 153. FIG. It is a flowchart explaining the example of a process of execution of NC program. 6 is a flowchart for explaining an example of processing of a command to the imaging unit 21. An example of imaging processing will be described. 12 is a flowchart for explaining another example of processing of a command to the imaging unit 21. Another example of the imaging process will be described. 12 is a flowchart for explaining still another example of processing of a command to the imaging unit 21. Still another example of the imaging process will be described. 12 is a flowchart for explaining still another example of processing of a command to the imaging unit 21. Still another example of the imaging process will be described. FIG. 3 is a diagram showing an outline of an example of display on a display unit 101. It is a flowchart explaining the example of the process of an image display. 10 is a flowchart illustrating another example of image display processing.

  Embodiments of the present invention will be described below. Correspondences between the configuration requirements of the present invention and the embodiments described in the detailed description of the present invention are exemplified as follows. This description is to confirm that the embodiments supporting the present invention are described in the detailed description of the invention. Accordingly, although there are embodiments that are described in the detailed description of the invention but are not described here as embodiments corresponding to the constituent elements of the present invention, It does not mean that the embodiment does not correspond to the configuration requirements. Conversely, even if an embodiment is described here as corresponding to a configuration requirement, that means that the embodiment does not correspond to a configuration requirement other than the configuration requirement. It's not something to do.

  The cutting device according to the first aspect of the present invention (for example, the machining center 1 in FIG. 3) executes a numerical control program for numerically controlling the machining operation to control the machining operation on the workpiece. (E.g., NC control unit 71 in FIG. 3) and an imaging device (e.g., imaging unit 21 in FIG. 3) mounted on a spindle on which a tool is mounted when cutting the workpiece. When the control unit interprets the code of the numerical control program (for example, the NC program execution unit 152 in FIG. 4) and the code interpreted by the interpretation unit is an imaging code, the imaging device And a first transmission unit (for example, the wireless communication unit 90 in FIG. 3 controlled by the transmission control unit 163 in FIG. 4), and the imaging device is transmitted from the control unit. First receiving means for receiving an imaging command (for example, the wireless communication unit 205 in FIG. 6 controlled by the reception control unit 231 in FIG. 7) and an imaging means for imaging the workpiece when receiving an imaging command (For example, the CCD camera 201-1 in FIG. 6) and second transmission means for transmitting the imaging data obtained by the imaging to the control unit (for example, controlled by the transmission control unit 232 in FIG. 7). Wireless communication unit 205), and the control unit is controlled by second receiving means (for example, reception control unit 164 in FIG. 4) that receives the imaging data transmitted from the imaging device to which imaging has been commanded. 3 further includes storage means (for example, storage unit 82 in FIG. 3) for storing the received imaging data.

  The cutting device according to the second aspect of the present invention is a cutting device that executes a numerical control program for numerically controlling a machining operation to cut a workpiece, and the tool is mounted when the workpiece is cut. A cutting apparatus in which an imaging device is mounted on the main spindle, and interpreting means for interpreting the code of the numerical control program (for example, the NC program execution unit 152 in FIG. 4) and the code interpreted by the interpreting means are In the case of an imaging code, transmission means (for example, the wireless communication unit 90 in FIG. 3 controlled by the transmission control unit 163 in FIG. 4) that transmits an imaging command to the imaging device mounted on the main shaft; Receiving means (for example, FIG. 3 controlled by the reception control unit 164 in FIG. 4) that receives imaging data obtained by imaging by the imaging device and transmitted from the imaging device to which imaging has been commanded. A wireless communication unit 90), and a storage means for storing the imaging data received (e.g., the storage unit 82 in FIG. 3).

  The imaging device according to the third aspect of the present invention (for example, the imaging unit 21 in FIG. 3) is a main axis of a cutting device that executes a numerical control program for numerically controlling machining operations, and cuts a workpiece. An imaging apparatus that is mounted on a spindle on which a tool is mounted, and an imaging command transmitted from the cutting apparatus when the numerical control program executed by the cutting apparatus includes an imaging code 6 (for example, the wireless communication unit 205 in FIG. 6 controlled by the reception control unit 231 in FIG. 7) and an imaging unit (for example, in FIG. 6) that captures the workpiece when receiving an imaging command. CCD camera 201-1) and transmission means for transmitting imaging data obtained by imaging to the cutting apparatus (for example, the wireless communication unit 205 in FIG. 6 controlled by the transmission control unit 232 in FIG. 7). Including the.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS.

  FIG. 1 is an external view showing an external appearance of a processing unit 11 of a machining center 1 according to an embodiment of the present invention. The machining center 1 is an example of a cutting apparatus.

  The machining center 1 is a so-called 5-axis processing machine, and is a 5-axis control vertical machining center. The machining center 1 numerically controls the position and angle of a tool or work 51 in a so-called XYZ space, which is a three-dimensional space of a right-handed orthogonal coordinate system, a moving speed, and the like. The machining center 1 executes a numerical control program (hereinafter also referred to as an NC program) for numerical control such as the position and angle of the tool or work 51, and the moving speed, and interprets codes described in the numerical control program. Perform the action specified in the code.

  One line of the NC program, also called a block, includes one or more words. A word consists of an address expressed in alphabets and a numerical value. For example, in a word consisting of an address that is X and a numerical value, the address indicates the displacement of the X axis, and the numerical value indicates the coordinate position or the distance to be displaced. For example, when the address is M, it is called an M code and controls an auxiliary function, and when the address is G, it is called a G code and controls a preparation function such as interpolation. The program number is a number that identifies the NC program, and is represented by a number following O (alphabet O). The sequence number is for identifying a position on the NC program and is represented by a numerical value following N.

  The processing unit 11 operates under the control of an NC (Numerical Control) control unit, which will be described later, and processes a workpiece 51 that is a processing target (workpiece). The work 51 may be a solid object having a certain shape, and is made of, for example, iron, aluminum, copper, plastic, ceramics, or the like.

  When machining the workpiece 51, a tool (not shown) such as an end mill or a drill bit is attached to the machining center 1. When imaging the processed workpiece 51, the imaging unit 21 is attached to the machining center 1. The imaging unit 21 is an example of an imaging device or imaging means, and images the workpiece 51 in response to a command from the machining center 1. The imaging unit 21 is mounted on a spindle 22 on which various tools are mounted. The imaging unit 21 wirelessly communicates various commands and data with the machining center 1. The orthogonal axis drive unit 23 displaces the main shaft 22 to positions specified on the X axis, the Y axis, and the Z axis that are orthogonal to each other by displacing the main shaft 22 with respect to the main body 24.

  The work 51 is fixed to the table 31. The table 31 is provided in a turning shaft drive unit 32 that turns in the C-axis direction that is a turning shaft that turns around the Z axis. That is, the turning shaft drive unit 32 rotates the work 51 fixed to the table 31 in the C-axis direction.

  The turning shaft drive unit 33 rotates the turning shaft drive unit 32 in the direction of the arrow K in the drawing. The center of rotation of the turning shaft drive unit 33 coincides with the Y axis. That is, the turning axis drive unit 33 rotates the work 51 fixed to the table 31 in the B-axis direction that is a turning axis that turns around the Y axis.

  As described above, the machining center 1 is a 5-axis processing machine in which the positions of the X axis, the Y axis, the Z axis, the B axis, and the C axis are numerically controlled.

  Further, the machining center 1 is provided with an automatic tool changer 41. The automatic tool changer 41 attaches either a tool such as an end mill or a drill bit or the imaging unit 21 to the spindle 22 and removes the tool or the imaging unit 21 attached to the spindle 22 from the spindle 22.

  The machining center 1 executes the NC program, and when the imaging unit 21 is mounted on the spindle 22, the imaging unit 21 is displaced to a predetermined position in accordance with the NC program code, and the NC program code instructs imaging. At some time, an imaging command is transmitted to the imaging unit 21. When receiving an imaging command from the machining center 1, the imaging unit 21 captures an image at a position displaced by the main shaft 22 and transmits imaging data obtained as a result of the imaging to the machining center 1. In this case, the imaging unit 21 captures a still image or a moving image to obtain imaging data, or obtains imaging data including a three-dimensional point group indicating a shape. The machining center 1 stores imaging data transmitted from the imaging unit 21. At this time, the machining center 1 stores imaging data in association with a sequence number of a code for instructing imaging.

  When the sequence number is specified and the display is instructed, the machining center 1 reads the image data associated with the sequence number and displays an image based on the image data.

  FIG. 2 is a diagram illustrating an example of imaging of the work 51 by the imaging unit 21 attached to the main shaft 22. For example, the optical axis of the imaging unit 21 attached to the main shaft 22 is in the Z-axis direction. That is, the imaging unit 21 mounted on the main shaft 22 images the workpiece 51 fixed to the table 31 in the Z-axis direction.

  The imaging unit 21 images a predetermined part of the work 51 in accordance with a command from the machining center 1. For example, the imaging unit 21 images a hole 52 formed in the workpiece 51 at a predetermined angle of view A. This angle of view A may be fixed or varied. That is, the imaging unit 21 may be a single focus or may have a zoom function or a variable focus function.

  The imaging unit 21 transmits imaging data, which is data obtained as a result of imaging, to the machining center 1.

  When the imaging unit 21 is mounted on the main shaft 22, focusing (focusing) is performed using a cross-shaped center marker or the like, similar to the tool length correction.

  Hereinafter, data indicating the shape of a predetermined part of the workpiece 51 obtained as a result of imaging by the imaging unit 21 is referred to as imaging data. Further, hereinafter, data obtained by combining imaging data with imaging method data indicating a method of imaging data such as a still image, a moving image, or three-dimensional scan data, and metadata such as imaging unit identification data for identifying the imaging unit 21. Is referred to as imaging container data.

  FIG. 3 is a block diagram showing a hardware configuration of the machining center 1 including the NC control unit 71.

  The machining center 1 includes an NC control unit 71 and a processing unit 11. The NC control unit 71 controls and drives the processing unit 11. For example, the NC control unit 71 controls the operation of the processing unit 11 in a so-called XYZ space, which is a three-dimensional space of the right-handed orthogonal coordinate system. That is, the NC control unit 71 is a coordinate axis position on the X axis, a position on the Y axis, a position on the Z axis, and an angle on the B axis and a position on the C axis, which are rotation axes, respectively. The operation of the processing unit 11 in the XYZ space is controlled by designating an angle.

  The processing unit 11 is controlled and driven by the NC control unit 71 and moves the tool or the work 51 to the position and angle in the XYZ space instructed by the NC control unit 71, so that the work 51 that is the object to be processed. Is processed. Further, the processing unit 11 is controlled and driven by the NC control unit 71 to move the imaging unit 21 or the workpiece 51 to the position and angle in the XYZ space designated by the NC control unit 71, so that the imaging unit 21 receives the workpiece. 51 predetermined parts are imaged.

  The NC control unit 71 includes a communication unit 81, a storage unit 82, a main control unit 83, a path calculation unit 85, a drive circuit 86-1 to a drive circuit 86-5, an auxiliary function control unit 87, a drive circuit 88, and an auxiliary function drive unit. 89 and a wireless communication unit 90. The processing unit 11 includes a spindle 22, a display unit 101, an input unit 102, a positioning unit 103, a relay 104, and auxiliary function motors 105.

  Further, the positioning unit 103 of the processing unit 11 is provided with servo motors 111-1 to 111-5. The positioning unit 103 includes an orthogonal axis driving unit 23, a table 31, a turning axis driving unit 32, and a turning axis driving unit 33. A workpiece 51 is mounted on the table 31 of the positioning unit 103 via a positioning jig or the like. The positioning unit 103 determines the position and angle of the workpiece 51 and the main shaft 22 in the XYZ space by driving the servo motors 111-1 to 111-5. The servo motors 111-1 to 111-5 are driven so as to displace the respective positions of the X axis, the Y axis, the Z axis, the B axis, and the C axis. The spindle 22 is provided with a servo motor 112, and the tool mounted on the spindle 22 is rotated by the servo motor 112 at a predetermined rotation speed. Further, the imaging unit 21 mounted on the main shaft 22 is set to a predetermined angular position by the servo motor 112 with the Z axis as a rotation axis.

