JP2020197437A - Shape measurement system - Google Patents

Abstract

To provide a shape measurement system that can recognize the cause of an error or a failure before the start of measurement to reduce downtime as much as possible.SOLUTION: A shape measuring machine has a detector that detects a surface of a measurement object and a moving mechanism that relatively moves the detector and the measurement object, and detects the shape of the measurement object with the detector. A shape measurement system further includes a monitoring camera for a measurement space that is provided to determine a movable range of the detector or the measurement object moved by the moving mechanism as an imaging range, a storage unit that stores master data of the measurement object, and a shape analysis unit. The shape analysis unit compares the measurement object captured in measurement space moving image data picked up by the monitoring camera for a measurement space with the master data of the measurement object, when determining that both match each other, causes the shape measuring machine to start the start of measurement of the measurement object, and when determining that both do not match, performs error reporting.SELECTED DRAWING: Figure 9

Description

The present invention relates to a shape measuring system. Specifically, the present invention relates to a shape measurement system capable of noticing the cause of an error or failure before starting measurement and minimizing downtime as much as possible.

A three-dimensional measuring machine (coordinate measuring machine) that measures the shape and dimensions of an object to be measured is widely used.

When measuring an object to be measured with a three-dimensional measuring machine, first, a measurement procedure corresponding to the object to be measured is prepared in advance as a measurement part program.
In the actual measurement work, after placing the object to be measured on a surface plate, a moving stage or a rotary table, the operator gives a command of "start measurement" to the coordinate measuring machine. After that, the coordinate measuring machine automatically measures the object to be measured according to the measurement part program according to the determined procedure. Furthermore, by also using a system that automatically replaces the object to be measured, the measurement is automatically and continuously executed one after another.
In recent years, an in-line measurement system in which a three-dimensional measuring machine is installed beside a production line to sequentially measure a workpiece has also been used. In the in-line measurement system, the object to be measured is automatically carried in and out of the coordinate measuring machine, and the coordinate measuring machine automatically performs shape measurement of the object to be measured. At this time, the operator does not have to be near the coordinate measuring machine. When the object to be measured is large, has a complicated shape, or when many objects of the same shape are measured, unmanned long-time automatic measurement is convenient and widely used.

Japanese Unexamined Patent Publication No. 2008-241420 Japanese Unexamined Patent Publication No. 2013-238573 JP-A-2014-21004 JP 2017-062194 Patent 6482244 Special fair 02-062006

When performing unmanned automatic measurement for a long time, warnings and errors may occur due to various factors during the measurement operation, and the measurement operation may be interrupted depending on the type of error. In the event of a serious error, the measurement system may fail and fail to operate normally.

In such a case, for example, the repair person will perform necessary repairs, parts replacement, and adjustment according to the type of error, warning, or failure. At this time, the person in charge of repair must infer the cause of the error or the like from the current state of the machine or the log (operation log or communication log) at the time of failure and identify the cause of the error or the location of the failure. However, even if the current state of the machine is analyzed or the log at the time of failure is analyzed, it is quite difficult to guess the cause of the error, and it is difficult to find the true cause. Furthermore, analysis of each part of the machine after failure and error log at the time of failure requires a fairly high degree of specialized skill. For example, it is necessary to search for the cause by comparing various data based on the time information of the log. It takes a lot of time, effort and money. In fact, even if we put so much effort into searching for the cause of the failure, we often could not find the cause.

An object of the present invention is to provide a shape measurement system capable of noticing the cause of an error or failure before starting measurement and reducing downtime as much as possible.

The shape measurement system of the present invention
A shape measuring machine having a detector for detecting the surface of the object to be measured and a moving mechanism for relatively moving the detector and the object to be measured, and measuring the shape of the object to be measured with the detector. ,
A surveillance camera for measurement space provided so that the movable range of the detector or the object to be measured by the moving mechanism is the imaging range.
A storage unit that stores master data of the measurement object and
A shape measurement system equipped with a shape analysis unit.
The shape analysis unit
The measurement object shown in the measurement space moving image data captured by the measurement space surveillance camera is compared with the master data of the measurement object.
When it is determined that the two match, the shape measuring machine is started to start the measurement of the measurement object.
If it is determined that the two do not match, an error is reported.

