JP2019090623A - Measuring apparatus, laser marking device, and measuring method - Google Patents

Abstract

To identify simply each bright spot on a target caused by two laser beams.SOLUTION: A measuring apparatus includes: a first irradiation unit which irradiates a target with a first laser beam; a second irradiation unit which irradiates a second laser beam to the target; an imaging unit which generates an image including a first bright spot which is a bright spot of the first laser beam on the target and a second bright spot which is a bright spot of the second laser beam on the target; and a measuring unit which measures a position of the target on the basis of the image generated by the imaging unit. The measuring apparatus is constituted so that a surface normal to the first laser beam and a surface normal to the second laser beam are non-parallel, and the mode of the first bright spot and the mode of the second bright spot are different from each other.SELECTED DRAWING: Figure 1

Description

  One embodiment of the present invention relates to a measurement device and the like using two laser beams.

  There is a method of irradiating an object with two laser beams and measuring the position of the object based on the appearance of the bright spot of the laser beam on the object. Such a measurement method is disclosed, for example, in Patent Document 1 and the like.

JP 2014-134475 A

  There are cases in which bright spots of two laser beams emitted to an object are photographed, and the position information of the object is measured using position information of each bright spot in the photographed image. In such a case, it may be required to specify which laser light causes each bright spot in the image. However, for example, when the aspect of each bright spot in the object is the same, complicated processing such as storing the range in which each bright spot in the image may be located in the memory is required. There is a need for a technique for easily identifying each bright spot on an object generated by two laser beams.

  The present invention adopts the following means in order to solve the above-mentioned problems and the like. In the following description, in order to facilitate understanding of the invention, reference numerals and the like in the drawings are appended in parentheses, but each component of the present invention is not limited to the appended ones. It should be interpreted broadly to the extent that the vendor can understand technically.

One means of the present invention is
A first irradiation unit (11A) for irradiating the object (33) with the first laser beam (LA);
A second irradiation unit (11B) for irradiating the object (33) with a second laser beam (LB);
At a first bright spot (SA) which is a bright spot of the first laser beam (LA) in the object (33) and at a bright spot of the second laser beam (LB) in the object (33) An imaging unit (12) that generates an image including a certain second bright spot (SB);
A measuring unit (13) for measuring the position of the object (33) based on the image generated by the imaging unit (12);
The plane normal to the first laser light (LA) and the plane normal to the second laser light (LB) are not parallel to each other,
The aspect of the first bright spot (SA) and the aspect of the second bright spot (SB) are different from each other
It is a measuring device.

  According to the measuring apparatus of the above configuration, it is possible to easily identify in the image which one of the first bright spot and the second bright spot the bright spot is based on the aspect of the bright spot. It is possible to easily identify each bright spot on the object generated by the two laser beams without performing complicated processing such as storing in a memory the range in which each bright spot can be located.

In the above measuring apparatus, preferably
The object (33) corresponds to the first position relative to the proximity position which is the position of the object (33) in a state where the first bright spot (SA) and the second bright spot (SB) are closest to each other. It may be located on the side of the irradiation part (11A) and on the opposite side of the first irradiation part (11B) with respect to the proximity position.

  According to the measuring apparatus having the above-described configuration, for example, in the case where the imageable unit and the measurable range of the position of the object are the same, the object is located only on the first irradiation unit side with respect to the proximity position Because the angle between the first laser beam and the second laser beam can be made larger than when the object is located only on the opposite side of the first irradiation unit with respect to the proximity position, The measurement accuracy of the position of the object can be enhanced. Also, for example, with respect to each position as a reference, by using the position in the image of the first bright spot and the position in the image of the second bright spot when the object is in the proximity position, Based on the position of the first bright spot and the position of the second bright spot in the captured image, the target is positioned on the first irradiation unit side with respect to the close position, or It can be easily specified whether it is located on the opposite side of the 1 irradiation part.

In the above measuring apparatus, preferably
The size of the first bright spot (SA) and the size of the second bright spot (SB) are different from each other.

  According to the measuring apparatus having the above configuration, the size of the first bright spot and the size of the second bright spot are different from each other, so whether the image pickup device in the image pickup unit is black and white or color Whether the bright spot in the image is the first bright spot or the second bright spot can be identified simply and correctly.

In the above measuring apparatus, preferably
The brightness of the first bright spot (SA) and the brightness of the second bright spot (SB) are different from each other.

  According to the measuring apparatus having the above configuration, the brightness of the first bright spot and the brightness of the second bright spot are different from each other, so whether the image pickup device in the image pickup unit is black and white or color Whether the bright spot in the image is the first bright spot or the second bright spot can be identified simply and correctly. In addition, for example, even when the first and second bright spots overlap, the position of each bright spot can be recognized.

In the above measuring apparatus, preferably
The color of the first bright spot (SA) and the color of the second bright spot (SB) are different from each other.