  The communication unit 81 includes a network interface and the like, and communicates with other devices such as the personal computer 131 via the network 132. The communication unit 81 receives various programs and data such as an NC program transmitted from the personal computer 131 via the network 132. The communication unit 81 supplies the received program and data to the storage unit 82. In addition, the communication unit 81 transmits various data stored in the storage unit 82 to the personal computer 131 via the network 132.

  The storage unit 82 includes a hard disk, a nonvolatile memory, and the like, and stores various programs and data such as an NC program supplied from the communication unit 81.

  The main control unit 83 includes a general-purpose CPU (Central Processing Unit) or a dedicated processor, and reads the control program from the storage unit 82 and executes the control program. More specifically, the main control unit 83 executes various language processing programs such as an interpreter for interpreting and executing the NC program, and executes the NC program on the language processing program. The main control unit 83 indicates the position and angle of the tool and the workpiece 51 in the XYZ space, the relative feed speed indication of the tool and the workpiece 51, or the rotational speed of the spindle 22 obtained as a result of the execution of the NC program. The route calculation unit 85 is instructed, and the auxiliary function control unit 87 is instructed to operate auxiliary functions such as the automatic tool changer 41 and the cutting oil supply function. Further, the main control unit 83 instructs the path calculation unit 85 on the position and angle of the imaging unit 21 and the workpiece 51 in the XYZ space obtained as a result of the execution of the NC program, and wirelessly sends an imaging instruction to the imaging unit 21. The data is supplied to the communication unit 90. Further, when the wireless communication unit 90 receives the imaging data transmitted from the imaging unit 21, the main control unit 83 stores the received imaging data in the storage unit 82.

  The main control unit 83 controls various displays on the display unit 101 of the processing unit 11. Further, the main control unit 83 acquires a user instruction by inputting a signal supplied from the input unit 102 operated by the user.

  The display unit 101 includes an LCD (liquid crystal display), an organic EL (electroluminescence) display, or a plasma display, and displays a list of machining programs and data indicating the state of the machining center 1 in accordance with the control of the main control unit 83. To do. In addition, the display unit 101 displays the NC program with characters or displays a locus based on the NC program. Further, the display unit 101 displays an image of a predetermined part of the workpiece 51 based on imaging data obtained by imaging by the imaging unit 21. The input unit 102 includes various switches, buttons, a keyboard, a pointing device, a touch panel, and the like, and supplies a signal corresponding to an operation from the user to the main control unit 83.

  The route calculation unit 85 calculates the instruction value of each axis of the positioning unit 103 according to the route instructed from the main control unit 83. And the path | route calculating part 85 supplies each of the instruction value of each axis | shaft of the positioning part 103 to each of the corresponding drive circuits 86-1 thru | or 86-5.

  The drive circuits 86-1 to 86-5 are so-called servo motor drive circuits, and servo motors 111-1 to 111-1 that drive each axis of the positioning unit 103 in accordance with the axis instruction value from the path calculation unit 85. Servo motors 111-1 to 111-5 are driven by supplying a current of a predetermined frequency to 111-5, for example.

  The positioning unit 103 is configured so that the servo motors 111-1 to 111-5 are driven by the drive circuits 86-1 to 86-5, respectively, and thereby the XYZ of the workpiece 51 mounted via a positioning jig or the like. The angle in the space is determined, and the position of the tool or the imaging unit mounted on the main shaft 22 in the XYZ space is determined.

  The auxiliary function control unit 87 controls the drive circuit 88 that drives the main shaft 22 of the processing unit 11 in accordance with an instruction from the main control unit 83 and also drives the automatic tool changer 41 and the cutting oil supply function. The function driving unit 89 is controlled. The drive circuit 88 is a so-called servo motor drive circuit, and rotates the main shaft 22 at a predetermined rotation speed or at a predetermined angular position with the Z axis as the rotation axis in accordance with control by the auxiliary function control unit 87. As described above, the servo motor 112 of the main shaft 22 of the machining unit 11 is driven.

  When the servo motor 112 is driven by the drive circuit 88, the main shaft 22 is rotated at a predetermined rotation speed or mounted at a predetermined angular position with the Z axis as the rotation axis. An image pickup unit 21 is disposed.

  The auxiliary function driving unit 89 drives auxiliary functions such as a cutting oil supply function in the automatic tool changer 41 and the processing unit 11 in accordance with control by the auxiliary function control unit 87. That is, the auxiliary function drive unit 89 switches the relay 104 of the processing unit 11 and supplies a predetermined power to the auxiliary function motors 105 via the relay 104, whereby the auxiliary function motors 105 are automatically changed. Each part of auxiliary functions, such as device 41 and a cutting oil supply function, is driven, and an auxiliary function operates.

  The wireless communication unit 90 is controlled by the main control unit 83 to use short-range wireless communication such as wireless LAN (Local Area Network), Bluetooth (registered trademark), or IrDA (Infrared Data Association) using radio waves or infrared rays as a medium. It communicates with the imaging unit 21 by the method.

  FIG. 4 is a block diagram illustrating a configuration of functions implemented in the main control unit 83 that executes a control program for controlling the entire machining center 1. When the main control unit 83 executes the control program, an NC program storage unit 151, an NC program execution unit 152, an imaging data table 153, an imaging command unit 154, and a display control unit 155 are realized.

  The NC program storage unit 151 is configured in the storage area of the storage unit 82 and stores the NC program. The NC program execution unit 152 executes and interprets the NC program, and instructs the storage unit 82, the path calculation unit 85, the auxiliary function control unit 87, and the wireless communication unit 90 to perform operations specified by the NC program code. To do.

  The imaging data table 153 is configured in a storage area of the storage unit 82 and stores imaging data transmitted from the imaging unit 21. The structure of the imaging data table 153 will be described later with reference to FIG.

  The imaging command unit 154 commands the imaging unit 21 to perform imaging by causing the wireless communication unit 90 to transmit an imaging command. The imaging command unit 154 causes the wireless communication unit 90 to receive imaging data transmitted from the imaging unit 21 that commanded imaging. Then, the imaging command unit 154 stores the received imaging data in the imaging data table 153.

  The display control unit 155 displays an image on the display unit 101 based on the imaging data stored in the imaging data table 153.

  The imaging command unit 154 includes a determination unit 161, an acquisition unit 162, a transmission control unit 163, a reception control unit 164, a storage control unit 165, a command storage unit 166, and an imaging unit data storage unit 167. The determination unit 161 performs various determinations such as whether or not the code commands imaging. The acquisition unit 162 acquires various types of data associated with imaging data such as sequence numbers and position data. The acquisition unit 162 includes a sequence number acquisition unit 171, a position data acquisition unit 172, and an imaging unit data acquisition unit 173. The sequence number acquisition unit 171 acquires a sequence number from the NC program execution unit 152. The position data acquisition unit 172 acquires position data indicating the positions of the X axis, the Y axis, the Z axis, the B axis, and the C axis from the path calculation unit 85. The imaging unit data acquisition unit 173 receives imaging unit identification data, imaging method data, imaging unit identification data, and imaging unit from the imaging unit data storage unit 167 that stores data related to the imaging unit 21 mounted on the spindle 22 in advance. Posture data and angle of view data are acquired. Details of the imaging unit identification data, imaging method data, imaging unit identification data, imaging unit attitude data, and field angle data will be described later with reference to FIG.

  The transmission control unit 163 controls transmission of commands and various data to the imaging unit 21 by the wireless communication unit 90. The reception control unit 164 controls reception of various data transmitted from the imaging unit 21 by the wireless communication unit 90. The storage control unit 165 controls storage of various data such as imaging data in the imaging data table 153. The command storage unit 166 stores a code in the NC program and a command to the imaging unit 21 in advance in association with each other.

  The imaging unit data storage unit 167 stores in advance various data relating to the imaging unit 21 mounted on the main shaft 22. The imaging unit data storage unit 167 includes a status storage unit 174. The status storage unit 174 includes imaging method data indicating whether the mode of the imaging unit 21 is set to a mode for capturing a still image or a moving image, field angle data indicating the angle of view of the imaging unit 21, and the like. Data indicating the status of the imaging unit 21 is stored.

  The display control unit 155 includes an NC program reading unit 181, a model generation unit 182, an imaging data reading unit 183, an image display control unit 184, and a list display control unit 185. The NC program reading unit 181 reads the NC program designated by the user from the NC program storage unit 151. The model generation unit 182 indicates the position of the sequence number from the NC program, and generates a model of a trajectory arranged in the machining space. The imaging data reading unit 183 reads imaging data associated with the designated sequence number from the imaging data table 153. The image display control unit 184 causes the display unit 101 to display an image based on the imaging data. The list display control unit 185 displays the NC program list on the display unit 101 in characters.

  Next, the imaging unit 21 will be described. Here, the configuration of an imaging unit 21-1 equipped with a CCD (Charge Coupled Device) camera, which is two specific examples of the imaging unit 21, and an imaging unit 21-2 equipped with a three-dimensional scanner will be described in order.

  FIG. 5 is a diagram illustrating the structure of the imaging unit 21-1. The imaging unit 21-1 is formed in a substantially cylindrical shape. A pull stud inserted into the main shaft 22 and a taper are formed on one of the circular bottom surfaces of the imaging unit 21-1. Also, a CCD camera 201-1, a CCD camera 201-2, and an illumination unit 202 are provided inside the other side of the circular bottom surface of the imaging unit 21-1.

  Each of the CCD camera 201-1 and the CCD camera 201-2 includes a CCD image sensor that is an individual imaging device and a lens group that forms an optical image of a subject on the CCD image sensor. The CCD camera 201-1 and the CCD camera 201-2 capture a two-dimensional image of a subject whose brightness or color is the pixel value of the pixel. In the case of imaging, the distance from the CCD camera 201-1 and the CCD camera 201-2 to the work 51 that is a subject is a length close to the tool length (blade length or effective length) of a tool such as an end mill or a drill bit. . That is, for example, the distance at which the CCD camera 201-1 and the CCD camera 201-2 are focused (focused) is any one of 10 mm to 50 mm. Further, when the distance from the CCD camera 201-1 and the CCD camera 201-2 to the work 51, which is the subject, is a length close to the tool length of a tool such as an end mill or a drill bit, the CCD camera 201-1 and the CCD camera 201 The range of imaging with the workpiece 51 by -2 is about 1 mm in length and width, about 5 mm in length and width, about 10 mm in length and width, or about 30 mm in length and width.

  The optical axis of the CCD camera 201-1 coincides with the Z axis, and the optical axis of the CCD camera 201-2 intersects the optical axis of the CCD camera 201-1 at a predetermined angle. For example, the optical axis of the CCD camera 201-1 and the optical axis of the CCD camera 201-1 intersect at an angle of 45 degrees as indicated by θ in FIG. For example, when the drill bit has worn, burrs that gradually increase as the wear progresses are generated around the hole. However, by providing the CCD camera 201-1 and the CCD camera 201-2 that intersect the optical axes, Small burrs can be imaged more reliably.

  The illumination unit 202 is a so-called ring illumination device, and illuminates an area captured by the CCD camera 201-1 and the CCD camera 201-2.

  FIG. 6 is a block diagram illustrating a hardware configuration of the imaging unit 21-1. The imaging unit 21-1 includes a CCD camera 201-1, a CCD camera 201-2, an illumination unit 202, a control unit 203, a storage unit 204, a wireless communication unit 205, a battery 206, and a charging unit 207. The control unit 203 includes a general-purpose CPU or a dedicated processor. The control unit 203 reads an imaging control program from the storage unit 82, executes the imaging control program, and performs a CCD camera 201-1, a CCD camera 201-2, and an illumination unit 202. The storage unit 204 and the wireless communication unit 205 are controlled. The storage unit 204 includes a hard disk, a non-volatile memory, and the like, and stores various programs and data. Under the control of the control unit 203, the wireless communication unit 205 communicates with the wireless communication unit 90 by a short-range wireless communication method such as a wireless LAN, Bluetooth (registered trademark), or IrDA using radio waves or infrared rays as a medium. The wireless communication unit 205 communicates with the wireless communication unit 90 in a manner that allows communication. The battery 206 is a so-called secondary battery, stores electricity, and supplies power to each unit of the imaging unit 21-1. The charging unit 207 includes a regulator and the like, and charges the battery 206 with a power source supplied from the outside.

