JP2017170497A - Position display system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position display system for displaying a position on a surface of an object with high precision.SOLUTION: A position display system 1 corresponds three-dimensional design data indicating a three-dimensional shape specification of a mold 2 to the actual mold 2, and projects an optical marking to a specific part defined on the three-dimensional design data of the surface of the actual mold 2. The system includes corresponding means which corresponds the three-dimensional design data to the actual mold 2 as three points on the three-dimensional design data positionally coincide with three-dimensional positions of three points on the actual mold 2 by using the three points of which positions on the three-dimensional design data are specified and which are not in a straight line.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a system for displaying a position on a surface of an object.

  Conventionally, for example, there are industrial products such as dies used for press processing and press processed products such as car body panels (see, for example, Patent Document 1 below). Since these industrial products require a highly accurate three-dimensional shape, repair work such as shape correction is required when a difference from the design specification occurs. For example, the problem of the shape of the mold becomes alive as a shape defect of the panel molded with the mold. Thus, conventionally, a press-molded product in which an area display indicating a defective portion, a content of the defect, and the like are written by a magic or the like is used for instructing a repair work of a mold.

JP 2013-215749 A

  However, in the conventional mold repair work, it is necessary to determine the defective part of the mold from the writing on the press-molded product, which may cause a work error such as a positional error.

  The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to provide a position display system for displaying a specific portion on the surface of an object with high accuracy.

  According to the present invention, three-dimensional design data representing a three-dimensional shape specification of an object is associated with an actual object, and a specific surface defined on the three-dimensional design data of the surface of the actual object is defined. In the position display system which forms an optical marking in the position corresponding to a location (Claim 1).

  In the position display system of the present invention, by actually associating the three-dimensional design data of the object with the object, a position corresponding to a specific location on the three-dimensional design data on the surface of the actual object is obtained. It is possible to form markings. According to this position display system, a location specified on the three-dimensional design data can be displayed with high accuracy on the surface of an actual object.

Explanatory drawing which shows a position display system. The block diagram which shows the structure of a projection apparatus. Explanatory drawing which shows the reference hole marker and plane estimation marker set to a metal mold | die. The flowchart which shows the flow of operation | movement of a position display system. Explanatory drawing which shows a mode that a position display system is operated. Explanatory drawing which shows rocking | fluctuation operation | movement of a reference | standard hole marker. The figure which shows an example of the repair information projected on the metal mold | die.

A preferred embodiment of the present invention will be described.
The position in the three-dimensional design data is specified and the three-dimensional design data is used for the three-dimensional position of the at least three points in the actual object using at least three points that are not on a straight line. It is preferable to provide an association means for associating the three-dimensional design data with the actual object, as the at least three points in FIG.

  Based on the three-dimensional positions of three points that are not on a straight line, the three-dimensional posture of the actual target object can be specified, and can be associated with the three-dimensional design data. As the three-dimensional positions of three points that are not on a straight line, the accuracy of the association can be ensured as the distance between the straight line connecting any two points and the remaining one point increases. It is also possible to increase the number of points used for association, and increasing the number of points can improve the accuracy of association.

  As one of the at least three points, use a pseudo point obtained by virtually moving a point measured or input a three-dimensional position along any plane specified by the object. (Claim 3).

  If the remaining one point is close to the straight line formed by any two of the at least three points, there is a possibility that the accuracy of the association cannot be sufficiently ensured. In such a case, it is preferable to virtually move the point where the three-dimensional position is specified along any one of the planes and assume the pseudo point away from the straight line. If this pseudo point is used, the accuracy of the association can be improved.

The actual object may be provided with position measuring means for measuring the three-dimensional positions of the at least three points.
If the three-dimensional positions of the at least three points are measured, the measurement data can be used to associate the three-dimensional design data with an actual object.

It is preferable that the position measuring unit can move integrally while maintaining a constant positional relationship with a projecting unit that projects light for forming the marking.
For example, it is difficult to form a marking by projecting light on the back side of an actual object. The projection means may be moved to the back side, but the correspondence between the actual object and the three-dimensional design data becomes unclear according to the movement of the projection means, and the marking cannot be formed. Therefore, if the position measuring means is moved integrally with the projection means, it is possible to associate the actual object with the three-dimensional design data even after the movement, and the marking can be formed. It becomes possible.