In one embodiment of the invention
Further, the shape analysis unit is
Based on the measurement space moving image data captured by the measurement space surveillance camera, it is determined whether or not at least one of the measurement object, the detector, and the calibration master ball is dirty.
When it is determined that there is no dirt, the shape measuring machine is started to start measuring the object to be measured.
If it is determined that there is dirt, it is preferable to report an error.

Further, in the present invention,
A shape measuring machine having a detector for detecting the surface of the object to be measured and a moving mechanism for relatively moving the detector and the object to be measured, and measuring the shape of the object to be measured with the detector. ,
A surveillance camera for measurement space provided so that the movable range of the detector or the object to be measured by the moving mechanism is the imaging range.
A video buffer memory device that temporarily buffers and records the measurement space video data captured by the measurement space surveillance camera for a predetermined time.
It is provided with a camera information storage unit that extracts and fixedly stores the measurement space moving image data recorded in the moving image buffer memory device by using an error signal issued when an error occurs in the shape measuring machine as a trigger. May be good.

In one embodiment of the invention
further,
An loading / unloading device for loading / unloading the measurement object into the shape measuring machine,
Equipped with a surveillance camera for loading and unloading routes,
The carry-in / out route monitoring camera is provided so as to have an imaging range of the carry-in / out device and the carry-in / out route of the measurement object by the carry-in / out device.
The operation buffer memory device further temporarily buffers and records the carry-in / out route moving image data captured by the carry-in / out route surveillance camera for a predetermined time.
It is preferable that the camera information storage unit further extracts and fixedly stores the import / output route moving image data recorded in the moving image buffer memory device by using the error signal as a trigger.

In one embodiment of the invention
further,
A measurement operation monitoring camera provided so as to cover the operation unit of the shape measuring machine as an imaging range is provided.
The operation buffer memory device further temporarily buffers and records the measurement operation moving image data captured by the measurement operation monitoring camera for a predetermined time.
It is preferable that the camera information storage unit further extracts and fixedly stores the measurement operation moving image data recorded in the moving image buffer memory device by using the input operation of the operating unit of the shape measuring machine as a trigger. ..

In one embodiment of the invention
further,
The loading / unloading operation monitoring camera provided so as to cover the operation unit of the loading / unloading device is provided.
The operation buffer memory device further temporarily buffers and records the carry-in operation moving image data captured by the carry-in / out operation monitoring camera for a predetermined time.
It is preferable that the camera information storage unit further extracts and fixedly stores the import operation moving image data recorded in the moving image buffer memory device by using the input operation of the operation unit of the loading / unloading device as a trigger.

It is a figure which shows an example of a shape measurement system. It is a figure which shows the appearance of the shape measuring machine. It is a functional block diagram of a shape measurement system. It is a figure which illustrated the moving image buffer memory device. It is the flowchart which illustrated the operation of the moving image buffer memory apparatus. It is the flowchart which illustrated the operation of the moving image buffer memory apparatus. It is the flowchart which illustrated the operation of the moving image buffer memory apparatus. It is the flowchart which illustrated the operation of the preliminary check. It is the flowchart which illustrated the operation of the preliminary check.

An embodiment of the present invention will be illustrated and described with reference to the reference numerals attached to each element in the drawing.
(First Embodiment)
A first embodiment according to the shape measurement system 100 of the present invention will be described.
FIG. 1 is a diagram showing an example of the shape measuring system 100.
The shape measuring system 100 includes a shape measuring machine 200, a motion controller 300, a host computer 400 (not shown in FIGS. 1 and 2), a loading / unloading device 500, a plurality of surveillance cameras 610-640, and a moving image. It includes a buffer memory device 700.