  FIG. 7 is a block diagram illustrating a configuration of functions realized by the control unit 203 executing the imaging control program. When the control unit 203 executes the imaging control program, the reception control unit 231, the transmission control unit 232, the determination unit 233, the status / parameter storage unit 234, the storage control unit 235, the CCD camera control unit 236, and the illumination control unit 237 are realized. Is done.

  The reception control unit 231 controls reception of various data such as a command transmitted from the wireless communication unit 90 by the wireless communication unit 205. The transmission control unit 232 controls transmission of various data such as imaging data addressed to the wireless communication unit 90 by the wireless communication unit 205. The determination unit 233 makes various determinations such as whether imaging has been commanded. The status / parameter storage unit 234 stores status information indicating selection of the CCD camera 201-1 or the CCD camera 201-2, setting of a mode for photographing either a still image or a moving image, and setting of an angle of view. . The storage control unit 235 controls storage of various types of data such as imaging method data, imaging unit identification data, imaging unit attitude data, and angle-of-view data in the storage unit 204. The storage control unit 235 includes an imaging data storage control unit 251. The imaging data storage control unit 251 controls storage of imaging data in the storage unit 204.

  The CCD camera control unit 236 controls imaging of the CCD camera 201-1 or the CCD camera 201-2. The illumination control unit 237 controls illumination by the illumination unit 202.

  FIG. 8 is a diagram illustrating the structure of the imaging unit 21-2. The imaging unit 21-2 is formed in a substantially cylindrical shape. A pull stud inserted into the main shaft 22 and a taper are formed on one of the circular bottom surfaces of the imaging unit 21-2. A three-dimensional scanner 301 (hereinafter referred to as a 3D scanner 301) is provided inside the other side of the circular bottom surface of the imaging unit 21-2.

  The 3D scanner 301 is a so-called laser type three-dimensional scanner, and measures the distance to each part of the object at a predetermined interval on a plane orthogonal to the optical axis, and indicates a three-dimensional point indicating the shape of the object. Imaging data consisting of groups is generated. The optical axis of the 3D scanner 301 coincides with the Z axis.

  In the case of imaging, the distance from the 3D scanner 301 to the work 51 as a subject is a length close to the tool length (blade length or effective length) of a tool such as an end mill or a drill bit. That is, for example, the distance that the 3D scanner 301 can measure the position of the subject is any one of 10 mm to 50 mm. In addition, when the distance from the 3D scanner 301 to the workpiece 51 that is the subject is a length close to the tool length of a tool such as an end mill or a drill bit, the range of imaging with the workpiece 51 by the 3D scanner 301 is about 1 mm in length and width. The length is about 5 mm, about 10 mm, or about 30 mm.

  FIG. 9 is a block diagram illustrating a hardware configuration of the imaging unit 21-2. The imaging unit 21-2 includes a 3D scanner 301, a control unit 302, a storage unit 303, a wireless communication unit 304, a battery 305, and a charging unit 306. The control unit 302 includes a general-purpose CPU or a dedicated processor, reads out an imaging control program from the storage unit 303, executes the imaging control program, and controls the 3D scanner 301, the storage unit 303, and the wireless communication unit 304. To do.

  The storage unit 303, the wireless communication unit 304, the battery 305, and the charging unit 306 are the same as the storage unit 204, the wireless communication unit 205, the battery 206, and the charging unit 207 of the imaging unit 21-1, respectively, and thus description thereof is omitted. To do.

  FIG. 10 is a block diagram illustrating a configuration of functions realized by the control unit 302 executing the imaging control program. When the control unit 302 executes the imaging control program, a reception control unit 331, a transmission control unit 332, a determination unit 333, a status / parameter storage unit 334, a storage control unit 335, and a scanner control unit 336 are realized.

  Since the reception control unit 331, the transmission control unit 332, and the determination unit 333 are the same as the reception control unit 231, the transmission control unit 232, and the determination unit 233 of the imaging unit 21-1, respectively, description thereof is omitted.

  The status / parameter storage unit 334 stores status information indicating the setting of the angle of view of the 3D scanner 301 and the like.

  The storage control unit 335 controls storage of various types of data such as imaging method data, imaging unit identification data, imaging unit attitude data, and angle-of-view data in the storage unit 303. The storage control unit 335 includes an imaging data storage control unit 351. The imaging data storage control unit 351 controls storage of the imaging data storage unit 303.

  A scanner control unit 336 controls imaging of the 3D scanner 301.

  FIG. 11 is a diagram illustrating an example of the structure of the imaging data table 153. One program number is assigned to the imaging data table 153. This program number specifies the numerical control program executed by the NC program execution unit 152 when the imaging data stored in the imaging data table 153 is imaged. For example, in the example of the imaging data table 153 shown in FIG. 11, a program number of O1000 is stored. Note that the program number can be expressed only by a number such as 1000.

  In the imaging data table 153, sequence numbers, position data, imaging unit identification data, and one or a plurality of imaging container data are stored in association with each other. For example, in the imaging data table 153 shown in FIG. 11, one row corresponds to one data set obtained by one imaging corresponding to one sequence number, and each column represents an attribute value. Indicates.

  The sequence number indicates a sequence number associated with an imaging code interpreted by the NC program execution unit 152 when imaging data is captured. For example, the imaging data table 153 shown in FIG. 11 stores sequence numbers that are N1 to N16.

  The position data indicates the respective positions of the X axis, the Y axis, the Z axis, the B axis, and the C axis where the imaging data is captured. Specifically, for example, the position data is an array including values indicating the positions of the X axis, the Y axis, the Z axis, the B axis, and the C axis. For example, the imaging data table 153 shown in FIG. 11 stores position data that are C1 to C16. The position data may indicate the position of the main shaft 22 or may indicate the position of the focal point of the imaging unit 21 by adding the length and focal length of the imaging unit 21 to the position of the main shaft 22 as an offset. Good.

  The imaging unit identification data is data for identifying the imaging unit 21 that has captured the imaging data. For example, the imaging unit identification data indicates whether the imaging unit 21-1 or the imaging unit 21-2 has captured the imaging data. For example, in the imaging data table 153 shown in FIG. 11, the imaging unit identification data U1 indicates the imaging unit 21-1, and the imaging unit identification data U2 indicates the imaging unit 21-2. That is, the imaging data corresponding to any one of the sequence numbers N1 to N12 is captured by the imaging unit 21-1 identified by the imaging unit identification data U1. In addition, the imaging data corresponding to any of the sequence numbers N13 to N16 is captured by the imaging unit 21-2 identified by the imaging unit identification data U2.

  The imaging data table 153 stores one or a plurality of imaging container data in association with one sequence number, one position data, and one imaging unit identification data. For example, the imaging data table 153 illustrated in FIG. 11 stores two imaging container data in association with sequence numbers that are N1 to N4. For example, the imaging data table 153 illustrated in FIG. 11 stores one imaging container data in association with sequence numbers N5 to N16.

  The imaging container data includes imaging result data and imaging unit data. The imaging result data includes imaging data obtained as a result of imaging and data related to the imaging data. That is, the imaging result data includes imaging data and imaging method data. The imaging data is data obtained by imaging the workpiece 51 by the imaging unit 21 such as a still image, a moving image, or three-dimensional scan data. In other words, the imaging data indicates the shape and color of a predetermined part of the work 51 in terms of brightness, color, or position. Here, the three-dimensional scan data includes a three-dimensional point group indicating the shape of the work 51. In the imaging data table 153, imaging data may be stored, or data specifying the imaging data (for example, a file name or an identification number) may be stored. That is, it is only necessary that the sequence number and the imaging data are associated with each other. In other words, if a sequence number is specified, any method that can read out image data captured with the sequence number is sufficient.

  The imaging method data is data indicating the imaging data method, that is, a still image, a moving image, or three-dimensional scan data.

  In the example shown in FIG. 11, IM1-1 to IM-16 arranged as imaging data indicate file names of imaging data. For example, in the imaging data table 153 shown in FIG. 11, the imaging data that is any of IM1-1 to IM4-1, IM1-2 to IM4-2, and IM5 to IM8 is a still image according to imaging method data. It is shown. Further, for example, in the imaging data table 153 illustrated in FIG. 11, imaging data that is any of IM9 to IM12 is indicated as a moving image by imaging method data. Furthermore, for example, in the imaging data table 153 illustrated in FIG. 11, imaging data that is any one of IM13 to IM16 is three-dimensional scan data by imaging method data.

  The imaging unit data is an imaging unit that images the workpiece 51 and outputs the imaging data, for example, specifies any one of the CCD camera 201-1, the CCD camera 201-2, or the 3D scanner 301, and is data relating thereto is there. The imaging unit data includes imaging unit identification data, imaging unit attitude data, and field angle data. The imaging unit identification data is data for identifying an imaging unit (for example, one of the CCD camera 201-1, the CCD camera 201-2, or the 3D scanner 301) that images the workpiece 51 and outputs the imaging data. For example, in the example of the imaging data table 153 shown in FIG. 11, the imaging unit identification data PID1 indicates the CCD camera 201-1, the imaging unit identification data PID2 indicates the CCD camera 201-2, and PID3 The imaging unit identification data is a 3D scanner 301.

  For example, in the imaging data table 153 illustrated in FIG. 11, imaging data that is any of IM1-1 to IM4-1 and IM9 to IM12 is associated with imaging unit identification data that is PID1 indicating the CCD camera 201-1. Therefore, it is data obtained by imaging with the CCD camera 201-1. Further, for example, in the imaging data table 153 shown in FIG. 11, the imaging data that is any of IM1-2 to IM4-2 and IM5 to IM8 is the imaging unit identification data that is PID2 indicating the CCD camera 201-2. Since it is associated, it is data obtained by imaging with the CCD camera 201-2. Further, for example, in the imaging data table 153 illustrated in FIG. 11, the imaging data that is any one of IM13 to IM16 is associated with the imaging unit identification data that is PID3 indicating the 3D scanner 301. This is data obtained by imaging.

  The imaging unit attitude data is data indicating the attitude of the imaging unit that has imaged the workpiece 51 and output the imaging data. For example, in the imaging data table 153 illustrated in FIG. 11, the imaging unit attitude data indicates an angle between the optical axis of the imaging unit and the Z axis.

  For example, in the imaging data table 153 shown in FIG. 11, since the optical axis of the CCD camera 201-1 is parallel to the Z axis, the imaging unit attitude data associated with the imaging unit identification data PID1 is 0. Has been. Further, for example, in the imaging data table 153 shown in FIG. 11, the optical axis of the CCD camera 201-2 is 45 degrees with respect to the Z axis, so the imaging unit attitude associated with the imaging unit identification data that is PID2 The data is 45. Further, for example, in the imaging data table 153 shown in FIG. 11, the optical axis (center) of the 3D scanner 301 is parallel to the Z axis, so imaging unit attitude data associated with imaging unit identification data that is PID3 Is set to 0.

  The angle-of-view data is data indicating the angle of view of the imaging unit that images the workpiece 51 and outputs the imaging data. That is, the angle-of-view data represents the range imaged by the imaging unit that images the workpiece 51 and outputs the imaging data as an angle. The angle of view is also referred to as a viewing angle.

  For example, in the imaging data table 153 shown in FIG. 11, imaging data that is any of IM1-1, IM2-1, IM1-2 to IM4-2, and IM9 to IM16 was imaged at 60 angles of view. Therefore, the angle of view data corresponding to the imaging data of IM1-1, IM2-1, IM1-2 to IM4-2, and IM9 to IM16 is set to 60. Further, for example, in the imaging data table 153 shown in FIG. 11, the imaging data that is any one of IM3-1, IM4-1, and IM5 to IM8 was captured at an angle of view of 80. The angle-of-view data corresponding to the imaging data of IM4-1 and IM5 to IM8 is 80.

  In the imaging container data, imaging method data, imaging unit identification data, imaging unit attitude data, and angle-of-view data are so-called metadata about the imaging data.

  As described above, the imaging data is stored in the imaging data table 153 in association with the sequence number. That is, the storage unit 82 stores the imaging data in association with the sequence number. In other words, the storage unit 82 stores (associates) the sequence number with the imaging data. It can also be said that the storage unit 82 stores the sequence number and the imaging data in association with each other.