Data acquisition means for measuring the shape of the actual object and acquiring three-dimensional measurement data is provided, and the marking is formed at a position where a difference between the three-dimensional design data and the three-dimensional measurement data exceeds a threshold value. (Claim 6).
In this case, it is possible to realize both measurement of the actual surface shape of the object and display of the shape defect portion by the marking. As the data acquisition means, for example, if a means for measuring the surface by projecting laser slit light onto the surface of the object, a means for measuring the distance to the object by irradiating the laser light, etc. are used without contact Can measure the surface of the object.

The object is a mold for processing, and the repair information of the mold may be projected in association with the marking (claim 7).
In this case, it is useful for carrying out an accurate repair work of the mold. Repair information includes character information, symbol information, graphic information, and the like.

  In addition to the molds described above, the objects handled in the present invention include automobile body panels and interior panels, automobile cylinder blocks, engine parts such as camshafts and rocker arms, parts such as suspension arms, and automobile frames. There are various objects such as industrial products and parts such as dental materials such as dentures, dentures, crowns and orthodontic appliances, and medical materials such as artificial limbs and artificial bones. Furthermore, in the work and act for the human body such as confirmation of fittings such as dental materials, medical materials and underwear, and cosmetic surgery, the human body may be handled as an object and the present invention may be applicable.

Example 1
This example is an example related to the position display system 1 that projects repair information or the like onto the surface of a press mold 2 that is an example of an object. The contents will be described with reference to FIGS.
The position display system 1 illustrated in FIG. 1 associates three-dimensional design data representing the three-dimensional shape specification of the mold 2 with the actual mold 2, and the three-dimensional design of the surface of the actual mold 2. In this system, an optical marking 181 is formed at a position corresponding to a specific location defined on data.

  As shown in FIGS. 1 and 2, the position display system 1 is mainly configured by a projector 10 including a projector 11, two cameras 12 and 13, and a processing unit 15. The projection apparatus 10 is an apparatus in which a box-shaped housing 100 that accommodates the processing unit 15 and the like is supported by a tripod. Condensing lenses 120 and 130 of the cameras 12 and 13 are arranged on both sides of the projection lens 110 of the projector 11 at the center on the horizontally long front surface of the box-shaped casing 100. In the position display system 1, the Z axis is defined along the optical axis direction of the projection lens 110 of the projector 11, and the X axis and Y axis are defined along the horizontal direction and the vertical direction passing through the center of the projection lens 110. (See FIG. 1). In the position display system 1, a three-dimensional coordinate space with an X axis, a Y axis, and a Z axis orthogonal to each other is defined.

  The two cameras 12 and 13 are arranged with a predetermined distance on both sides of the projection lens 110 along the X axis to constitute a stereo camera. Comparing the captured images of the two cameras 12 and 13 constituting the stereo camera, the distance to the imaging target can be measured using the principle of triangulation. In the position display system 1, the relative relationship between the X axis, the Y axis, and the Z axis has been physically or software adjusted in the horizontal direction, the vertical direction, and the optical axis direction of the imaging areas of the cameras 12 and 13. . Thereby, it is possible to specify the position in the above-described three-dimensional coordinate space by the X axis, the Y axis, and the Z axis for each point whose distance is measured by the two cameras 12 and 13. The cameras 12 and 13 are infrared cameras having sensitivity in the infrared wavelength region, and can be imaged under illumination with an infrared lamp.

The processing unit 15 is a unit that acquires captured images of the two cameras 12 and 13 and executes processing, and controls the projector (projection unit) 11 based on the processing result. The processing unit 15 has the following configurations.
(1) I / O unit 153: an interface for inputting and outputting captured image information and projection information.
(2) Pre-processing unit 154: an arithmetic processing unit that captures captured images of the cameras 12 and 13 and performs pre-processing necessary for distance measurement and the like.
(3) Distance measuring unit (position measuring means) 155: An arithmetic processing unit that executes arithmetic processing such as distance measurement and three-dimensional position measurement using preprocessing data.
(4) 1st memory | storage part 151: The memory | storage part which memorize | stores the three-dimensional design data showing the shape specification of the metal mold | die 2 which is a target object.
(5) Association unit (association means) 156: an arithmetic processing unit that associates the three-dimensional design data with the actual mold 2 to be imaged.
(6) Second storage unit 152: a storage unit for storing repair data of the mold 2.
(7) Output unit 157: An output unit that generates projection information for projecting repair information onto the surface of the actual mold 2 to be imaged and outputs the projection information to the projector 11.