  According to the measuring apparatus of the above configuration, since the color of the first bright spot and the color of the second bright spot are different from each other, the bright spot in the image is either the first bright spot or the second bright spot. Can be identified simply and correctly. In addition, for example, even when the first and second bright spots overlap, the position of each bright spot can be recognized.

In the above measuring apparatus, preferably
The measurement unit (13) is a distance (IDh) between the first bright spot (SA) and the second bright spot (SB) in the image captured by the imaging unit (12), and The position of the object is calculated based on the positions of the first bright spot (SA) and the second bright spot (SB).

  According to the measuring apparatus having the above-described configuration, for example, by preparing information indicating the relationship between the distance between the first bright spot and the second bright spot in the image and the position of the object, the object can be positioned against the proximity position. The position of the object can be correctly calculated together with the determination on which side of the first irradiation unit side and the opposite side of the first irradiation unit with respect to the proximity position.

In the above measuring apparatus, preferably
The first irradiation unit (11A) and the second irradiation unit (11B) are provided such that the first laser light (LA) and the second laser light (LB) can intersect.

  According to the measuring apparatus having the above configuration, even when the object is located in the vicinity where the first laser beam and the second laser beam intersect, the aspect of the first bright spot and the aspect of the second bright spot are different. It is possible to easily identify whether each bright spot is the first bright spot or the second bright spot.

Also, another means of the present invention is
The measuring device (1) above,
And (d) a marking unit (32) for performing laser marking on the object (33) based on the result measured by the measuring device (1).
It is a laser marking device.

  According to the laser marking device of the above configuration, it is possible to easily identify whether the bright spot is the first bright spot or the second bright spot based on the aspect of the bright spot in the image. It is possible to easily identify each bright spot on the object generated by the two laser beams without performing complicated processing such as storing in a memory the range in which each bright spot in the image may be located. Thereby, since the position of the object can be measured correctly, for example, even when the object is provided with a step, the condensing position of the laser beam for laser marking is properly adjusted based on the measurement result, Good marking patterns can be formed.

Also, another means of the present invention is
A first irradiation unit (11A) for irradiating the object (33) with a first laser beam (LA), and a second irradiation unit for irradiating the object (33) with a second laser beam (LB) (11B), and the measuring method in the measuring device (1),
At a first bright spot (SA) which is a bright spot of the first laser beam (LA) in the object (33) and at a bright spot of the second laser beam (LB) in the object (33) Generating an image including a second bright spot (SB);
Measuring the position of the object (33) based on the generated image.
The plane normal to the first laser light (LA) and the plane normal to the second laser light (LB) are not parallel to each other,
The aspect of the first bright spot (SA) and the aspect of the second bright spot (SB) are different from each other
It is a measurement method.

  According to the measurement method of the above configuration, it is possible to easily identify which of the first bright spot and the second bright spot is the bright spot based on the form of the bright spot imaging in the image. Therefore, it is possible to easily identify each bright spot in the object generated by the two laser beams, without performing complicated processing such as storing in memory the range in which each bright spot in the image may be located.

FIG. 1 is a view showing the configuration of the laser marking device of the first embodiment. FIG. 2 is a view showing an example of an image generated by the camera of the first embodiment. FIG. 3 is a view showing an example of an image generated by the camera of the first embodiment. FIG. 4 is a flowchart showing a marking process in the laser marking device of the first embodiment. FIG. 5 is a view showing an example of an image captured by the camera of the first embodiment. FIG. 6 is a diagram for explaining the measurement method of the comparative example. FIG. 7 is a view showing an image captured by the measurement method of the comparative example shown in FIG. FIG. 8 is a diagram for explaining the measurement method of the comparative example. FIG. 9 is a diagram for explaining the measurement method of the comparative example. FIG. 10 is a view showing an image captured by the measurement method of the comparative example shown in FIG. FIG. 11 is a view showing an image captured by the measurement method of the comparative example shown in FIG. FIG. 12 is a diagram showing the configuration of the measurement apparatus in the second embodiment. FIG. 13 is a diagram illustrating an example of an image generated by the camera of the second embodiment. FIG. 14 is a flowchart showing a marking process in the laser marking device of the second embodiment.

  The measuring apparatus of the present invention is characterized in that two laser beams are irradiated to an object, and the configuration of the bright spot of each laser beam on the object is different from each other.

Embodiments according to the present invention will be described according to the following configuration. However, the embodiments described below are merely examples of the present invention, and the technical scope of the present invention is not to be interpreted in a limited manner. In the drawings, the same components are denoted by the same reference numerals, and the description thereof may be omitted.
1. Embodiment 1
(1) Configuration example of laser marking device (2) Operation example (3) Modification example (4) Comparative example (5) Summary 2. Embodiment 2
(1) Configuration example of laser marking device (2) Operation example Features of the Invention Supplementary items

<1. Embodiment 1>
<(1) Configuration Example of Laser Marking Device>
Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a view showing the configuration of the laser marking device of the first embodiment. As shown in FIG. 1, the laser marking device 31 of Embodiment 1 is configured to include the measuring device 1 and the marking unit 32. The measuring apparatus 1 includes a laser light source 11A, a laser light source 11B, a camera 12, and a measuring unit 13. In the present embodiment, the laser marking device 31 marks the object 33 using laser light of a marking laser (not shown).