The shape measuring machine 200 is a so-called three-dimensional measuring machine (CMM, Coordinate Measuring Machine) here.
FIG. 2 also shows the appearance of the shape measuring machine 200.
The shape measuring machine 200 illustrated in FIGS. 1 and 2 has a rotary table 210, a probe 220, and a drive mechanism 230.
The rotary table 210 is a work platform on which the work is placed, and rotates about the Z axis as a rotation center.
The probe 220 detects the surface of the work in contact or non-contact.
The drive mechanism 230 has a Z drive shaft (not shown) along the Z direction and a Y drive shaft (not shown) along the Y direction, and moves the probe 220 two-dimensionally in the YZ plane. A moving mechanism is configured by the cooperation of the rotary table 210 and the driving mechanism 230, and the work and the probe 220 can be relatively moved three-dimensionally. The drive mechanism 230 and the rotary table 210 are provided with a drive motor (not shown) and an encoder (not shown).

The drive motor is driven by the drive control signal from the motion controller 300, and the coordinate values (or rotation angles) sampled by the encoder are sent to the motion controller 300. A measured value of the surface shape of the work can be obtained from the Y and Z coordinate values of the drive mechanism 230 and the rotation angle of the rotary table 210.

Of course, the moving mechanism may be a mechanism that moves the probe 220 three-dimensionally in the X, Y, and Z directions, or moves the work three-dimensionally in the X, Y, and Z directions. It may be a mechanism, or may have a rotation mechanism such as X-axis rotation, Y-axis rotation, and Z-axis rotation.

The shape measuring machine 200 is installed on the side of the production line 20 along with the processing machine 10, for example, and measures all or a part of the workpiece flowing through the line.

FIG. 3 is a functional block diagram of the shape measurement system 100.
The functional blocks of the motion controller 300 and the host computer 400 will be briefly described with reference to FIG.
The motion controller 300 includes a measurement command acquisition unit 310, a counter unit 320, a movement command generation unit 330, a drive control unit 340, and an error detection unit 350.

The measurement command acquisition unit 310 acquires a measurement command from the host computer 400. The measurement command is generated by arithmetic processing or the like by the host computer 400 based on the design data of the measurement target object and the measurement target location. The measurement command includes the target point on the probe trajectory and the target moving speed.

The counter unit 320 counts the detection signal output from the encoder to measure the displacement amount of the drive mechanism 230 and the rotary table 210, and counts the detection signal output from the probe sensor to measure the displacement of the probe 220. .. As a result, the current position of the probe 220, that is, the coordinate value of the work surface is obtained.

The movement command generation unit 330 calculates the movement path of the probe 220 for measuring the surface of the object to be measured by the probe 220, and calculates the velocity vector along the movement path. For example, it generates a vector command for moving the probe 220 from the current position to the next target point while autonomously adjusting the pushing amount.

The drive control unit 340 drives and controls the drive mechanism 230 and the rotary table 210 based on the vector command calculated by the movement command generation unit 330.

The error detection unit 350 outputs an error signal when it is determined that normal automatic measurement according to the measurement part program cannot be performed. For example, if the position of the probe 220 deviates from the originally designed trajectory beyond the permissible range, the automatic measurement after that is dangerous, so the error detection unit 350 determines that it is an error and outputs an error signal. Alternatively, if the target position and the current position deviate from the permissible range when the drive control unit 340 issues a drive signal to the shape measuring machine 200, the error detection unit 350 determines that an error occurs and outputs an error signal. Output.

The following are possible causes of the error, for example.
As an error caused by the work, it is conceivable that the processing error of the work is excessive or dust (dust or oil) adheres to the surface of the work. As an error caused by the shape measuring machine 200, it is conceivable that there is a trouble in the electrical system such as signal wiring or a trouble in the mechanical system such as distortion or dirt of the rail. Further, even if there is no trouble in the work or the measuring machine, it is possible that there is a trouble in the carry-in / out device 500 or an obstacle in the work carry-in route. It is also possible that the setting operation by the operator was incorrect.

The error signal from the error detection unit 350 is output to the movement command generation unit 330, the drive control unit 340, the host computer 400, the moving image buffer memory device 700, and the like.
Each function unit that receives the error signal performs an operation that is appropriately set according to the type of error. For example, when the movement command generation unit 330 receives an error signal, the generation of the vector command may be stopped, the movement speed of the probe 220 may be reduced to the minimum speed, or the probe 220 may be moved from the work. It may be evacuated (retraction).