  Next, the metal mold | die 2 etc. which apply the position display system 1 comprised as mentioned above are demonstrated. A mold 2 in FIG. 3 is a press working mold in which an upper mold and a lower mold are paired to form a flat iron plate or the like. In the mold 2, a concave / convex shape is provided on the mating surface 20 with the counterpart mold, and a reference hole 21 for positioning with the mold to be paired is provided. In the mold 2, three reference holes 21 are provided along one long side of the mold 2 having a substantially rectangular front shape. The three reference holes 21 are arranged so as not to be positioned on a straight line.

  In the position display system 1, the three-dimensional design data is associated using the three-dimensional position of each reference hole 21, the result of plane estimation of the mating surface 20, and the like. For the positional specification of the reference hole 21 and the estimation of the plane that forms the mating surface 20, a reference hole marker 31 including a spherical marker 30 on the outer surface that reflects infrared light and a plane estimation marker 32 are used (see FIG. 3).

  As shown in FIG. 3, the reference hole marker 31 is a rod-shaped marker that holds the spherical marker 30 on the tip side of the marker shaft 311. The spherical marker 30 is attached to both ends of the support stay that intersects the marker shaft 311. The arrangement of the spherical markers 30 is different for each of the three reference hole markers 31, and each reference hole marker 31 can be distinguished. The reference hole marker 31 can swing on the tip side while being inserted into the reference hole 21. As will be described in detail later, the three-dimensional positional relationship (such as standing height) between the spherical marker 30 and the reference hole 21 can be specified by the swinging movement of the reference hole marker 31.

  As shown in FIG. 3, the plane estimation marker 32 is a marker provided with three spherical markers 30 around a large-diameter ball. The plane estimation marker 32 is set on the mold 2 with each spherical marker 30 in contact with the mating surface 20.

  Next, the operation of the position display system 1 when the mold 2 having the reference hole marker 31 and the plane estimation marker 32 set as described above is set as an object will be described with reference to the flowchart of FIG. In the operation of the position display system 1, three-dimensional design data representing the three-dimensional shape specification of the mold 2 that is the object, the position data of the reference hole 21 in the three-dimensional design data, the repair location of the mold 2 It is necessary to input repair information, such as data representing the position of the data and data representing the contents of repair, in advance, and store these data in the processing unit 15. Note that the position data included in the repair information described above needs to be data representing a specific location in the three-dimensional design data.

  When the position display system 1 is operated, first, the projection device 10 is installed at an initial position (see FIG. 5) where all the reference hole markers 31 and the plane estimation markers 32 set in the mold 2 can be seen (S101). ), The operation of the projection apparatus 10 is started. The processing unit 15 of the projection apparatus 10 sets the left and right cameras 12 and 13 in the imaging state in response to the start of the operation, and starts acquiring captured images of the mold 2 by the cameras 12 and 13. Note that imaging is performed under illumination of infrared light.

  In the above imaging state, it is necessary to perform initial learning regarding the reference hole marker 31 in advance. In this initial learning, each reference hole marker 31 inserted into the reference hole 21 is swung as shown in FIG. 6 so that the three-dimensional positional relationship between the reference hole marker 31 and the reference hole 21 (mainly the standing height). ) To identify. The processing unit 15 picks up the reference hole marker 31 that is swinging and identifies the movement of the spherical marker 30, thereby determining the center of the swinging operation, that is, the position of the reference hole 21 that opens in the mating surface 20 of the mold 2. Identify. Thus, the three-dimensional relative position of the reference hole 21 with the plurality of spherical markers 30 provided in the reference hole marker 31 as a reference is specified.