  In detail, when performing laser marking, marking is performed on the object 33 by focusing a laser for marking on the surface of the object 33. For example, if there is no level difference on the surface of the marking object, the distance between the marking laser and the surface can be easily kept constant while marking. That is, during marking, a laser for marking is focused on the surface, so that good marking is performed.

  As shown in FIG. 1, when there is a step on the surface of the object 33, the distance between the marking laser and the surface of the object 33 (hereinafter referred to as the measurement target surface 33A) changes. In order to focus the marking laser on the measurement target surface 33A, the measurement of the position of the measurement target surface 33A is required. Even if the marking object 33 does not have a step, the height of the object 33 varies and the distance between the marking laser and the object changes. It may be necessary to measure the position. Here, the object 33 is, for example, a product in which a level difference is present on the surface, and an identifier such as a micro QR code, a logo, or the like for securing traceability is engraved.

<Laser Light Sources 11A and 11B>
The laser light source 11A irradiates the object 33 with the laser light LA. The laser light source 11B irradiates the object 33 with the laser light LB. Specifically, the laser light sources 11A and 11B are fixed by the holding portion (not shown) such that the plane normal to the laser light LA and the plane normal to the laser light LB are nonparallel. . The laser light sources 11A and 11B are one specific example of the "irradiation part" in the present invention. In this example, the beam diameter of the laser light LA is larger than the beam diameter of the laser light LB. This can be realized, for example, by enlarging the beam diameter of the laser beam LA using a lens optical system or reducing the beam diameter of the laser beam LB. The beam diameter is defined, for example, by the full width at half maximum and the D86 width. In addition, other characteristics such as the wavelengths of the laser beams LA and LB, the beam cross-sectional shapes, and the intensities are substantially the same.

  In the present embodiment, the laser light sources 11A and 11B are semiconductor lasers, and are fixed by a holding unit (not shown) so that the laser lights LA and LB can intersect. Specifically, the laser beams LA and LB intersect at an angle α at the intersection point CS when the object 33 is not present. The laser light sources 11A and 11B may be lasers of types other than semiconductor lasers. In the measurement target surface 33A of the object 33, the bright spots SA and the bright spots SB are respectively generated by the laser beams LA and LB.

  In the present specification, the position of the object 33 in the state in which the bright spot SA1 and the bright spot SB1 are closest to each other is referred to as a “proximal position”. A plane having a bisector bisecting the angle α as a normal and including an intersection point CS is defined as a “regular reflection surface MRS”. The laser light sources 11A and 11B side with respect to the regular reflection surface MRS will be referred to as "light source side". Further, the opposite side of the laser light sources 11A and 11B to the regular reflection surface MRS is referred to as "non-light source side". In this example, the measurement target surface 33A and the regular reflection surface MRS are parallel. The measurement target surface 33A is located on the light source side.

<Position of Target 33>
The object 33 may be located on either side of the laser light sources 11A and 11B with respect to the proximity position and on the opposite side of the laser light sources 11A and 11B with respect to the proximity position. In the present embodiment, the proximity position is the position of the target object 33 when the measurement target surface 33A is located on the regular reflection surface MRS.

<Camera 12>
The camera 12 generates an image including the bright spot SA and the bright spot SB. The camera 12 of the present embodiment is a specific example of the “imaging unit” in the present invention. In the present embodiment, the camera 12 has an imaging element capable of capturing a black and white image, receives a shooting command from the measurement unit 13, and shoots the measurement target surface 33A of the object 33 according to the received shooting command. Generate an image. The image sensor may use a sensor capable of capturing a color image. Further, in the present embodiment, the imaging device may use a sensor capable of detecting only the luminance.

  The camera 12 is provided on the light source side such that the optical axis is along the bisector Bis. The camera 12 has, for example, a telecentric optical system, and the recordable range FR does not change with the distance from the camera 12. The measurable range MR is a range in which the bright points SA1 and SB1 fall within the imageable range FR on the light source side.

  2 and 3 are diagrams showing an example of an image generated by the camera of the first embodiment. Images ISA and ISB are images of bright point SA and bright point SB, respectively. FIG. 2 shows an image in the case where the measurement target surface 33A is located at a distance Dv from the regular reflection surface MRS on the laser light sources 11A and 11B side. FIG. 3 shows an image in the case where the measurement target surface 33A is located at a distance Dv on the opposite side of the laser light sources 11A and 11B with respect to the regular reflection surface MRS.