  More specifically, the imaging data is stored in the imaging data table 153 in association with the sequence number, position data, imaging unit identification data, imaging method data, imaging unit identification data, imaging unit attitude data, and field angle data. . That is, the storage unit 82 stores imaging data in association with a sequence number, position data, imaging unit identification data, imaging method data, imaging unit identification data, imaging unit attitude data, and field angle data.

  Next, an NC program execution process performed by the NC program execution unit 152 of the main control unit 83 will be described with reference to the flowchart of FIG. The NC program execution unit 152 reads an NC program to be executed from the NC program storage unit 151 prior to execution processing. When the NC program execution process is started, in step S11, the NC program execution unit 152 reads one block from the NC program to be executed. In step S12, the NC program execution unit 152 reads one word from the read block.

  In step S13, the NC program execution unit 152 determines whether or not the read word is an auxiliary function address. If it is determined in step S13 that the read word is not the address of the auxiliary function, the procedure proceeds to step S14, and the NC program execution unit 152 interprets the read word of the NC program, and the X axis, An operation corresponding to the word, such as displacement of each position of the Y-axis, Z-axis, B-axis, and C-axis, is commanded to the path calculation unit 85. Thereafter, the procedure proceeds to step S15.

  If it is determined in step S13 that the read word is an address of the auxiliary function, the procedure proceeds to step S17 because the M code controls the auxiliary function, and the NC program execution unit 152 instructs the imaging unit 21 to It is determined whether it is a code to be executed. If it is determined in step S17 that the code is not a command for instructing the imaging unit 21, the procedure proceeds to step S18, and the NC program execution unit 152 interprets the read code of the NC program and performs an operation corresponding to the code. The auxiliary function control unit 87 is commanded. Thereafter, the procedure proceeds to step S15.

  If it is determined in step S17 that the code is to be commanded to the imaging unit 21, the procedure proceeds to step S19, and the NC program execution unit 152 interprets the read code of the NC program and sends it to the imaging command unit 154. Then, the command processing to the imaging unit 21 is performed. Details of processing of a command to the imaging unit 21 will be described later with reference to the flowcharts of FIGS. 13, 15, 17, and 19. Thereafter, the procedure proceeds to step S15.

  In step S15, the NC program execution unit 152 determines whether there is a next word in the block. If it is determined in step S15 that the next word is in the block, the procedure returns to step S12 and repeats the above-described procedure.

  If it is determined in step S15 that the block has the next word, the procedure proceeds to step S16, and the NC program execution unit 152 determines whether or not the NC program has the next block. If it is determined in step S16 that the NC program has the next block, the procedure returns to step S11 and repeats the above-described procedure.

  If it is determined in step S16 that there is no next block in the NC program, since the entire NC program has been executed, the NC program execution process ends.

  Next, an example of processing when a still image is captured by the imaging unit 21-1 or by the 3D scanner 301 of the imaging unit 21-2 will be described with reference to the flowcharts of FIGS.

  FIG. 13 is a flowchart for explaining an example of details of processing of a command to the imaging unit 21 performed in the imaging command unit 154 of the main control unit 83. In step S31, the determination unit 161 compares the code and the command stored in advance in the command storage unit 166, thereby determining whether or not the word read in step S12 is a command for imaging. Determine.

  If it is determined in step S31 that the code is a command for imaging, the procedure proceeds to step S32.

  In step S32, the acquisition unit 162 of the imaging command unit 154 acquires a sequence number, position data, imaging unit identification data, imaging method data, imaging unit identification data, imaging unit attitude data, and field angle data. More specifically, the sequence number acquisition unit 171 of the acquisition unit 162 acquires a sequence number from the NC program execution unit 152. Further, the position data acquisition unit 172 of the acquisition unit 162 acquires position data indicating the positions of the X axis, the Y axis, the Z axis, the B axis, and the C axis from the path calculation unit 85. The imaging unit data acquisition unit 173 of the acquisition unit 162 receives imaging unit identification data, imaging method data, and imaging unit identification from the imaging unit data storage unit 167 that stores data related to the imaging unit 21 attached to the spindle 22 in advance. Data, imaging unit attitude data, and field angle data are acquired.

  Note that the status storage unit 174 of the imaging unit data storage unit 167 uses the PID1 when the imaging unit 21 attached to the spindle 22 is the imaging unit 21-1, and the CCD camera 201-1 is selected. When certain imaging unit identification data is stored and the CCD camera 201-2 is selected, the imaging unit identification data PID2 is stored, and when the CCD camera 201-1 and the CCD camera 201-2 are selected, The imaging unit identification data that is PID1 and the imaging unit identification data that is PID2 are stored. Further, the status storage unit 174 of the imaging unit data storage unit 167 is set to a mode for capturing either a still image or a moving image when the imaging unit 21 mounted on the spindle 22 is the imaging unit 21-1. The image capturing method data indicating whether or not the image is displayed and the angle of view data indicating the angle of view of the image capturing unit 21 mounted on the main shaft 22 are stored.

  In step S33, the storage control unit 165 of the imaging command unit 154 newly generates a row corresponding to one data set in the imaging data table 153, and the sequence number, position data, and imaging unit identification data in that row. Imaging method data, imaging unit identification data, imaging unit attitude data, and field angle data are stored.

  In step S <b> 34, the transmission control unit 163 of the imaging command unit 154 reads an imaging command (imaging command code to the imaging unit 21) from the command storage unit 166, and sends the imaging command to the wireless communication unit 90. Send to 21.

  The imaging unit 21 that has received the imaging command executes imaging processing, and transmits imaging data that is still image data or three-dimensional scan data obtained by the imaging unit 21 imaging the workpiece 51. Details of the imaging process of the imaging unit 21 will be described later with reference to the flowchart of FIG.

  In step S <b> 35, the reception control unit 164 of the imaging command unit 154 causes the wireless communication unit 90 to receive imaging data transmitted from the imaging unit 21.

  In step S36, the storage control unit 165 of the imaging command unit 154 correlates with the sequence number, position data, imaging unit identification data, imaging method data, imaging unit identification data, imaging unit attitude data, and angle of view data, step The imaging data received in the procedure of S35 is stored in the imaging data table 153.

  If it is determined in step S31 that the code is not a command for imaging, the procedure proceeds to step S37, and the determination unit 161 compares the code and the command stored in advance in the command storage unit 166 by comparing them. It is determined whether or not the word read in step S12 is a code for selecting the imaging unit.

  If it is determined in step S37 that the code is for selecting the imaging unit, the procedure proceeds to step S38, and the transmission control unit 163 of the imaging command unit 154 reads the command for selecting the imaging unit from the command storage unit 166. Then, the wireless communication unit 90 is caused to transmit an instruction for selecting the imaging unit to the imaging unit 21. At this time, the imaging command unit 154 causes the status storage unit 174 of the imaging unit data storage unit 167 to store imaging unit identification data indicating the selected imaging unit as status information of the imaging unit 21.

  If it is determined in step S37 that the code is not for selecting an imaging unit, the procedure proceeds to step S39, and the transmission control unit 163 of the imaging command unit 154 reads the command from the command storage unit 166 and sends it to the wireless communication unit 90. Then, a control command for the illumination unit 202 or the like is transmitted to the imaging unit 21. In step S39, a mode for photographing either a still image or a moving image is specified, and an angle of view of the imaging unit 21 is instructed. At this time, the imaging command unit 154 indicates whether the status storage unit 174 of the imaging unit data storage unit 167 is set to a mode for capturing either a still image or a moving image as the status information of the imaging unit 21. The method data and the angle of view data indicating the angle of view of the imaging unit 21 mounted on the main shaft 22 are stored.

  After the procedure of step S36, step S38, or step S39, the processing of the command to the imaging unit 21 ends, and the processing returns to the NC program execution processing.

  Next, imaging processing by the imaging unit 21-1 that executes an imaging control program in the control unit 203 will be described with reference to a flowchart of FIG. 14. The imaging process described with reference to the flowchart of FIG. 14 is performed when the imaging command unit 154 executes the command process with respect to the imaging unit 21 described with reference to the flowchart of FIG.

  In step S <b> 61, the reception control unit 231 causes the wireless communication unit 205 to receive a command transmitted from the wireless communication unit 90 of the NC control unit 71.

  In step S62, the determination unit 233 compares the imaging command code of the imaging unit 21 with the received command, and determines whether imaging is commanded. In step S62, if it is determined that the received command is the same as the command code for imaging of the imaging unit 21 and imaging is commanded, the procedure proceeds to step S63, and the CCD camera control unit 236 selects the imaging unit and stops it. Status information indicating the selection of the imaging unit is read from the status / parameter storage unit 234 that stores status information indicating the setting of the mode for photographing either an image or a moving image and the setting of the angle of view.

  In step S <b> 64, the CCD camera control unit 236 refers to the read status information, and stores a still image in the selected imaging unit, that is, one or both of the CCD camera 201-1 and the CCD camera 201-2. To image. In step S65, the transmission control unit 232 causes the wireless communication unit 205 to transmit imaging data obtained by imaging to the wireless communication unit 90 of the NC control unit 71.

  If it is determined in step S62 that imaging has not been commanded, the procedure proceeds to step S66, and the determination unit 233 compares the imaging unit selection code with the received command to select the imaging unit command. It is determined whether or not it has been done. If it is determined in step S66 that selection of the imaging unit has been instructed, the procedure proceeds to step S67, and the determination unit 233 stores status information indicating selection of the imaging unit in the status / parameter storage unit 234.

  If it is determined in step S66 that selection of the imaging unit has not been instructed, the procedure proceeds to step S68, and the illumination control unit 237 controls the illumination unit 202 in accordance with an instruction from the wireless communication unit 90. When the command from the wireless communication unit 90 is a command for setting a mode for photographing either a still image or a moving image or a command for changing the angle of view, the determination unit 233 sends a status / parameter storage unit 234 to the command. The status information indicating the setting of the mode for photographing either a still image or a moving image and the setting of the angle of view are stored.

  After the procedure of step S65, step S67, or step S68, the imaging process ends.

  Since the imaging unit 21 is mounted on the spindle 22 to which a tool is mounted when cutting the workpiece 51, the imaging unit 21 is cut at a desired point in time, for example, roughing, medium cutting, or finishing, after cutting the workpiece 51 with the tool. If attached to the main shaft 22, the workpiece 51 at a desired point in time during cutting can be imaged.

  In addition, since the imaging of the imaging unit 21 mounted on the spindle 22 that is numerically controlled by the numerical control program is controlled by the numerical control program, the imaging unit 21 is numerically controlled to a desired position, for example, a part of the work 51 Of these positions, move to a desired position such as a part that requires high-precision finishing, a part that is difficult to cut, or a specific hole among many holes that are formed in the same shape. An image can be taken.

  Furthermore, if a numerical control program that performs cutting and imaging is used, the cutting of the workpiece 51 and the imaging of the workpiece 51 can be performed in one step. The numerical control program for imaging can be generated relatively easily by editing and using the numerical control program used for machining the workpiece 51, and imaging can be performed from the numerical control program used for machining the workpiece 51. If the numerical control program for is generated, the workpiece 51 can be imaged from a more accurate position with respect to the workpiece 51.

  Furthermore, since the imaging data is stored in the storage unit 82 as the imaging data table 153, the storage unit 82 can be used as the imaging data table 153 at a desired time after imaging, even when imaging is performed or after imaging is completed. The cutting data of the desired part of the workpiece 51 can be shown by the imaging data stored in the.

  In this way, more easily, a desired part of the workpiece 51 is imaged at a desired point in time during the cutting of the workpiece 51, and the cutting state of the desired part at the desired point in time during the cutting of the workpiece 51 is determined. Can be shown at a desired time after imaging.

  In addition, since image data obtained by imaging the workpiece 51 by the imaging unit 21 is stored in association with the sequence number, the image data captured at a desired position can be easily read from the sequence number.

  Even if a large number of pieces of imaging data are acquired, it is possible to specify which part of the work 51 is imaged from the sequence number. In particular, when processing a large number of the same shape such as holes, it is difficult to specify which part is imaged data only by the content of the imaged data and the time of imaging, but use sequence numbers. So you can easily know the correspondence with the part. Even when the same part of the workpiece 51 is imaged from different positions, the part of the workpiece 51 and the imaging position can be specified from the sequence number.