A measurement manual controller 360 is connected to the motion controller 300. The measurement manual controller 360 has a joystick and various buttons, receives manual input operations from the operator, and sends the operator's operation command to the motion controller 300.

The host computer 400 can be configured by a so-called personal computer. The host computer 400 is configured to include a CPU (Central Processing Unit), a memory, and the like, and controls the shape measuring machine 200 via a motion controller 300.
The host computer 400 further includes a storage unit 410 and a shape analysis unit 420.
The storage unit 410 controls design data (CAD data, NURBS data, etc.) related to the shape of the object to be measured (work), measurement data obtained by measurement, and a measurement control program (measurement part program) that controls the entire measurement operation. To store.

Further, the storage unit 410 has an error information storage unit 430.
The error information storage unit 430 includes an error log storage unit 431 and a camera information storage unit 432.
The error log storage unit 431 receives and records an error log from the motion controller 300 when an error signal is output from the error detection unit 350. For example, the execution command of the measurement part program when an error occurs, the vector command (or coordinate command) generated by the movement command generation unit 330, the count value by the counter unit 320, and the type and value of the control signal of the drive control unit 340 are It is sent to the error log storage section as an error log and recorded.

The camera information storage unit 432 will be described later.

The shape analysis unit 420 calculates the surface shape data of the measurement object based on the measurement data output from the motion controller 300, and performs shape analysis to obtain the error and distortion of the calculated surface shape data of the measurement object. In addition, the shape analysis unit 420 is also responsible for arithmetic processing such as calculation of a probe trajectory from work design data (CAD data, NURBS data, etc.).

An output device (display or printer) and an input device (keyboard or mouse) are connected to the host computer 400, if necessary.

A loading / unloading device 500 is installed beside the shape measuring machine 200. The carry-in / out device 500 carries in / out the workpiece to be measured between the production line 20 and the shape measuring machine 200. It is widely used as a loading / unloading device 500 (Patent 6482244, Special Fair 02-062006), and a method of supplying a measurement object to a shape measuring machine 200 with a transport rail 510 (belt) mounted on it, a crane or a robot A method of picking up with the arm 520 may be used.

In FIG. 1, the loading / unloading device 500 is composed of a robot arm 520 installed beside the production line 20, a transport rail 510 for transporting a measurement object to a rotary table 210, and a loading / unloading operation panel 530. .. For example, the robot arm 520 picks up the workpiece to be measured from the production line 20 and puts it on the transport rail 510. The transport rail 510 transports the object to be measured to the rotary table 210 of the shape measuring machine 200. After the measurement is completed, the work may be conveyed in the opposite direction by the transfer rail 510, and the work may be returned to the production line 20 by the robot arm 520.

When mounting the rotary table 210 on the transport lane, a robot arm or a crane may be separately installed beside the shape measuring machine 200, or one side of the rotary table 210 may be lifted to tilt the rotary table 210. It would be good.

The loading / unloading operation panel 530 is used to perform a setting input operation for the loading / unloading device 500. For example, the loading / unloading operation panel 530 is used to turn on / off the power of the loading / unloading device 500 and perform various adjustments and settings.

In the example of FIG. 1, the loading and unloading of the object to be measured are carried out by the same robot arm 520 and the transport rail 510, but the loading and unloading are separately shared by the loading device and the unloading device, respectively. May be good.

When the object to be measured is supplied to the shape measuring machine 200 by the loading / unloading device 500, the shape measuring machine 200 automatically measures the object to be measured according to a measurement part program prepared in advance.
For example, when the work is placed on the rotary table 210, the shape of the work is measured after automatic centering, preliminary measurement for setting the coordinate system, and the like. After the shape is measured by the shape measuring machine 200, the work is carried out from the shape measuring machine 200 by the loading / unloading device 500 and sent to the next process.

Next, a plurality of surveillance cameras will be described.
As the surveillance cameras, a measurement space surveillance camera 610, a carry-in / out route surveillance camera 620, a measurement operation surveillance camera 630, and a carry-in / out operation surveillance camera 640 are provided.