  As shown in FIGS. 2 and 3, in the captured image, the aspect of the bright point SA and the bright point SB is different from each other. In the present embodiment, the size of the bright spot SA is different from the size of the bright spot SB. Specifically, the size of the bright spot SA is larger than the size of the bright spot SB. As described above, since the size of the image of each bright spot in the image is different, the generation source laser light of each bright spot can be specified, so the measurement target surface 33A is positioned on either the light source side or the non-light source side. Can be identified. The camera 12 outputs image information including the generated image to the measuring unit 13.

<Measurement unit 13>
As shown in FIGS. 1 to 3, the measurement unit 13 measures the position of the measurement target surface 33 </ b> A based on the image generated by the camera 12. In detail, the measurement unit 13 determines the position of the measurement target surface 33A based on the distance IDh between the bright spot SA and the bright spot SB and the positions of the bright spot SA and the bright spot SB in the image captured by the camera 12 Calculate In the present embodiment, the measurement unit 13 receives a measurement instruction from the marking unit 32 and transmits a photographing instruction to the camera 12 according to the received measurement instruction. The measurement unit 13 receives image information corresponding to a shooting command from the camera 12, calculates the distance Dv based on the received image information, and transmits distance information including the calculation result to the marking unit 32.

  Specifically, based on, for example, the arrangement order of the images ISA and ISB, the measurement unit 13 determines which of the laser light source 11A side and the opposite side of the laser light source 11A the measurement target surface 33A is located with respect to the regular reflection surface MRS. judge.

  Measurement unit 13 may use, as a reference, the positions in images of images ISA and ISB when, for example, object 33 is present at a close position, instead of the arrangement order of images ISA and ISB. In the arrangement shown in FIG. 1, the measuring unit 13 uses the position in the images of the images ISA and ISB, ie, the position of the image of the intersection CS, as a reference when the measurement target surface 33A is located on the regular reflection surface MRS. In this case, for example, when the bright spot with a larger size is positioned on the left side with respect to the reference position in the captured image, the measurement target surface 33A is a laser with respect to the regular reflection surface MRS. When it is determined that the light spot is located on the light source 11A side, and the bright spot having a larger size is located on the right side with respect to the reference position, the measurement target surface 33A is located on the opposite side of the laser light source 11A with respect to the regular reflection surface MRS. It will be determined.

  For example, based on the image, measuring unit 13 calculates distance IDh between image ISA and ISB in the image. Specifically, for example, the measurement unit 13 calculates a curved surface indicating the correspondence between pixel coordinates and pixel brightness in the periphery of the image ISA in the image, and uses the calculated peak coordinates of the curved surface as the coordinates of the image ISA. get. The measuring unit 13 similarly acquires coordinates for the image ISB in the image. The measurement unit 13 calculates the distance IDh based on the acquired coordinates of the image ISA and the coordinates of the image ISB. In addition, when calculating the above-mentioned curved surface, the measurement unit 13 may thin pixels by using every other pixel, every second pixel, or the like.

  The measurement unit 13 calculates a distance Dv between the measurement target surface 33A and the regular reflection surface MRS based on the calculated distance IDh. Specifically, the measuring unit 13 holds, for example, an equation indicating the correspondence between the distance IDh and the distance Dv, and calculates the distance Dv from the distance IDh using the equation. The measurement unit 13 may use, for example, a table indicating the correspondence between the plurality of distances IDh and the plurality of distances Dv instead of the above equation.

  When the measuring unit 13 determines that the measurement target surface 33A is positioned on the laser light source 11A side with respect to the regular reflection surface MRS, the position separated from the intersection point CS by the distance Dv on the laser light source 11A side along the bisector Bi It is calculated as the position of the measurement target surface 33A. On the other hand, when the measurement unit 13 determines that the measurement target surface 33A is located on the opposite side of the laser light source 11A with respect to the regular reflection surface MRS, the measurement unit 13 extends from the intersection CS to the opposite side of the laser light source 11A along the bisector. The position separated by the distance Dv is calculated as the position of the measurement target surface 33A.

<Marking unit 32>
As shown in FIG. 1, the marking unit 32 performs laser marking on the measurement target surface 33 </ b> A of the object 33 based on the result of measurement by the measurement unit 13 in the measurement apparatus 1. In the present embodiment, the marking unit 32 performs marking in dot units, for example, on the measurement target surface 33A. Specifically, for example, when marking the target dot MD on the measurement target surface 33A, the marking unit 32 transmits a measurement instruction to the measurement unit 13, and receives distance information as a result of the measurement instruction from the measurement unit 13. Do. The marking unit 32 acquires the distance between the laser for marking and the measurement target surface 33A based on the received distance information, and adjusts the focusing position of the laser for marking based on the acquired distance. Then, the marking unit 32 oscillates a laser for marking to mark the dot MD.

<(2) Operation example>
Next, the marking process in the laser marking device of the present embodiment will be described with reference to FIG. FIG. 4 is a flowchart showing a marking process in the laser marking device of the first embodiment.