  In this way, it is possible to more easily image a desired part of the work 51 and specify imaging data indicating the desired part.

  Next, processing when acquiring imaging method data, imaging unit identification data, imaging unit attitude data, and angle-of-view data from the imaging unit 21 will be described with reference to the flowcharts of FIGS. 15 and 16.

  FIG. 15 is a flowchart for explaining another example of the details of the command processing to the imaging unit 21 performed in the imaging command unit 154 of the main control unit 83. The procedure in step S81 is the same as that in step S31 in FIG.

  In step S82, the acquisition unit 162 of the imaging command unit 154 acquires a sequence number, position data, and imaging unit identification data. More specifically, the sequence number acquisition unit 171 of the acquisition unit 162 acquires a sequence number from the NC program execution unit 152. Further, the position data acquisition unit 172 of the acquisition unit 162 acquires position data indicating the positions of the X axis, the Y axis, the Z axis, the B axis, and the C axis from the path calculation unit 85. The imaging unit data acquisition unit 173 of the acquisition unit 162 acquires imaging unit identification data from the imaging unit data storage unit 167 that stores data related to the imaging unit 21 attached to the spindle 22 in advance.

  In step S83, the storage control unit 165 of the imaging command unit 154 newly generates a row corresponding to one data set in the imaging data table 153, and the sequence number, position data, and imaging unit identification are included in that row. Store data.

  In step S84, the transmission control unit 163 of the imaging command unit 154 reads an imaging command (imaging command code to the imaging unit 21) from the command storage unit 166, and sends the imaging command to the wireless communication unit 90. Send to 21.

  The imaging unit 21 that has received the imaging command executes imaging processing, together with imaging data that is still image data or 3D scan data obtained by the imaging unit 21 imaging the workpiece 51, imaging method data, Imaging unit identification data, imaging unit attitude data, and field angle data are transmitted. Details of imaging processing of the imaging unit 21 will be described later with reference to a flowchart of FIG.

  In step S85, the reception control unit 164 of the imaging command unit 154 transmits the imaging data, imaging method data, imaging unit identification data, imaging unit attitude data, and angle of view transmitted from the imaging unit 21 to the wireless communication unit 90. Receive data.

  In step S86, the storage control unit 165 of the imaging command unit 154 associates the sequence number, position data, and imaging unit identification data with the imaging data, imaging method data, imaging unit identification data, and imaging unit in the imaging data table 153. Posture data and angle of view data are stored.

  If it is determined in step S81 that the code is not a command for imaging, the procedure proceeds to step S87, and the determination unit 161 compares the code and the command stored in advance in the command storage unit 166 by comparison. It is determined whether or not the word read in step S12 is a code for selecting the imaging unit.

  If it is determined in step S87 that the code is for selecting an imaging unit, the procedure proceeds to step S88, and the transmission control unit 163 of the imaging command unit 154 reads the command for selecting the imaging unit from the command storage unit 166. Then, the wireless communication unit 90 is caused to transmit an instruction for selecting the imaging unit to the imaging unit 21.

  If it is determined in step S87 that the code is not for selecting the imaging unit, the procedure proceeds to step S89, and the transmission control unit 163 of the imaging command unit 154 reads the command from the command storage unit 166 and sends it to the wireless communication unit 90. Then, a control command for the illumination unit 202 or the like is transmitted to the imaging unit 21. In step S89, a mode for capturing either a still image or a moving image is specified, and an angle of view of the imaging unit 21 is instructed.

  After the procedure of step S86, step S88, or step S89, the processing of the command to the image pickup unit 21 ends, and the processing returns to the NC program execution processing.

  Next, imaging processing by the imaging unit 21-1 that executes an imaging control program in the control unit 203 will be described with reference to a flowchart of FIG. 16. The imaging process described with reference to the flowchart of FIG. 16 is performed when the imaging command unit 154 executes the process of commanding the imaging unit 21 described with reference to the flowchart of FIG.

  The procedures in step S101 and step S102 are the same as the procedures in step S61 and step S62 in FIG.

  In step S103, the CCD camera control unit 236 selects the imaging unit, sets a mode for capturing either a still image or a moving image, and a status / parameter storage unit 234 that stores status information indicating a field angle setting. Then, the status information indicating the selection of the imaging unit, the setting of the mode for photographing either a still image or a moving image, and the setting of the angle of view is read. The storage control unit 235 selects an imaging unit, sets a mode for capturing either a still image or a moving image, and imaging mode data, imaging unit identification data, and imaging unit attitude according to status information indicating the setting of the angle of view. Data and field angle data are stored in the storage unit 204.

  In step S104, the CCD camera control unit 236 refers to the read status information, and selects a still image in the selected imaging unit, that is, one or both of the CCD camera 201-1 and the CCD camera 201-2. To image.

  In step S105, the imaging data storage control unit 251 of the storage control unit 235 causes the storage unit 204 to store imaging data in association with imaging method data, imaging unit identification data, imaging unit attitude data, and field angle data.

  In step S <b> 106, the transmission control unit 232 reads the imaging data, imaging method data, imaging unit identification data, imaging unit attitude data, and field angle data stored in association with the storage unit 204, and the wireless communication unit 205. In addition, imaging data, imaging method data, imaging unit identification data, imaging unit attitude data, and angle-of-view data are transmitted to the wireless communication unit 90 of the NC control unit 71.

  If it is determined in step S102 that imaging has not been commanded, the procedure proceeds to step S107, and the determination unit 233 compares the imaging unit selection code with the received command to select the imaging unit command. It is determined whether or not it has been done. If it is determined in step S107 that the selection of the imaging unit has been instructed, the procedure proceeds to step S108, and the determination unit 233 stores status information indicating selection of the imaging unit in the status / parameter storage unit 234.

  If it is determined in step S107 that selection of the imaging unit has not been instructed, the procedure proceeds to step S109, and the illumination control unit 237 controls the illumination unit 202 in accordance with an instruction from the wireless communication unit 90. When the command from the wireless communication unit 90 is a command for setting a mode for photographing either a still image or a moving image or a command for changing the angle of view, the determination unit 233 sends a status / parameter storage unit 234 to the command. The status information indicating the setting of the mode for photographing either a still image or a moving image and the setting of the angle of view are stored.

  After the procedure of step S106, step S108, or step S109, the imaging process ends.

  As described above, when the imaging method data, the imaging unit identification data, the imaging unit attitude data, and the view angle data are acquired from the imaging unit 21, more accurate imaging method data, imaging unit identification data, imaging unit attitude data, and image data are obtained. Corner data can be obtained.

  Next, processing in the case of transmitting a sequence number and position data together with an imaging command from the imaging command unit 154 to the imaging unit 21 will be described with reference to flowcharts of FIGS. 17 and 18. FIG. 17 is a flowchart for explaining still another example of details of processing of a command to the imaging unit 21 performed in the imaging command unit 154 of the main control unit 83.

  The procedure from step S131 to step S133 is the same as the procedure from step S81 to step S83 in FIG.

  In step S <b> 134, in step S <b> 84, the transmission control unit 163 of the imaging command unit 154 reads an imaging command (imaging command code to the imaging unit 21) from the command storage unit 166, and further, from the imaging data table 153, the step. The sequence number and position data stored in the procedure of S133 are read, and the wireless communication unit 90 is caused to transmit an imaging command, sequence number, and position data to the imaging unit 21.

  The imaging unit 21 that has received the imaging command executes imaging processing, together with imaging data that is still image data or three-dimensional scan data obtained by the imaging unit 21 imaging the work 51, a sequence number, a position Data, imaging unit identification data, imaging method data, imaging unit identification data, imaging unit attitude data, and field angle data are transmitted. Details of imaging processing of the imaging unit 21 will be described later with reference to a flowchart of FIG.

  In step S135, the reception control unit 164 of the imaging command unit 154 transmits the sequence number, position data, imaging unit identification data, imaging data, imaging method data, and imaging unit transmitted from the imaging unit 21 to the wireless communication unit 90. Identification data, image pickup unit attitude data, and field angle data are received.

  In step S136, the storage control unit 165 of the imaging command unit 154 correlates with the sequence number, the position data, and the imaging unit identification data of the same imaging data table 153 as the received one, and the imaging data, imaging method data, and imaging unit. The identification data, the imaging unit attitude data, and the view angle data are stored in the imaging data table 153.

  The procedure from step S137 to step S139 is the same as the procedure from step S87 to step S89 in FIG.

  After the procedure of step S136, step S138, or step S139, the processing of the command to the imaging unit 21 ends, and the processing returns to the NC program execution processing.

  Next, imaging processing by the imaging unit 21-1 that executes an imaging control program in the control unit 203 will be described with reference to a flowchart of FIG. 18. Note that the imaging process described in the flowchart of FIG. 18 is performed when the imaging command unit 154 executes the command process to the imaging unit 21 described in the flowchart of FIG.

  In step S161, the reception control unit 231 causes the wireless communication unit 205 to receive a command transmitted from the wireless communication unit 90 of the NC control unit 71. In step S161, the reception control unit 231 causes the wireless communication unit 205 to receive the sequence number and position data transmitted together with the command.

  In step S162, the determination unit 233 compares the imaging command code of the imaging unit 21 with the received command, and determines whether imaging is commanded. If it is determined in step S162 that the received command is the same as the imaging command code of the imaging unit 21 and imaging is commanded, the procedure proceeds to step S163, and the storage control unit 235 receives the sequence received together with the imaging command. The number and position data are stored in the storage unit 204.

  In step S164, the CCD camera control unit 236 stores status information indicating imaging unit identification data, selection of the imaging unit, setting of a mode for capturing either a still image or a moving image, and status information indicating setting of an angle of view. / Reads status information indicating imaging unit identification data, selection of imaging unit, setting of a mode for capturing a still image or moving image, and setting of an angle of view from the parameter storage unit 234.

  In step S165, the storage control unit 235 selects the imaging unit identification according to the status information indicating the imaging unit identification data, the selection of the imaging unit, the setting of the mode for capturing either a still image or a moving image, and the setting of the angle of view. The data, the imaging method data, the imaging unit identification data, the imaging unit attitude data, and the view angle data are stored in the storage unit 204 in association with the sequence number and position data stored in the procedure of step S163.

  In step S166, the CCD camera control unit 236 refers to the read status information, and selects a still image in the selected imaging unit, that is, one or both of the CCD camera 201-1 and the CCD camera 201-2. To image.

  In step S167, the imaging data storage control unit 251 of the storage control unit 235 correlates to the sequence number, position data, imaging unit identification data, imaging method data, imaging unit identification data, imaging unit attitude data, and field angle data. The imaging data is stored in the storage unit 204.

  In step S168, the transmission control unit 232 stores the sequence number, position data, imaging unit identification data, imaging data, imaging method data, imaging unit identification data, imaging unit attitude data, and the like stored in association with the storage unit 204. The angle of view data is read out, and the wireless communication unit 205 sends the sequence number, position data, imaging unit identification data, imaging data, imaging method data, imaging unit identification data, imaging unit attitude to the wireless communication unit 90 of the NC control unit 71. Data and angle of view data are transmitted.

  The procedure from step S169 to step S171 is the same as that from step S107 to step S109 in FIG.

  After the procedure of step S168, step S170, or step S171, the imaging process ends.

  As described above, when the imaging command unit 154 transmits the sequence number together with the imaging command to the imaging unit 21, and transmits the sequence number together with the imaging data from the imaging unit 21 to the imaging command unit 154, the transmission is performed. Even when a time delay occurs or transmission is interrupted, it is possible to reliably associate the sequence number with the imaging data.

  The imaging process by the imaging unit 21-2 that executes the imaging control program in the control unit 302 is the same as the imaging process described with reference to the flowcharts of FIGS. 14, 16, and 18, and the 3D scanner. Since the image is picked up by 301, description thereof is omitted. In this case, illumination control is not performed.

  Next, processing for capturing a moving image will be described with reference to the flowcharts of FIGS. 19 and 20. FIG. 19 is a flowchart for explaining still another example of details of processing of a command to the imaging unit 21 performed in the imaging command unit 154 of the main control unit 83.

  In step S181, the determination unit 161 compares the code and the command stored in advance in the command storage unit 166 so that the word read in step S12 commands the start of moving image capturing. It is determined whether or not.