The measurement space surveillance camera 610 is installed so as to include the measurement space of the shape measuring machine 200 in the imaging range. That is, the measurement space surveillance camera 610 targets both the probe 220 and the work. The method of attaching the measurement space monitoring camera 610 is not particularly limited, and it may be installed so as to include the measurement space of the shape measuring machine 200 in the imaging range. However, in FIG. 1, the shape measuring machine 200 is installed at the upper end as an example. An arm for suspending the camera is attached, and the camera is held by the tip of this arm.

The carry-in / out route monitoring camera 620 is installed so that the moving route in which the measurement object is carried from the line to the shape measuring machine 200 by the carry-in / out device 500 is the imaging range. That is, the carry-in / out route monitoring camera 620 targets the carry-in / out device 500 itself and the work carry-in route as imaging targets.

In FIG. 1, since the carry-in route and the carry-out route are the same, the carry-in route surveillance camera also serves as the carry-out route surveillance camera.
When the carry-in device and the carry-out device are provided separately and the carry-in route and the carry-out route cannot be covered by one camera, it is preferable to provide a surveillance camera for the carry-out route. If the entire loading / unloading route cannot be accommodated in the imaging area with one camera, two or more surveillance cameras 620 for the loading / unloading route may be provided. In the example of FIG. 1, an arm for suspending the camera is attached to the upper end of the shape measuring machine 200, and the camera is held by the tip of the arm.

The measurement operation monitoring camera 630 is installed so as to include the measurement manual controller 360 in the imaging range.
In the examples of FIGS. 1 and 2, since the measurement manual controller 360 and the motion controller 300 are connected by a wired cable, the measurement operation monitoring camera 630 is installed so that the range within which the wired cable can reach is approximately the imaging range. Just do it. When the manual controller and the motion controller 300 wirelessly communicate with each other, consider the area where the operator operates the measurement manual controller 360 while looking at the shape measuring machine 200, and capture a certain range in front of the shape measuring machine 200. It would be better to install the measurement operation monitoring camera 630 so as to. In the example of FIG. 1, an arm for suspending the camera is attached to the upper end of the motion controller 300, and the camera is held by the tip of the arm.

The carry-in / out operation monitoring camera 640 is installed so as to include the operation panel of the carry-in / out operation panel 530 in the imaging range. In the example of FIG. 1, an arm for suspending the camera is attached to the upper end of the loading / unloading operation panel 530, and the camera is held by the tip of the arm.

Since the method of installing the camera is not limited, for example, the camera may be hung from the ceiling, or a stand dedicated to the camera may be installed.

The surveillance camera 610-640 always shoots a moving image when the power is turned on, and the moving image data is sent to the moving image buffer memory device 700 and temporarily stored in a buffer. How long a moving image data can be stored in the moving image buffer memory device 700 depends on the capacity of the memory, so it cannot be unequivocally determined. It is sufficient to buffer up to the upper limit of memory resources, but since there are dozens of measuring instruments installed in the factory, there is naturally a limit to the time that can be buffered.

The moving image buffer memory device 700 includes a memory controller 710 and a storage unit 410. Since each video data is sent to the video buffer memory device 700 from the measurement space monitoring camera 610, the loading / unloading route monitoring camera 620, the measurement operation monitoring camera 630, and the loading / unloading operation monitoring camera 640. , They are buffered for a predetermined time as measurement space moving image data, loading / unloading route moving image data, measurement operation moving image data, and carrying-in operation moving image data.

Of course, the connection between the moving image buffer memory device 700 and each surveillance camera may be wireless or wired. In FIG. 4, only one set of measurement space video data, loading / unloading route video data, measurement operation video data, and loading operation video data is shown, but if a plurality of measuring machines are installed in the factory, the measuring machine can be used. For example, the storage unit is divided into sections so that as many sets of video data can be buffered.