<S102>
It is assumed that the marking unit 32 transmits a measurement command to the measurement unit 13 when the marking unit 32 marks the target dot MD. The measurement unit 13 receives a measurement instruction from the marking unit 32 and outputs a photographing instruction to the camera 12 according to the received measurement instruction. Further, the laser light sources 11A and 11B respectively irradiate the laser lights LA and LB onto the measurement target surface 33A (S102).

<S104>
When the camera 12 receives a shooting command from the measurement unit 13, the camera 12 shoots the measurement target surface 33A of the object 33 to generate an image, and outputs image information including the generated image to the measurement unit 13 (S104).

<S106>
Next, when receiving the image information from the camera 12, the measuring unit 13 analyzes the image included in the received image information, and acquires the sizes and positions of the bright spots SA and SB in the image (S106).

<S108 to S112>
Next, as shown in FIG. 2, when the larger sized image ISA is positioned on the left side with respect to the smaller sized image ISB (YES in S108), the measurement unit 13 measures the surface to be measured on the target 33 It is determined that 33A is positioned on the side of the laser light sources 11A and 11B with respect to the regular reflection surface MRS (S110).

  On the other hand, as shown in FIG. 3, when the larger sized image ISA is positioned on the right side with respect to the smaller sized image ISB (NO in S108), the measurement unit 13 measures the target surface 33A of the object 33. Is determined to be located on the opposite side of the laser light sources 11A and 11B with respect to the regular reflection surface MRS (S112).

<S114>
Next, the measurement unit 13 analyzes the image, and calculates a distance IDh between two images in the image (S114).

<S116>
Next, the measuring unit 13 calculates the distance Dv from the calculated distance IDh using, for example, an expression indicating the correspondence between the distance IDh and the distance Dv (S116).

<S118>
Next, the measurement unit 13 calculates the position of the measurement target surface 33A on the object 33 based on the calculated distance Dv and the determination result, and transmits distance information including the calculation result to the marking unit 32 (S118).

<S120>
Next, when the marking unit 32 receives the distance information from the measuring unit 13, the marking unit 32 adjusts the focusing position of the marking laser based on the received distance information, and oscillates the marking laser to generate the target dot MD. Mark it (S120).

<S122>
Next, when the marking of the target dot MD is completed by the marking unit 32, the marking process in the laser marking device 31 ends (S122).

<(3) Modification>
<Laser Light Sources 11A and 11B>
As an example in which the aspect of the bright spot SA and the bright spot SB is different from each other, the case where the size of the bright spot SA and the size of the bright spot SB are different from each other has been described. The brightness may be different from each other.

  FIG. 5 is a view showing an example of an image captured by the camera of the first embodiment. Images ISA and ISB are images of bright point SA and bright point SB, respectively. FIG. 5 shows an image in the case where the measurement target surface 33A is located at a distance Dv from the regular reflection surface MRS on the laser light sources 11A and 11B.

  In this variation, the brightness of the image ISA is bright compared to the brightness of the image ISB. Making the brightness of each bright spot different can be realized, for example, by adjusting the outputs of the laser light sources 11A and 11B, or providing a light reduction filter to one of the laser lights LA and LB. . As described above, since the brightness of the image of each bright spot in the image is different, the generation source laser light of each bright spot can be specified. Therefore, the measurement target surface 33A is positioned on either the light source side or the non light source side. You can specify what to do. Further, since the brightness of each bright spot is different, even when the images of the bright spots overlap, the positions of the bright spots in the image can be specified.

<(4) Comparative example>
<Case where the measurable range is on the laser light source side with respect to the intersection point CS>
FIG. 6 is a diagram for explaining the measurement method of the comparative example. FIG. 7 is a view showing an image captured by the measurement method of the comparative example shown in FIG. FIG. 6 shows a comparative example of a method of measuring the position of the measurement target surface 33A, and the method will be described below.

  In this example, the measurement target surface 33A and the regular reflection surface MRS are parallel. Further, the measurement target surface 33A is limited to be located on the light source side. The characteristics such as the wavelengths of the laser beams LA and LB, the beam diameter, the beam cross-sectional shape, and the intensity are substantially the same.

  The laser beam LA generates a bright spot SA1 on the measurement target surface 33A. In addition, the laser beam LB generates a bright spot SB1 on the measurement target surface 33A. Here, the laser beams LA and LB intersect at an angle β at the intersection point CS, assuming that the object 33 does not exist. The camera 12 is arranged as in the case shown in FIG.

  As shown in FIG. 7, the image captured by the camera 12 includes an image ISA1 of the bright spot SA1 on the measurement target surface 33A and an image ISB1 of the bright spot SA2 on the measurement target surface 33A. As described above, since the characteristics of the laser beams LA and LB are substantially the same, aspects such as the size, brightness, shape, and color of the images ISA1 and ISA2 are substantially the same. As described above, the distance Dh between the bright spots SA1 and SB1 on the measurement target surface 33A changes according to the distance Dv between the regular reflection surface MRS and the measurement target surface 33A (see FIG. 1). Therefore, it is possible to measure the distance Dv on the basis of the distance IDh between the images ISA1 and ISB1 in the image.