  If it is determined in step S181 that the code is for instructing the start of moving image capturing, the procedure proceeds to step S182.

  The procedures in step S182 and step S183 are the same as those in step S32 and step S33 in FIG.

  In step S 184, the transmission control unit 163 of the imaging command unit 154 reads a moving image imaging start command (imaging command code to the imaging unit 21) from the command storage unit 166, and sends the moving image to the wireless communication unit 90. A command to start imaging is transmitted to the imaging unit 21.

  The imaging unit 21 that has received the moving image imaging start command executes imaging processing, and transmits imaging data that is moving image data obtained by the imaging unit 21 imaging the workpiece 51. . Details of imaging processing of the imaging unit 21 will be described later with reference to a flowchart of FIG.

  In step S185, the reception control unit 164 of the imaging command unit 154 causes the wireless communication unit 90 to receive imaging data that is moving image data transmitted from the imaging unit 21.

  In step S186, the storage control unit 165 of the imaging command unit 154 performs imaging in association with the sequence number, position data, imaging unit identification data, imaging method data, imaging unit identification data, imaging unit attitude data, and field angle data. Image data that is moving image data is stored in the data table 153.

  If it is determined in step S181 that the code is not a command for instructing start of moving image capturing, the procedure proceeds to step S187, and the determination unit 161 stores the code and command stored in advance in the command storage unit 166 in association with each other. By comparison, it is determined whether or not the word read in step S12 is a code for instructing stop of moving image capturing. If it is determined in step S187 that the code is for commanding stop of moving image capturing, the procedure proceeds to step S188, and the transmission control unit 163 of the image capturing command unit 154 performs moving image capturing from the command storage unit 166. A stop command is read out, and the wireless communication unit 90 is caused to transmit a moving image capturing stop command to the imaging unit 21.

  When it is determined in step S187 that the code is not a command for stopping the moving image capturing, or after the procedure of step S186 or step S188, the processing of the command to the image capturing unit 21 is completed, and the NC program is executed. Return.

  Next, imaging processing by the imaging unit 21-1 that executes an imaging control program in the control unit 203 will be described with reference to a flowchart of FIG. 20. Note that the imaging process described in the flowchart of FIG. 20 is performed when the imaging command unit 154 executes the command process to the imaging unit 21 described in the flowchart of FIG.

  In step S <b> 201, the reception control unit 231 causes the wireless communication unit 205 to receive a command transmitted from the wireless communication unit 90 of the NC control unit 71.

  In step S <b> 202, the determination unit 233 compares the imaging command code of the imaging unit 21 with the received command, and determines whether the start of moving image imaging has been commanded. If it is determined in step S202 that the received instruction is the same as the instruction code for starting the imaging of the moving image of the imaging unit 21, and it is determined that the start of the imaging of the moving image is instructed, the procedure proceeds to step S203 and the CCD camera control is performed. The unit 236 reads status information indicating selection of the imaging unit from the status / parameter storage unit 234 that stores status information indicating selection of the imaging unit and setting of the angle of view.

  In step S204, the CCD camera control unit 236 refers to the read status information, and moves the moving image to the selected imaging unit, that is, one or both of the CCD camera 201-1 and the CCD camera 201-2. Starts imaging. In step S <b> 205, the transmission control unit 232 causes the wireless communication unit 205 to transmit imaging data that is moving image data obtained by imaging to the wireless communication unit 90 of the NC control unit 71.

  If it is determined in step S202 that the start of moving image capturing has not been commanded, the procedure proceeds to step S206, and the determination unit 233 compares the command code for imaging of the image capturing unit 21 with the received command. Then, it is determined whether or not the stop of moving image capturing has been commanded. If it is determined in step S206 that the received command is the same as the instruction code for stopping the moving image capturing of the imaging unit 21 and it is determined that the stop of the moving image capturing is instructed, the procedure proceeds to step S207 to control the CCD camera. The unit 236 causes the selected imaging unit, that is, one or both of the CCD camera 201-1 and the CCD camera 201-2 to stop capturing a moving image.

  In step S206, when it is determined that the stop of moving image capturing is not instructed, or after the procedure of step S205 or step S207, the image capturing process ends.

  In capturing moving images, as described with reference to the flowcharts of FIGS. 15 and 16, the imaging method data, the imaging unit identification data, the imaging unit attitude data, and the angle of view data are acquired from the imaging unit 21. Alternatively, as described with reference to the flowcharts of FIGS. 17 and 18, the sequence number and the position data may be transmitted from the imaging command unit 154 to the imaging unit 21 together with the imaging command.

  In this manner, a desired part of the work 51 is imaged more easily, and imaging data indicating the part is obtained.

  When starting to capture a moving image, it is possible to instruct an imaging time (time to continue imaging) and stop the imaging when the time has elapsed.

  Next, display of captured image data as an image will be described. When the sequence number is designated, the machining center 1 causes the display unit 101 to display an image using the imaging data stored in the imaging data table 153.

  FIG. 21 is a diagram illustrating an outline of an example of display on the display unit 101. An arrow in FIG. 21 indicates a locus model on coordinates represented by the NC program. A black circle in FIG. 21 is an object (model) indicating a sequence number. For example, an object indicating a sequence number can be arranged at a position where imaging data stored in the imaging data table 153 is captured. The object indicated by the black circle is arranged so as to overlap the model of the locus on the coordinates represented by the NC program. The position where the object indicated by the black circle is arranged corresponds to a predetermined sequence number in the NC program.

  When an object indicated by a black circle is selected and a display command is selected, or when an object indicated by a black circle is tapped or double-clicked, a window 401 is opened in the vicinity of the object. Imaging data captured at the position of the object is read from the imaging data table 153 and an image based on the imaging data is displayed on the window 401. That is, when an object on the trajectory model is selected and display is instructed, image data obtained by imaging at that position on the trajectory model is read from the imaging data table 153 and an image is displayed. The

  FIG. 22 is a flowchart illustrating an example of image display processing by the display control unit 155. In step S301, the NC program reading unit 181 of the display control unit 155 acquires a signal from the input unit 102 operated by the user, and reads the NC program designated by the user from the NC program storage unit 151.

  In step S302, the model generation unit 182 of the display control unit 155 generates a model of a locus that indicates the position of the sequence number and is arranged on the machining space from the read NC program. An object indicating the position of the sequence number is arranged in the trajectory model. The object indicating the position of the sequence number includes the sequence number as its attribute value.

  In step S303, the display control unit 155 causes the display unit 101 to display, for example, a trajectory model shown in FIG.

  In step S304, the display control unit 155 determines whether the display of the image is instructed by designating the position of the sequence number, such as tapping an object indicating the position of the sequence number. If it is determined in step S304 that the display of an image is instructed by designating the position of the sequence number, the procedure proceeds to step S305, and the imaging data reading unit 183 of the display control unit 155 specifies from the imaging data table 153. The imaging data associated with the sequence number assigned is read out.

  In step S306, the image display control unit 184 of the display control unit 155 opens the image display window 401 in front of the locus model and in the vicinity of the position of the sequence number, and is read out in the procedure of step S305. An image based on the captured data is displayed on the display unit 101.

  If it is determined in step S304 that the position of the sequence number is designated and display of an image is not instructed, the procedure proceeds to step S308, and the display control unit 155 taps the close icon or the window 401 is opened. It is determined whether or not an instruction to close the window 401 is given, such as swiping. If it is determined in step S308 that an instruction to close the window 401 has been given, the procedure proceeds to step S309, and the image display control unit 184 of the display control unit 155 closes the window 401.

  If it is determined in step S308 that the instruction to close the window 401 has not been given, or after the procedure in step S306 or step S309, the procedure proceeds to step S307. In step S307, the display control unit 155 determines whether or not the display end is instructed, for example, an end command is executed. If it is determined that the display end is not instructed, the procedure proceeds to step S307. Returning to S304, the above-described procedure is repeated.

  If it is determined in step S307 that the display end has been instructed, the image display processing ends.

  It is also possible to display the image of the picked-up data by displaying the NC program in characters and specifying the sequence number displayed in characters.

  FIG. 23 is a flowchart illustrating another example of image display processing by the display control unit 155. The procedure in step S331 is the same as that in step S301 in FIG.

  In step S332, the list display control unit 185 of the display control unit 155 causes the display unit 101 to display the read list of NC programs in characters.

  In step S333, the display control unit 155 determines whether the display of the image is instructed by designating the character of the sequence number, such as when the character of the sequence number is selected and the command is selected. If it is determined in step S333 that the display of an image has been instructed by designating the character of the sequence number, the procedure proceeds to step S334, and the imaging data reading unit 183 of the display control unit 155 is designated from the imaging data table 153. The imaging data associated with the sequence number assigned is read out.

  In step S335, the image display control unit 184 of the display control unit 155 opens the image display window 401 and causes the display unit 101 to display an image based on the imaging data read in the procedure of step S305.

  The procedures in steps S336 to S338 are the same as those in steps S307 to S309 in FIG.

  As described above, when the sequence number is designated, the image of the work 51 is displayed based on the imaging data associated with the sequence number. Therefore, the image is easily captured with a desired code assigned with the sequence number. An image of the imaging data can be displayed. That is, it is possible to easily display an image of imaging data captured at a desired position, and to display an image indicating the shape of a desired part of the work 51.

  As described above, it is possible to more easily display an image based on imaging data captured by a predetermined word of the numerical control program.

  Thereby, the result of the cutting process in the predetermined word of the numerical control program can be quickly and easily confirmed.

  In addition, although it has been described that the image based on the imaging data is displayed on the window 401, the present invention is not limited thereto, and the image may be displayed on the entire display area of the display unit 101.

  Further, only one window 401 may be opened, or a plurality of windows 401 may be opened at the same time, and images of a plurality of imaging data may be displayed simultaneously.

  Furthermore, an image based on the imaging data may be displayed by switching between the display of the locus model or the list by the NC program. Furthermore, a plurality of display units 101 may be provided, and a trajectory model based on the NC program may be displayed on one side, a list may be displayed, and an image based on imaging data may be displayed on the other side.

  As described above, the machining center 1 executes the numerical control program for numerically controlling the machining operation, and the NC control unit 71 that controls the machining operation on the workpiece 51 and the tool when cutting the workpiece 51 And an imaging unit 21 mounted on the main shaft 22 to be mounted.

  The NC program execution unit 152 of the NC control unit 71 interprets the code of the numerical control program. The radio communication unit 90 controlled by the transmission control unit 163 transmits an imaging command to the imaging unit 21 when the code interpreted by the NC program execution unit 152 is an imaging code.

  In the imaging unit 21, the wireless communication unit 205 controlled by the reception control unit 231 receives an imaging command transmitted from the NC control unit 71 (the wireless communication unit 90 thereof). The CCD camera 201-1 of the imaging unit 21 images the workpiece 51 when receiving an imaging command. In the imaging unit 21, the wireless communication unit 205 controlled by the transmission control unit 232 transmits imaging data obtained by imaging to the NC control unit 71 (the wireless communication unit 90 thereof).

  The wireless communication unit 90 controlled by the reception control unit 164 receives imaging data transmitted from the imaging unit 21 instructed to perform imaging. The storage unit 82 stores the received imaging data.

  By doing so, since the imaging unit 21 is mounted on the spindle 22 on which the tool is mounted when cutting the workpiece 51, the workpiece 51 is cut with the tool, for example, roughing, intermediate cutting, finishing cutting, etc. If the imaging unit 21 is attached to the main shaft 22 at the time point, the workpiece 51 at a desired time point during cutting can be imaged.

  In addition, since the imaging of the imaging unit 21 mounted on the spindle 22 that is numerically controlled by the numerical control program is controlled by the numerical control program, the imaging unit 21 is numerically controlled to a desired position, for example, a part of the work 51 Of these positions, move to a desired position such as a part that requires high-precision finishing, a part that is difficult to cut, or a specific hole among many holes that are formed in the same shape. An image can be taken.

  Furthermore, if a numerical control program that performs cutting and imaging is used, the cutting of the workpiece 51 and the imaging of the workpiece 51 can be performed in one step. The numerical control program for imaging can be generated relatively easily by editing and using the numerical control program used for machining the workpiece 51, and imaging can be performed from the numerical control program used for machining the workpiece 51. If the numerical control program for is generated, the workpiece 51 can be imaged from a more accurate position with respect to the workpiece 51.