The moving image data buffered in the moving image buffer memory device 700 is extracted at a predetermined timing and fixedly stored in the camera information storage unit 432.
This saving operation will be described with reference to the flowcharts of FIGS. 5, 6 and 7.
The moving image buffer memory device 700 includes each moving image data (measurement space) sent from the measurement space monitoring camera 610, the loading / unloading route monitoring camera 620, the measurement operation monitoring camera 630, and the loading / unloading operation monitoring camera 640. It receives (ST110) video data, import route video data, measurement operation video data, and import operation video data, and buffers them (ST120). However, since the memory capacity of the moving image buffer memory device 700 also has an upper limit, each buffer is buffered for a predetermined time, and if the upper limit is exceeded, the memory capacity is overwritten and deleted by first-in first-out.

Here, it is assumed that the error detection unit 350 detects an error during the operation of the shape measurement system 100. Then, an error signal is output from the error detection unit 350. The error signal is also sent to the host computer 400 and the moving image buffer memory device 700. When the moving image buffer memory device 700 receives an error signal (ST130: YES), each moving image data (measurement space moving image data, carry-in route moving image data, measurement operation moving image data, carrying-in operation moving image data) buffered at that time is input. It is extracted and sent to the host computer 400 (ST140).
(Of course, identify the motion controller that caused the error and send the set of video data corresponding to the error to the corresponding host computer.)
The host computer 400 fixedly records each moving image data (measurement space moving image data, import route moving image data, measurement operation moving image data, import operation moving image data) received from the moving image buffer memory device 700 in the camera information storage unit 432.

If this operation (ST110-ST140) is repeated, each video data (measurement space video data, carry-in route video data, measurement operation video data, carry-in operation video data) for a predetermined time is recorded retroactively from the time of the error occurrence. Will be. Therefore, when analyzing an error, the operator or the person in charge of repair first sees the moving image data stored in the camera information storage unit 432, and when an error occurs, the measuring machine 200, the loading / unloading device 500, the measurement manual controller 360, and the loading / unloading operation. The state of the panel 530 and the object to be measured can be confirmed. This can be expected to make it easier to understand the situation when an error occurs and to analyze the root cause of the error. For example, information that cannot be understood from the log alone can be obtained, such as dust (for example, shavings) adhering to the object to be measured or the object to be measured being tilted.

Further, it is preferable to provide another trigger condition for data storage for the measurement operation moving image data and the loading / unloading operation moving image data. The moving image buffer memory device 700 buffers the measurement operation moving image data and the loading / unloading operation moving image data sent from the measurement operation monitoring camera 630 and the loading / unloading operation monitoring camera 640 (ST110, ST120). Here, when there is no error detection (ST130: NO), the moving image buffer memory device 700 monitors the presence / absence of input signals of the measurement manual controller 360 and the loading / unloading operation panel 530 (ST210, ST310).

When the measurement manual controller 360 detects an input operation by the operator, an input detection signal is sent to the moving image buffer memory device 700 and the host computer 400. When the moving image buffer memory device 700 receives the input detection signal of the measurement manual controller 360 (ST210: YES), the moving image buffer memory device 700 sends the measurement operation moving image data to the camera information storage unit 432 of the host computer 400 and stores it (ST220). That is, the state in which the operator operates the measurement manual controller 360 is fixedly stored in the camera information storage unit 432 as moving image data.

There are several possible methods for this timing control, so an example will be given.
For example, when the moving image buffer memory device 700 receives the input detection signal of the measurement manual controller 360 (ST210: YES), first, the measurement operation moving image data buffered at that time is transmitted to the host computer 400 to perform camera information. It is fixedly stored in the storage unit 432 (ST220). While the input detection signal continues (ST230: YES), the video buffer memory device 700 transmits the measurement operation video data sent from the measurement operation monitoring camera 630 to the host computer 400, and sends the measurement operation video data to the camera information storage unit 432. It is stored fixedly (ST220).

Then, even if the input detection signal is interrupted (ST230: NO), the measurement operation video data is continuously transmitted from the video buffer memory device 700 to the host computer 400 for a predetermined time (several minutes). When the standby time elapses without the input detection signal (ST250: NO), the transmission of the measurement operation video data from the video buffer memory device 700 to the host computer 400 is stopped.