<Case where the measurable range is on the opposite side of the laser light source with respect to the intersection point CS>
FIG. 8 is a diagram for explaining the measurement method of the comparative example. In the measurement method shown in FIG. 8, the measurement target surface 33A is limited to be located on the non-light source side. The laser beam LA generates a bright spot SA2 on the measurement target surface 33A. In addition, the laser beam LB generates a bright spot SB2 on the measurement target surface 33A. The other configuration is the same as the measurement method shown in FIG.

<Case in which the intersection CS is included in the measurable range>
FIG. 9 is a diagram for explaining the measurement method of the comparative example. FIG. 10 and FIG. 11 are diagrams showing images taken by the measurement method of the comparative example shown in FIG.

  For example, when the intersection angle of the laser beams LA and LB is increased, the rate of change of the distance Dh with respect to the distance Dv can be increased, so that the measurement accuracy of the position of the measurement target surface 33A can be improved. However, for example, when the angle β of the crossing angle is increased in the arrangement shown in FIGS. 6 and 8, the measurable range MR is reduced because the imaging range FR is fixed. On the other hand, as shown in FIG. 9, by arranging the intersection CS in the measurable range MR, the reduction of the measurable range MR is suppressed while making the angle α of the crossing angle larger than the angle β. be able to.

  In the measurement method shown in FIG. 9, it is required to specify which of the light source side and the non-light source side the measurement target surface is located. However, if the measurement target surface exists at a position S1 away from the specular reflection surface MRS by the distance Dv on the light source side, and the measurement target surface at a position S2 away from the regular reflection surface MRS by a distance Dv on the non-light source side. It is difficult to distinguish it from its presence.

  Specifically, when the surface to be measured is located at the position S1, the laser beams LA and LB respectively generate bright spots SA2 and SB2. In this case, as shown in FIG. 10, the image captured by the camera 12 includes the image ISA2 of the bright spot SA2 and the image ISB2 of the bright spot SB2.

  On the other hand, when the surface to be measured is located at the position S2, bright spots SA3 and SB3 are respectively generated by the laser beams LA and LB. In this case, as shown in FIG. 6, the image captured by the camera 12 includes the image ISA3 of the bright spot SA3 and the image ISB3 of the bright spot SB3.

  Since the image shown in FIG. 10 and the image shown in FIG. 11 are substantially the same, it is difficult to specify from these images whether the measurement target surface is located on the light source side or the non-light source side.

  On the other hand, for example, a method using an arrangement in which the laser beams LA and LB do not intersect or an arrangement in which the optical axis of the camera 12 is offset from the bisector Bis can be considered. In such an arrangement, an image when the measurement target surface is located at the position S1 and an image when the measurement target surface is located at the position S2 can be different, so the measurement target surface is the light source side and the non-light source It becomes possible to specify which side of the side. In detail, for example, range information including a range in which the bright spot by the laser light LA can be positioned in the image and a range in which the bright spot by the laser beam LB can be positioned in the image is stored in the memory. Then, based on the range information, it is determined whether the bright spot in the image is a bright spot by the laser light LA or a bright spot by the laser light LAB. However, since such processing is complicated, a technique for easily determining whether the bright spot in the image is the bright spot by the laser light LA or the bright spot by the laser light LAB is required.

<(5) Summary>
According to the measuring apparatus having the above configuration, it is possible to easily identify in the image which one of the bright spot of the laser beam LA and the bright spot of the laser beam LB the bright spot is based on the aspect of the bright spot. It is possible to easily identify each bright spot on the measurement target surface 33A generated by the laser beams LA and LB without performing complicated processing such as storing in a memory the range in which each bright spot in the image may be located. .

<2. Embodiment 2>
Next, a second embodiment of the present invention will be described. The present embodiment is different from the first embodiment in that the camera 12 is replaced by the camera 22 and the laser light sources 11A and 11B are replaced by the laser light sources 21A and 21B, respectively, and the other is the same. Hereinafter, points in which the present embodiment is different from the contents of the first embodiment will be specifically described.

<(1) Configuration Example of Laser Marking Device>
FIG. 12 is a diagram showing the configuration of the measurement apparatus in the second embodiment. As shown in FIG. 12, the measurement apparatus 1 of the present embodiment is configured to include a laser light source 21A, a laser light source 21B, a camera 22, and a measurement unit 13.

<Camera 22>
In the present embodiment, the camera 22 has an imaging element capable of capturing a color image, receives a shooting command from the measurement unit 13, and captures the measurement target surface 33A of the object 33 according to the received shooting command. An image is generated, and image information including the generated image is output to the measurement unit 13.