  Furthermore, since the imaging data is stored in the storage unit 82 as the imaging data table 153, the storage unit 82 can be used as the imaging data table 153 at a desired time after imaging, even when imaging is performed or after imaging is completed. The cutting data of the desired part of the workpiece 51 can be shown by the imaging data stored in the.

  The machining center 1 executes a numerical control program for numerically controlling the machining operation to cut the workpiece 51. In the machining center 1, the imaging unit 21 is mounted on a spindle 22 on which a tool is mounted when cutting a workpiece 51. The NC program execution unit 152 of the NC control unit 71 interprets the code of the numerical control program. When the code interpreted by the NC program execution unit 152 is an imaging code, the wireless communication unit 90 controlled by the transmission control unit 163 transmits an imaging command to the imaging unit 21 mounted on the spindle 22. The wireless communication unit 90 controlled by the reception control unit 164 receives imaging data obtained by imaging by the imaging unit 21 transmitted from the imaging unit 21 to which imaging has been commanded. The storage unit 82 stores the received imaging data.

  In step S19, the NC program execution unit 152 interprets the code of the numerical control program. In step S34, when the code interpreted in step S19 is an imaging code, the wireless communication unit 90 controlled by the transmission control unit 163 of the imaging command unit 154 performs imaging on the imaging unit 21 mounted on the main shaft 22. Send the command. In step S <b> 35, the wireless communication unit 90 controlled by the reception control unit 164 of the imaging command unit 154 receives imaging data obtained by imaging by the imaging unit 21 transmitted from the imaging unit 21 to which imaging is commanded. To do. In step S35, the storage control unit 165 of the imaging command unit 154 stores the imaging data received in step S35 in the imaging data table 153. That is, since the imaging data table 153 is configured in the storage area of the storage unit 82, the storage unit 82 stores the imaging data received in step S35.

  Thus, since the imaging unit 21 is mounted on the spindle 22 on which the tool is mounted when cutting the workpiece 51, the imaging unit 21 is cut at a desired point in time, for example, roughing, medium cutting, or finishing, by cutting the workpiece 51 with the tool. If 21 is attached to the spindle 22, the workpiece 51 at a desired point in time during cutting can be imaged. Further, since the imaging command to the imaging unit 21 mounted on the spindle 22 that is numerically controlled by the numerical control program is controlled by the numerical control program, the imaging unit 21 is numerically controlled to a desired position, for example, a workpiece Among the positions of 51 parts, move to a desired position such as a part that requires high-precision finishing, a part that is difficult to cut, or a specific hole among a number of holes formed in the same shape, An image can be taken at that position. Furthermore, if a numerical control program that performs cutting and imaging is used, the cutting of the workpiece 51 and the imaging of the workpiece 51 can be performed in one step. The numerical control program for imaging can be generated relatively easily by editing and using the numerical control program used for machining the workpiece 51, and imaging can be performed from the numerical control program used for machining the workpiece 51. If the numerical control program for is generated, the workpiece 51 can be imaged from a more accurate position with respect to the workpiece 51. Furthermore, since the imaging data is stored, a desired part of the workpiece 51 can be cut by the stored imaging data at a desired time after the imaging even when the imaging is performed or after the imaging is completed. The state can be indicated. In this way, more easily, a desired part of the workpiece 51 is imaged at a desired point in time during the cutting of the workpiece 51, and the cutting state of the desired part at the desired point in time during the cutting of the workpiece 51 is determined. Can be shown at a desired time after imaging.

  The imaging unit 21 is attached to the spindle 22 of the machining center 1 that executes a numerical control program for numerically controlling the machining operation, and is attached to the spindle 22 to which a tool is attached when the workpiece 51 is cut. The wireless communication unit 205 controlled by the reception control unit 231 receives an imaging command transmitted from the machining center 1 (the wireless communication unit 90 thereof) when an imaging code is included in the numerical control program executed by the machining center 1. Receive. The CCD camera 201-1 images the workpiece 51 when receiving an imaging command. The wireless communication unit 205 controlled by the transmission control unit 232 transmits imaging data obtained by imaging to the machining center 1 (the wireless communication unit 90 thereof).

  The CCD camera 201-1 of the imaging unit 21-1, which is an example of the imaging unit 21, captures an image of the work 51. The 3D scanner 301 of the imaging unit 21-2, which is another example of the imaging unit 21, is a three-dimensional scanner. In the imaging unit 21-1, the wireless communication unit 304 controlled by the transmission control unit 332 transmits imaging data including a three-dimensional point group indicating the shape of the work 51 to the machining center 1 (the wireless communication unit 90 thereof).

  The imaging unit 21 is mounted on the spindle 22 of the machining center 1 by an automatic tool changer 41.

  In step S <b> 61, the wireless communication unit 205 controlled by the reception control unit 231 is transmitted from the machining center 1 (the wireless communication unit 90 thereof) when an imaging code is included in the numerical control program executed by the machining center 1. An imaging command is received. In step S <b> 64, the CCD camera 201-1 captures the workpiece 51 when receiving an imaging command. In step S65, the wireless communication unit 205 controlled by the transmission control unit 232 transmits imaging data obtained by imaging to the machining center 1 (the wireless communication unit 90).

  As described above, since the imaging unit 21 is mounted on the spindle 22 on which the tool is mounted when cutting the workpiece 51, the workpiece 51 is cut with the tool, for example, at a desired time such as roughing, medium cutting or finishing. If the imaging unit 21 is attached to the main shaft 22, the workpiece 51 at a desired point in time during cutting can be imaged. In addition, since the imaging of the imaging unit 21 mounted on the spindle 22 that is numerically controlled by the numerical control program is controlled by the numerical control program, the imaging unit 21 is numerically controlled to a desired position, for example, a part of the work 51 Of these positions, move to a desired position such as a part that requires high-precision finishing, a part that is difficult to cut, or a specific hole among many holes that are formed in the same shape. An image can be taken. Furthermore, if a numerical control program that performs cutting and imaging is used, the cutting of the workpiece 51 and the imaging of the workpiece 51 can be performed in one step. The numerical control program for imaging can be generated relatively easily by editing and using the numerical control program used for machining the workpiece 51, and imaging can be performed from the numerical control program used for machining the workpiece 51. If a numerical control program is generated for the workpiece 51, the workpiece can be imaged from a more accurate position with respect to the workpiece 51. In this way, it is possible to more easily capture a desired part of the work 51 at a desired time during the cutting of the work 51 and obtain imaging data indicating the part.

  The machining center 1 executes a numerical control program for numerically controlling the machining operation. The imaging unit 21 is mounted on a spindle 22 on which a tool is mounted when cutting a workpiece. The NC program execution unit 152 of the NC control unit 71 interprets the code of the numerical control program assigned with the sequence number. The radio communication unit 90 controlled by the transmission control unit 163 instructs the imaging unit 21 to perform imaging when the code interpreted by the NC program execution unit 152 is an imaging code. The imaging data table 153 stores imaging data obtained by imaging the work 51 by the imaging unit 21 in association with the sequence number assigned to the imaging code. That is, the storage unit 82 stores imaging data obtained by imaging the work 51 by the imaging unit 21 in association with the sequence number assigned to the imaging code.

  By doing so, since the imaging unit 21 is mounted on the spindle 22 on which the tool is mounted when cutting the workpiece 51, the workpiece 51 is cut with the tool, for example, roughing, intermediate cutting, finishing cutting, etc. If the imaging unit 21 is attached to the main shaft 22 at the time point, the workpiece 51 at a desired time point during cutting can be imaged. Further, when the code of the numerical control program to which the sequence number is assigned is interpreted, and the interpreted code is an imaging code, the imaging unit 21 is commanded to perform imaging. Position, for example, a desired position such as a position where the work 51 is required to be finished, a position where cutting is difficult, or a specific hole among a number of holes formed in the same shape. The image can be taken at that position. Furthermore, if a numerical control program that performs cutting and imaging is used, the cutting of the workpiece 51 and the imaging of the workpiece 51 can be performed in one step. The numerical control program for imaging can be generated relatively easily by editing and using the numerical control program used for machining the workpiece 51, and imaging can be performed from the numerical control program used for machining the workpiece 51. If the numerical control program for is generated, the workpiece 51 can be imaged from a more accurate position with respect to the workpiece 51. Furthermore, since the imaging data is stored, a desired part of the workpiece 51 can be cut by the stored imaging data at a desired time after the imaging even when the imaging is performed or after the imaging is completed. The state can be indicated. In addition, since image data obtained by imaging the work 51 by the imaging unit 21 is stored in association with the sequence number assigned to the imaging code, the image data captured at a desired position from the sequence number. Can be easily read out. Therefore, it is possible to identify and read out imaging data obtained by imaging a desired part of the work 51 more simply and more quickly.

  The CCD camera 201-1 captures an image of the work 51. The storage unit 82 stores imaging data that is image data of the work 51 in association with the sequence number.

  The 3D scanner 301 is a three-dimensional scanner. The storage unit 82 stores imaging data including a three-dimensional point group indicating the shape of the work 51 in association with the sequence number.

  The imaging data table 153 stores imaging data in association with the program number of the numerical control program being executed. That is, the storage unit 82 stores the imaging data in association with the program number of the numerical control program being executed. In this case, it is possible to easily specify the numerical control program executed when the imaging data is obtained.

  The imaging data table 153 stores imaging data in association with position data indicating the position of the spindle on the coordinates when the imaging code of the numerical control program is interpreted. That is, the storage unit 82 stores the imaging data in association with the position data indicating the position of the spindle on the coordinates when the imaging code of the numerical control program is interpreted. In this case, the position on the coordinates of the imaging unit 21 when the imaging data is obtained can be easily specified. Further, it is possible to specify and read out the imaging data from the position on the coordinates.

  In step S19, the NC program execution unit 152 interprets the code of the numerical control program assigned with the sequence number. In step S35, when the code interpreted in the interpretation step is an imaging code, the wireless communication unit 90 controlled by the reception control unit 164 of the imaging command unit 154 instructs the imaging unit 21 to perform imaging. In step S35, the storage control unit 165 of the imaging command unit 154 stores the imaging data obtained by imaging the work 51 by the imaging unit 21 in association with the sequence number assigned to the imaging code. That is, in step S <b> 35, the storage unit 82 stores imaging data obtained by imaging the workpiece 51 by the imaging unit 21 in association with the sequence number assigned to the imaging code.

  Thus, since the imaging unit 21 is mounted on the spindle 22 on which the tool is mounted when cutting the workpiece 51, the workpiece 51 is cut with the tool, for example, at a desired time such as roughing, medium cutting, or finishing. If the imaging unit 21 is attached to the spindle 22, the workpiece 51 at a desired point in time during cutting can be imaged. Further, when the code of the numerical control program to which the sequence number is assigned is interpreted, and the interpreted code is an imaging code, the imaging unit 21 is commanded to perform imaging. Position, for example, a desired position such as a position where the work 51 is required to be finished, a position where cutting is difficult, or a specific hole among a number of holes formed in the same shape. The image can be taken at that position. Furthermore, if a numerical control program that performs cutting and imaging is used, the cutting of the workpiece 51 and the imaging of the workpiece 51 can be performed in one step. The numerical control program for imaging can be generated relatively easily by editing and using the numerical control program used for machining the workpiece 51, and imaging can be performed from the numerical control program used for machining the workpiece 51. If the numerical control program for is generated, the workpiece 51 can be imaged from a more accurate position with respect to the workpiece 51. Furthermore, since the imaging data is stored, a desired part of the workpiece 51 can be cut by the stored imaging data at a desired time after the imaging even when the imaging is performed or after the imaging is completed. The state can be indicated. In addition, since image data obtained by imaging the work 51 by the imaging unit 21 is stored in association with the sequence number assigned to the imaging code, the image data captured at a desired position from the sequence number. Can be easily read out. Therefore, it is possible to identify and read out imaging data obtained by imaging a desired part of the work 51 more simply and more quickly.