  The processing unit 15 attempts to specify the coordinates of each reference hole 21 in the three-dimensional coordinate space of FIG. 1 on the assumption that the above initial learning has been completed. The processing unit 15 pre-processes the captured images of the left and right cameras 12 and 13 and specifies the position of each reference hole marker 31 (spherical marker 30) in the image. For each reference hole marker 31, the parallax between the left and right cameras 12 and 13 is specified, the distance is measured by the principle of triangulation (S102), and the three-dimensional position in the three-dimensional coordinate space is obtained. Note that the processing unit 15 uses the three-dimensional relative position between the reference hole marker 31 and the reference hole 21 that have been specified by the above-described initial learning, and determines the 3 of the reference hole 21 from the three-dimensional position of the reference hole marker 31. The dimension position is calculated and specified as the initial coordinates of each reference hole 21 (S103).

  Next, when projecting the repair information onto the surface of the mold 2, it is necessary to move the projection apparatus 10 to a projection position (see FIG. 5) close to the mold 2 (S104). The processing unit 15 tracks each reference hole marker 31 during movement for bringing the projection apparatus 10 and the mold 2 close to each other (S105), and changes in the three-dimensional position (coordinates in the three-dimensional coordinate space in FIG. 1). Is measured in real time to update the coordinates (S106).

  When the mold 2 and the projection apparatus 10 are brought close to each other, the projection apparatus 10 may be moved, or the mounting table for the mold 2 may be moved. The projection device 10 and the mold 2 may be placed on the same floor surface, and the floor surface may be moved by a caster wheel (not shown) provided on the moving side. Thus, in the parallel movement along the floor surface, the difference in height between the projection device 10 and the mold 2 does not change, so that the update calculation of the coordinates of each reference hole 21 during the movement is relatively easy.

  After projecting the projection apparatus 10 to the projection position (see FIG. 5) and projecting the repair information onto the mold 2, the processing unit 15 reads the three-dimensional design data representing the shape specification of the mold 2 and actually Is associated with the mold 2 (S107). This association is performed using the coordinates (three-dimensional positions) of three reference holes 21 that are not on a straight line. The processing unit 15 is configured so that the position of each reference hole 21 specified in the above three-dimensional design data matches the position of each reference hole 21 of the actual mold 2 with respect to the actual mold 2. Associate dimension design data.

  Subsequently, the processing unit 15 reads the stored repair information. This repair information includes position data representing the repair location, repair data representing the repair content, and the like. Here, the position data is data representing a specific location in the three-dimensional design data. The repair data is data such as a description of a situation requiring repair, character information such as a numerical value indicating the degree of repair, and graphic information.

  The processing unit 15 specifies the repair position in the three-dimensional coordinate space (see FIG. 1) using the result of the association between the actual mold 2 and the three-dimensional design data. Then, light is projected from the projector 11 so that an optical marking can be projected onto the repair position of the mold 2 (S108), and for example, the marking 181 illustrated in FIG.

  The example of FIG. 7 is an example in which a dot line surrounding an area where a surface roughness trouble has occurred is projected as an optical marking 181. Character information 183 such as “surface roughness” indicating the repair content is displayed along the lead line 182 drawn from the area. At this time, the processing unit 15 uses the three-dimensional design data associated with the actual three-dimensional shape of the mold 2 to generate projection data in consideration of the projections and depressions on the projection surface, such as markings, characters, and lead lines. This makes it possible to project lines and characters having the correct shape on the surface of the mold 2 having irregularities.

  For example, if the repair location is also present on the back side of the mold 2, the projection apparatus 10 or the mold 2 may be moved so that the projection apparatus 10 can see the back side of the mold 2 ( S109). After moving the projection apparatus 10 to a new projection position where a repair location can be expected, the repair information may be projected onto the surface of the mold 2 in the same manner as described above.

  The position display system 1 configured as described above projects the repair position, repair contents, and the like on the surface of the actual mold 2 by actually associating the 3D design data of the mold 2 with the mold 2. It is possible. Thus, if repair information is projected on the surface of the metal mold | die 2, a possibility that work mistakes, such as a mistake of a repair position, may arise can be suppressed.