<Laser light sources 21A and 21B>
In the present embodiment, the laser light source 21A is, for example, a laser that oscillates a red laser light LA. The laser light source 21B is, for example, a laser that oscillates blue laser light LB. FIG. 13 is a diagram illustrating an example of an image generated by the camera of the second embodiment. Images ISA and ISB are images of bright point SA and bright point SB, respectively. The laser light sources 21A and 21B may be lasers that oscillate laser light of the same color, and may be provided with filters of predetermined colors.

  FIG. 13 shows an image in the case where the measurement target surface 33A is located at a distance Dv away from the regular reflection surface MRS on the laser light sources 11A and 11B side. In this case, in the image, the image of the red bright spot SA is located on the left side of the blue bright spot SB. As described above, since the color of the image of each bright spot in the image is different, the generation source laser light of each bright spot can be specified, so the measurement target surface 33A is positioned on either the light source side or the non-light source side. Can be identified. Further, since the color of each bright spot is different, even when the images of the bright spots overlap, the positions of the bright spots in the image can be specified.

<(2) Operation example>
Next, measurement processing in the measurement apparatus of the present embodiment will be described with reference to FIG. FIG. 14 is a flowchart showing a marking process in the laser marking device of the second embodiment. Hereinafter, since each of S206 to S212 is a feature of the present embodiment, each of these steps will be described. S202 to S204 and S214 to S222 are respectively similar to S102 to S104 and S114 to S122 shown in FIG.

<S206>
Next, when receiving the image information from the camera 12, the measuring unit 13 analyzes the image included in the received image information, and acquires the colors and positions of the bright spots SA and SB in the image (S206).

<S208 to S212>
Next, as shown in FIG. 13, when the red image ISA is positioned on the left side with respect to the blue image ISB (YES in S208), the measurement unit 13 performs specular reflection on the measurement target surface 33A of the object 33. It is determined that the surface MRS is located on the laser light sources 11A and 11B side (S210).

  On the other hand, when the red image ISA is positioned on the right side of the blue image ISB (NO in S208), the measurement unit 13 determines that the measurement target surface 33A of the object 33 is the laser light source 11A with respect to the regular reflection surface MRS. And 11B are determined to be located on the opposite side (S212).

<3. Features of the present invention>
In the measurement apparatus configured as described above, the object 33 may be positioned on either the laser light source 11A side with respect to the proximity position or on the opposite side of the laser light source 11A with respect to the proximity position. Thus, for example, in the case where the image captureable range FR and the measurable range MR are the same, when the object 33 is positioned only on the laser light source 11A side with respect to the proximity position, or Since the angle between the laser beam LA and the laser beam LB can be made larger than when it is located only on the opposite side of the above, the measurement accuracy of the position of the measurement target surface 33A can be enhanced. In addition, for example, when the object 33 is in the proximity position, the position in the image of the bright spot SA and the position in the image of the bright spot SB are used as a reference, thereby capturing images for each reference position. Based on the position of the bright spot SA and the position of the bright spot SB in the captured image, the object 33 is located on the laser light source 11A side with respect to the proximity position, or the object 33 is located for the proximity position. It can be easily specified whether it is located on the opposite side.

  In the measuring apparatus having the above configuration, the size of the bright spot SA and the size of the bright spot SB are different from each other, so the bright spot in the image is a bright spot regardless of whether the imaging device in the camera 12 is black and white or color. It is possible to easily and correctly specify which one of SA and bright spot SB.

  In the measuring apparatus having the above configuration, the brightness of the bright spot SA and the brightness of the bright spot SB are different from each other, so the bright spot in the image is bright regardless of whether the imaging device in the camera 12 is black and white or color. It is possible to easily and correctly identify which one of the point SA and the bright point SB. Also, for example, even when the bright spot SA and the bright spot SB overlap, the position of each bright spot can be recognized.

  In the measuring apparatus having the above configuration, since the color of the bright spot SA and the color of the bright spot SB are different from each other, it is possible to easily and correctly identify which of the bright spot SA and the bright spot SB the bright spot in the image is. . Also, for example, even when the bright spot SA and the bright spot SB overlap, the position of each bright spot can be recognized.

  In the measuring apparatus having the above configuration, the measuring unit 13 is a target based on the distance IDh between the bright spot SA and the bright spot SB and the positions of the bright spot SA and the bright spot SB in the images captured by the cameras 12 and 22. In order to calculate the position of the object 33, for example, by preparing information indicating the relationship between the distance IDh and the position of the object 33, the object 33 approaches the laser light source 11A side with respect to the proximity position and with respect to the proximity position. The position of the object 33 can be correctly calculated together with the determination as to which one of the opposite sides of the laser light source 11A is located.

  In the measuring apparatus having the above configuration, the laser light sources 11A and 11B are provided such that the laser beams LA and LB can cross each other. Therefore, even when the object 33 is located in the vicinity where the laser beams LA and LB cross Since the aspect of the point SA and the aspect of the bright point SB are different, it is possible to easily identify which of the bright point SA and the bright point SB each bright point is.