  The NC program storage unit 151 is configured in the storage area of the storage unit 82, and stores a numerical control program for performing numerical control including an imaging code assigned with a sequence number. The imaging data table 153 is configured in a storage area of the storage unit 82 and stores imaging data obtained by imaging the workpiece 51 instructed by the imaging code of the executed numerical control program in association with the sequence number. Yes.

  The display unit 101 displays an object having a sequence number attached to the numerical control program read from the NC program storage unit 151. When the object having the sequence number displayed on the display unit 101 is designated, the imaging data reading unit 183 reads the imaging data stored in association with the designated sequence number from the imaging data table 153. The display unit 101 displays an image of the work 51 based on the imaging data read by the imaging data reading unit 183.

  As described above, when an object with a sequence number is designated, an image of the work 51 is displayed by imaging data associated with the sequence number. Therefore, an image can be easily captured with a desired code assigned with a sequence number. An image of the captured image data can be displayed. That is, it is possible to easily display an image of imaging data captured at a desired position, and to display an image indicating the shape of a desired part of the work 51. In this way, it is possible to more easily display an image based on imaging data captured with a predetermined word of the numerical control program.

  The display unit 101 displays a model of a locus on coordinates represented by the numerical control program read from the NC program storage unit 151, and displays an object having a sequence number in association with the model. By doing in this way, the sequence number with respect to the position on a locus | trajectory can be specified easily.

  The imaging data table 153 stores imaging data that is image data of the work 51 captured by the CCD camera 201-1 that captures a two-dimensional image.

  The imaging data table 153 stores imaging data composed of a three-dimensional point group indicating the shape of the work 51 captured by the 3D scanner 301.

  In step S303, the display control unit 155 reads the numerical control read from the NC program storage unit 151 that stores a numerical control program for performing numerical control that includes the imaging code with the sequence number. An object having a sequence number assigned to the program is displayed on the display unit 101.

  In step S305, when the object having the sequence number displayed on the display unit 101 is designated, the imaging data reading unit 183 is obtained by imaging the work 51 instructed by the imaging code of the executed numerical control program. The imaging data stored in association with the designated sequence number is read from the storage unit 82 (imaging data table 153) that stores the imaging data in association with the sequence number.

  In step S306, the image display control unit 184 causes the display unit 101 to display the image of the work 51 based on the imaging data read in step S305.

  As a result, when an object with a sequence number is designated, the image of the work 51 is displayed with the imaging data associated with the sequence number. Therefore, the image is easily captured with the desired code with the sequence number. The image of the captured data can be displayed. That is, it is possible to easily display an image of imaging data captured at a desired position, and to display an image indicating the shape of a desired part of the work 51. In this way, it is possible to more easily display an image based on imaging data captured with a predetermined word of the numerical control program.

  The display unit 101 displays the numerical control program read from the NC program storage unit 151 in characters. When a sequence number displayed in characters on the display unit 101 is designated, the imaging data reading unit 183 reads imaging data stored in association with the designated sequence number from the imaging data table 153.

  The display unit 101 displays an image of the work 51 based on the imaging data read by the imaging data reading unit 183.

  Therefore, when the sequence number displayed in characters is designated, the image of the work 51 is displayed by the imaging data associated with the sequence number. Therefore, a desired code assigned with the sequence number can be easily obtained. It is possible to display an image of the imaged data imaged at. That is, it is possible to easily display an image of imaging data captured at a desired position, and to display an image indicating the shape of a desired part of the work 51. In this way, it is possible to more easily display an image based on imaging data captured with a predetermined word of the numerical control program.

  In step S332, the list display control unit 185 reads the numerical value read from the NC program storage unit 151 that stores the numerical control program for numerical control including the imaging code assigned with the sequence number. The control program is displayed on the display unit 101 in characters.

  In step S334, when the sequence number displayed in characters on the display unit 101 is designated, the imaging data reading unit 183 is obtained by imaging the work 51 instructed by the imaging code of the executed numerical control program. The imaging data stored in association with the designated sequence number is read from the imaging data table 153 storing the imaging data in association with the sequence number.

  In step S335, the image display control unit 184 causes the display unit 101 to display the image of the work 51 based on the imaging data read in step S334.

  Thus, when the sequence number displayed in characters is designated, the image of the work 51 is displayed by the imaging data associated with the sequence number. Therefore, the desired sequence number can be easily assigned. It is possible to display an image of image data captured with the code. That is, it is possible to easily display an image of imaging data captured at a desired position, and to display an image indicating the shape of a desired part of the work 51. In this way, it is possible to more easily display an image based on imaging data captured with a predetermined word of the numerical control program.

  Although the machining center 1 has been described as an example, any cutting device that performs numerical control may be used, and the present invention can also be applied to a cutting device such as a turning center.

  Further, the CCD camera 201-1 or the CCD camera 201-2 or the 3D scanner 301 may be provided on the main shaft 22.

  Further, although it has been described that the image is picked up by the CCD camera 201-1 or the CCD camera 201-2 or the 3D scanner 301, the present invention is not limited thereto, and a CMOS (Complementary metal-oxide-semiconductor field-effect transistor) image sensor or a 3D depth sensor is used. Anything that captures the shape, such as an ultrasonic sensor, may be used.

  The imaging data, sequence number, position data, imaging unit identification data, imaging method data, imaging unit identification data, imaging unit attitude data, and angle of view data have been described as being stored in the imaging data table 153. The image data, sequence number, position data, imaging unit identification data, imaging method data, imaging unit identification data, imaging unit attitude data, and image data are stored in a database or stored as a single file. Corner data can also be associated. For example, when imaging data is stored in a database, one set of imaging data, sequence number, position data, imaging unit identification data, imaging method data, imaging unit identification data, imaging unit attitude data, and angle of view data is a tuple. Each of the imaging data, sequence number, position data, imaging unit identification data, imaging method data, imaging unit identification data, imaging unit attitude data, and angle-of-view data indicates an attribute. For example, when storing imaging data, sequence number, position data, imaging unit identification data, imaging method data, imaging unit identification data, imaging unit attitude data, and angle of view data as one file, TIFF (Tagged Image File Format) And container format files that can store images such as MP4 (MPEG-4 Part 14) (ISO / IEC 14496-14: 2003) are used, and the imaging data is the media data, and the sequence number, position data, and imaging unit identification Data, imaging method data, imaging unit identification data, imaging unit attitude data, and angle of view data can be stored in the file as metadata. Further, for example, a sequence number, position data, imaging unit identification data, imaging method data, imaging unit identification data, imaging unit attitude data, and angle-of-view data can be used as a file name of a file that stores imaging data.

  Note that display of the captured image data as an image may be performed by the personal computer 131.

  Further, although it has been described that the machining center 1 and the imaging unit 21 communicate wirelessly, a wired cable may be used by providing a communication cable or by providing a connector on the main shaft 22 and the imaging unit 21.

  The embodiments of the present invention are not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Machining center, 11 processing part, 21, 21-1, and 21-2 imaging unit, 22 spindle, 71 NC control part, 82 memory | storage part, 83 main control part, 90 wireless communication part, 101 display part, 102 input part, 151 NC program storage unit, 152 NC program execution unit, 153 imaging data table, 154 imaging command unit, 155 display control unit, 161 determination unit, 162 acquisition unit, 163 transmission control unit, 164 reception control unit, 165 storage control unit, 166 Command storage unit, 167 Imaging unit data storage unit, 171 Sequence number acquisition unit, 172 Position data acquisition unit, 173 Imaging unit data acquisition unit, 174 Status storage unit, 181 NC program reading unit, 182 Model generation unit, 183 Imaging data Reading unit, 184 Image display system Unit, 185 list display control unit, 201-1 and 201-2 CCD camera, 203 control unit, 204 storage unit, 205 wireless communication unit, 231 reception control unit, 232 transmission control unit, 233 determination unit, 234 status / parameter storage Unit, 235 storage control unit, 236 CCD camera control unit, 237 illumination control unit, 251 imaging data storage control unit, 301 3D scanner, 302 control unit, 303 storage unit, 304 wireless communication unit, 331 reception control unit, 332 transmission control Unit, 333 determination unit, 334 status / parameter storage unit, 335 storage control unit, 336 scanner control unit, 351 imaging data storage control unit

Claims (10)

A control unit that executes a numerical control program for numerically controlling a machining operation to control the machining operation on the workpiece, and an imaging device that is mounted on a spindle on which a tool is mounted when cutting the workpiece. In the cutting device provided,
The controller is
Interpretation means for interpreting the code of the numerical control program;
When the code interpreted by the interpreting means is an imaging code, including: a first transmitting means for transmitting an imaging command to the imaging device;
The imaging device
First receiving means for receiving an imaging command transmitted from the control unit;
When receiving an imaging command, imaging means for imaging the workpiece;
Second transmission means for transmitting imaging data obtained by imaging to the control unit,
The controller is
Second receiving means for receiving the imaging data transmitted from the imaging device to which imaging has been commanded;
A cutting device further comprising storage means for storing the received imaging data. A cutting device for cutting a workpiece by executing a numerical control program for numerically controlling a machining operation, wherein the imaging device is mounted on a spindle on which a tool is mounted when cutting the workpiece In
Interpretation means for interpreting the code of the numerical control program;
When the code interpreted by the interpretation means is an imaging code, transmission means for transmitting an imaging command to the imaging device mounted on the main shaft;
Receiving means for receiving imaging data obtained by imaging by the imaging device, transmitted from the imaging device to which imaging is commanded;
A cutting device comprising: storage means for storing the received imaging data. A cutting device for cutting a workpiece by executing a numerical control program for numerically controlling a machining operation, wherein the imaging device is mounted on a spindle on which a tool is mounted when cutting the workpiece In the imaging method of
An interpretation step for interpreting the code of the numerical control program;
When the code interpreted in the interpretation step is an imaging code, a transmission step of transmitting an imaging command to the imaging device attached to the main shaft;
A reception step of receiving imaging data obtained by imaging by the imaging device, transmitted from the imaging device to which imaging is commanded;
A storage step of storing the imaging data received in the receiving step. A cutting device for cutting a workpiece by executing a numerical control program for numerically controlling a machining operation, wherein the imaging device is mounted on a spindle on which a tool is mounted when cutting the workpiece To control the computer,
An interpretation step to interpret the code of the numerical control program;
When the code interpreted in the interpretation step is an imaging code, a transmission control step for controlling transmission of an imaging command to the imaging device mounted on the spindle;
A reception control step for controlling reception of imaging data obtained by imaging by the imaging device, which is transmitted from the imaging device to which imaging is commanded;
And a storage control step for controlling storage of the received imaging data. In an imaging apparatus that is mounted on a spindle that is a spindle of a cutting apparatus that executes a numerical control program for numerically controlling a machining operation and that is mounted with a tool when cutting a workpiece,
Receiving means for receiving an imaging command transmitted from the cutting apparatus when an imaging code is included in the numerical control program executed by the cutting apparatus;
When receiving an imaging command, imaging means for imaging the workpiece;
An imaging apparatus comprising: transmission means for transmitting imaging data obtained by imaging to the cutting apparatus. The imaging apparatus according to claim 5,
The image pickup unit picks up an image of the workpiece. The imaging apparatus according to claim 5,
The imaging means is a three-dimensional scanner;
The transmission unit transmits the imaging data including a three-dimensional point group indicating the shape of the workpiece to the cutting apparatus. The imaging apparatus according to claim 5,
An imaging device mounted on the spindle of the cutting device by an automatic tool changer. In the imaging method of the imaging apparatus that is mounted on the spindle that is a spindle of a cutting apparatus that executes a numerical control program for numerically controlling a machining operation and that is used to cut a workpiece,
A receiving step of receiving an imaging command transmitted from the cutting device when an imaging code is included in the numerical control program executed by the cutting device;
When receiving an imaging command, an imaging step of imaging the workpiece;
A transmission step of transmitting imaging data obtained by imaging to the cutting apparatus. A main shaft of a cutting apparatus that executes a numerical control program for numerically controlling a machining operation, and a computer that controls an imaging device mounted on a main shaft on which a tool is mounted when cutting a workpiece,
A reception control step for controlling reception of an imaging command transmitted from the cutting device when an imaging code is included in the numerical control program executed by the cutting device;
When an imaging command is received, an imaging control step for controlling imaging of the workpiece;
And a transmission control step for controlling transmission of imaging data obtained by imaging to the cutting apparatus.