  Here, a method useful for improving the accuracy in associating the three-dimensional design data with the actual mold 2 will be described. In this example, the association method using three points is exemplified, but in this association method, as described above, the distance to the remaining one point is separated with reference to the straight line connecting any two points. The higher the accuracy, the higher the matching accuracy. On the other hand, in the case of the illustrated mold 2, although the three reference holes 21 are not in a straight line, they are arranged close to one side surface and there is a possibility that the above distance cannot be secured sufficiently. When it is desired to ensure the accuracy of association under the arrangement of the reference holes 21 as described above, the plane estimation marker 32 set on the mating surface 20 of the mold 2 can be effectively used.

  Based on the three-dimensional positions of the three plane estimation markers 32 that are not collinear, the mating surface 20 on which these plane estimation markers 32 are placed can be estimated as a reference plane. In particular, in this example, two plane estimation markers 32 are set on one side and another plane estimation marker 32 is set on the other side. Under such an arrangement of the plane estimation markers 32, the reference plane formed by the mating surface 20 can be estimated with high accuracy.

  If this estimated plane is used, one of the reference holes 21 can be virtually shifted along the estimated plane to generate a virtual pseudo reference hole (pseudo point), thereby expanding the above distance. it can. Hereinafter, the reference hole that is the basis of the pseudo reference hole is referred to as a specific reference hole, and the other reference holes are referred to as general reference holes. As a direction in which the reference hole 21 is virtually shifted, for example, an orthogonal direction with respect to a straight line passing through the two general reference holes can be set. Further, as the distance to be virtually shifted, for example, a distance that is a constant multiple of the distance between the straight line passing through the two general reference holes and the specific reference hole can be set.

  The calculation of the three-dimensional position of the pseudo reference hole as described above is executed for each of the actual mold 2 and the three-dimensional design data. Then, assuming that the three-dimensional positions of the reference holes 21 including the pseudo reference holes coincide with each other, the three-dimensional design data including the three-dimensional positions of the pseudo reference holes and the actual gold in which the three-dimensional positions of the pseudo reference holes are specified. The association with the type 2 is executed. Since the above-mentioned distance is increased for the pseudo reference hole, it is possible to improve the accuracy of association between the actual mold 2 and the three-dimensional design data.

  In addition, although the example which projects the repair information memorize | stored beforehand on the metal mold | die 2 was demonstrated, it replaces with this, for example, the laser radar apparatus (illustration omitted, data acquisition which can measure distance while scanning a two-dimensional area | region) The three-dimensional measurement data may be acquired by measuring the three-dimensional shape of the mold 2 by means). In this case, by calculating the difference between the three-dimensional design data representing the shape specification of the mold 2 and the three-dimensional measurement data for each position, the position data and the degree of deviation (the magnitude of the difference) of the portion requiring repair. Etc. can be generated as repair information. Note that the reference hole 21 may be used for the correspondence between the three-dimensional design data and the three-dimensional measurement data for comparison.

In this example, the three-dimensional position is measured using two cameras 12 and 13, but instead, for example, the cameras are installed in two upper and lower stages, and 3 to 4 cameras are provided in each stage. It is also possible to arrange cameras. If the number of cameras used for triangulation is increased, the measurement accuracy can be improved and the measurement accuracy of the three-dimensional position can be further improved.
Although a projector has been exemplified as means for forming optical markings, a laser pointer or the like may be used instead.

  As described above, specific examples of the present invention have been described in detail as in the embodiments. However, these specific examples merely disclose an example of the technology included in the scope of claims. Needless to say, the scope of the claims should not be construed as limited by the configuration, numerical values, or the like of the specific examples. The scope of the claims includes techniques in which the specific examples are variously modified, changed, or appropriately combined using known techniques and knowledge of those skilled in the art.

DESCRIPTION OF SYMBOLS 1 Position display system 10 Projection apparatus 100 Case 11 Projector (projection means)
DESCRIPTION OF SYMBOLS 110 Projection lens 12, 13 Camera 120, 130 Condensing lens 15 Processing unit 155 Distance measurement part (position measurement means)
156 association unit (association means)
2 Mold 20 Matching surface 21 Reference hole 30 Spherical marker 31 Reference hole marker 32 Plane estimation marker