<4. Additional Notes>
The specific description of the embodiment of the present invention has been described above. In the above description, the description is merely an embodiment, and the scope of the present invention is not limited to the one embodiment, and can be broadly interpreted to a range that can be grasped by those skilled in the art.

  Although the laser light sources 11A, 11B, 21A, and 21B have been described as one specific example of the irradiation unit in the measurement apparatus of the first and second embodiments, the irradiation unit may be configured to irradiate the object 33 with laser light, For example, it may be a mirror that reflects laser light from a laser light source and irradiates the target 33 with the light, an emission port of an optical fiber, or the like.

  Further, in the measuring apparatus of the first and second embodiments, it has been described that the cameras 12 and 22 are provided so that the optical axis is along the bisector Bis dividing the crossing angle of the laser beams LA and LB into two. The cameras 12 and 22 may be provided at positions where the optical axis deviates from the bisector Bis.

  Further, in the measurement apparatus of the first and second embodiments, the configuration in which the size, brightness and color of each bright spot are different from each other has been described as a specific example in which the aspects of the bright spots SA and SB are different from each other , And the presence or absence of blinking of each bright spot may be different.

  Further, in the measurement apparatus of the first and second embodiments, the configuration has been described in which the object 33 can be positioned either on the laser light source 11A side with respect to the proximity position and on the opposite side of the laser light source 11A with respect to the proximity position. However, the configuration may be such that the object 33 is located only on either the laser light source 11A side with respect to the proximity position or on the opposite side of the laser light source 11A with respect to the proximity position.

  Further, in the measurement apparatus of the first and second embodiments, the configuration in which the laser beams LA and LB intersect is described, but the configuration in which the laser beams LA and LB do not intersect may be employed.

  Further, in the measurement apparatus of the second embodiment, the configuration in which the laser light sources 21A and 21B oscillate the red laser light LA and the blue laser light LB has been described, but the laser light sources 21A and 21B have different colors. As long as the laser light is oscillated, the laser light of another color may be oscillated.

  The measuring device and the laser marking device of the present invention are suitably applied to, for example, marking of an object having an uneven surface.

DESCRIPTION OF SYMBOLS 1 ... measurement apparatus 11A, 11B ... laser light source 12 ... camera 13 ... measurement part 21A, 21B ... laser light source 22 ... camera 31 ... laser marking apparatus 32 ... marking part 33 ... target object 33A ... measurement object surface Bis ... bisector CS: Intersection FR: Imageable range ISA, ISB: Image LA, LB: Laser light MR: Measurable range MRS: Regular reflection surface MD: Dot SA, SB: Bright point

Claims (9)

A first irradiation unit that irradiates the object with a first laser beam;
A second irradiation unit that irradiates the target with a second laser beam;
An imaging unit that generates an image including a first bright spot that is a bright spot of the first laser beam on the object, and a second bright spot that is a bright spot of the second laser beam on the object;
A measuring unit that measures the position of the object based on the image generated by the imaging unit;
The plane normal to the first laser beam and the plane normal to the second laser beam are nonparallel.
The aspect of the first bright spot and the aspect of the second bright spot are mutually different,
measuring device. The target is the first irradiation portion side with respect to the proximity position which is the position of the target in the state where the first bright spot and the second bright spot are closest to each other, and the proximity position with respect to the proximity position It can be located anywhere on the opposite side of the first irradiation unit,
The measuring device according to claim 1. The size of the first bright spot and the size of the second bright spot are different from each other
The measuring device according to claim 1 or 2. The brightness of the first bright spot and the brightness of the second bright spot are different from each other
The measuring device according to any one of claims 1 to 3. The color of the first bright spot and the color of the second bright spot are mutually different,
The measuring device according to any one of claims 1 to 4. The measurement unit is configured based on a distance between the first bright spot and the second bright spot and positions of the first bright spot and the second bright spot in the image captured by the imaging unit. Calculate the position of the object,
The measuring device according to any one of claims 1 to 5. The first irradiation unit and the second irradiation unit are provided such that the first laser light and the second laser light can intersect.
The measuring device according to any one of claims 1 to 6. A measuring device according to any one of claims 1 to 7;
And a marking unit that performs laser marking on an object based on the result measured by the measuring device.
Laser marking device. A measuring method in a measuring apparatus, comprising: a first irradiation unit that irradiates a target with a first laser beam; and a second irradiation unit that applies a second laser beam to the target,
Generating an image including a first bright spot, which is a bright spot of the first laser beam on the object, and a second bright spot, which is a bright spot of the second laser beam on the object;
Measuring the position of the object based on the generated image.
The plane normal to the first laser beam and the plane normal to the second laser beam are nonparallel.
The aspect of the first bright spot and the aspect of the second bright spot are mutually different,
Measuring method.

Images