According to the present invention, three-dimensional design data representing a three-dimensional shape specification of an object is associated with an actual object, and a specific surface defined on the three-dimensional design data of the surface of the actual object is defined. A position display system for forming an optical marking at a position corresponding to a location ,
For each of the three-dimensional positions of at least three reference points that are specified on the actual object and not on a straight line, the positions in the three-dimensional design data are specified and at least not on a straight line Associating means for associating the three-dimensional design data with the actual target object, assuming that the three-dimensional positions of the three reference points match.
Means for estimating, as a reference plane, a plane defined by the position where the marker is attached, using markers attached to the object so as to be located in at least three places that are not in a straight line;
The three-dimensional position of the first pseudo reference point obtained by virtually moving any one of the reference points of the actual object along the reference plane is calculated, and the 3 Means for calculating a three-dimensional position of a second pseudo reference point obtained by virtually moving any one of the reference points of the dimension setting data along the reference plane;
The associating means is configured to associate the three-dimensional design data with the actual object, wherein the first pseudo-instead of any one of the reference points of the actual object. The three-dimensional position of the second pseudo reference point that replaces any one of the reference points of the three-dimensional setting data matches the three-dimensional position of the reference point. In the position display system for performing attachment (claim 1).

A preferred embodiment of the present invention will be described.
The position in the three-dimensional design data is specified and the three-dimensional design data is used for the three-dimensional position of the at least three points in the actual object using at least three points that are not on a straight line. The at least three points in FIG . 4 are provided with matching means for associating the three-dimensional design data with the actual target object.

As one of the at least three points, a pseudo point obtained by virtually moving a point whose three-dimensional position is measured or inputted along any plane specified by the object is used .

It is preferable to provide a position measuring means for measuring the three-dimensional position of the reference point of the actual object (claim 2).
If the three-dimensional position of the reference point of the actual object is measured, the three-dimensional design data can be associated with the actual object using the measurement data.

The position measuring means may be movable integrally while maintaining a constant positional relationship with a projection means for projecting light for forming the marking .
For example, it is difficult to form a marking by projecting light on the back side of an actual object. The projection means may be moved to the back side, but the correspondence between the actual object and the three-dimensional design data becomes unclear according to the movement of the projection means, and the marking cannot be formed. Therefore, if the position measuring means is moved integrally with the projection means, it is possible to associate the actual object with the three-dimensional design data even after the movement, and the marking can be formed. It becomes possible.

Data acquisition means for acquiring the three-dimensional measurement data by measuring the actual shape of the target object is provided, and information representing the difference between the three-dimensional design data and the three-dimensional measurement data is used as the surface of the target object. It is also possible to project it optically (claim 3 ).
In this case, it is possible to realize both measurement of the actual surface shape of the object and display of the shape defect portion by the marking. As the data acquisition means, for example, if a means for measuring the surface by projecting laser slit light onto the surface of the object, a means for measuring the distance to the object by irradiating the laser light, etc. are used without contact Can measure the surface of the object.

The object is a mold for processing, and the repair information of the mold may be projected in association with the marking (claim 4 ).
In this case, it is useful for carrying out an accurate repair work of the mold. Repair information includes character information, symbol information, graphic information, and the like.

Claims (7)

  The three-dimensional design data representing the three-dimensional shape specification of the object is associated with the actual object, and the surface of the actual object corresponds to a specific portion defined on the three-dimensional design data. A position indication system that forms optical markings on the position.   In claim 1, the position in the three-dimensional design data is specified, and at least three points that are not on a straight line are used, and the three-dimensional position of the at least three points in the actual object is A position display system comprising an association means for associating the three-dimensional design data with the actual object, as the at least three points in the three-dimensional design data coincide with each other in position.   In Claim 2, the pseudo | simulated which moved the point which measured or input the three-dimensional position along any plane specified by the target object as any one of said at least three points Position display system using dots.   The position display system according to claim 2 or 3, further comprising position measuring means for measuring the three-dimensional positions of the at least three points with respect to the actual object.   5. The position display system according to claim 4, wherein the position measuring means is movable integrally while maintaining a fixed positional relationship with a projection means that projects light for forming the marking.   6. The difference between the three-dimensional design data and the three-dimensional measurement data according to claim 1, further comprising data acquisition means for measuring the shape of the actual object and acquiring three-dimensional measurement data. A position indication system for forming the marking at a position where the value exceeds a threshold value.   The position display system according to any one of claims 1 to 6, wherein the object is a processing mold and projects repair information of the mold in association with the marking.

Images