Similarly, when the loading / unloading operation panel 530 detects an input operation by the operator, the input detection signal is sent to the moving image buffer memory device 700 and the host computer 400. When the moving image buffer memory device 700 receives the input detection signal of the loading / unloading operation panel 530 (ST310: YES), the moving image buffer memory device 700 sends the loading / unloading operation moving image data to the camera information storage unit 432 of the host computer 400 and stores it (ST320). After that, until the standby time elapses without the input detection signal (ST350: NO), the import / export operation video data is transmitted from the video buffer memory device 700 to the host computer 400. That is, the state in which the operator operates the loading / unloading operation panel 530 is fixedly stored in the camera information storage unit 432 as moving image data.

By the operation of ST210-ST360, the operation of the measuring machine and the loading / unloading device 500 by the operator can be recorded as moving image data.
Since the carry-in / out device 500 and the shape measuring machine 200 start and stop the carry-in operation and the measurement operation at a predetermined set timing, the moving image data buffered at the timing of the error occurrence is extracted and saved. However, the state of operation by the operator is often not included in this stored data. In this case, even if the cause of the error is an erroneous operation by the operator, the cause of the error cannot be reproduced. Therefore, it is desirable to record all operator operations so that they can be used for later analysis, regardless of whether or not they lead to subsequent errors.

By utilizing the camera information saved as described above, it is expected that the cause of the error can be clarified at an early stage and the downtime of the measuring machine can be shortened as much as possible.

In many cases, when the measurement was performed automatically and unattended, it was almost unnoticed that there was a slight malfunction or a slightly abnormal operation. Or, even if an error log remains, if it operates normally after that, it tends to pass by without deep verification. In this regard, according to the present embodiment, if there is an error log, it is possible to immediately reproduce and observe the state at the time of error occurrence with the moving image data of the camera information storage unit 432. As a result, it becomes possible to notice a defect before it leads to a serious accident or failure, and it becomes easy to take measures to prevent an error or a failure.

(Second Embodiment)
Next, a second embodiment of the present invention will be described.
In the second embodiment, the image data of the measurement object captured by the measurement space monitoring camera 610 is used, and a preliminary check is performed before starting the measurement operation. This operation will be referred to as a preliminary check based on image data.

With the full-scale introduction of in-line measurement, the types of measurement targets will increase dramatically. For example, if measurement is performed for each machining process of each part, the types of measurement part programs will be enormous, and if the measurement target is the same part and only the machining process is different, the initial setting will be wrong. Situations that are likely to occur are occurring. In addition, since the measuring machine is installed near the processing machine, the probability of dust and oil adhering to the work itself or the measuring space is increasing. In addition, for example, in the case of 100% measurement, the number of measurement objects increases dramatically, so it is not always the case that the measurement objects are set correctly on the surface plate or rotary table, and there are problems such as tilting beyond the permissible range. The probability of is also high.

Therefore, before starting the measurement operation, a preliminary check is performed using the image data of the measurement space captured by the measurement space monitoring camera 610. The operation of the preliminary check will be described with reference to the flowcharts of FIGS. 8 and 9.

When the object to be measured is put into the shape measuring machine 200 (ST410), the host computer 400 receives the latest measurement space moving image data from the moving image buffer memory device 700 in real time (ST420). The fact that the object to be measured has been put into the shape measuring machine 200 may be recognized by an appropriate sensor (for example, a pressure sensor or an infrared sensor). For example, if a pressure sensor sheet or the like is provided on a rotary table (or a surface plate or a moving stage), the presence or absence of an object to be measured can be recognized by the weight.

The host computer 400 (shape analysis unit 420) performs a preliminary check based on the image data in the following procedure. First, the master data of the measurement target is called (ST430). The master data of the measurement object may be design data (CAD data) of the measurement object or image data obtained by capturing the master work in advance.

Then, the measurement object shown in the measurement space moving image data and the master data are collated to determine whether or not they match (ST441). For example, if the holes or grooves are not machined as designed, or if there is a clear uncut portion, the measurement target and the master data do not match, resulting in an error (ST470). Also, if the operator misunderstands that the type or setting of the measurement part program is wrong in the first place, a check is made here. If the image recognition technology improves, it may be possible to evaluate the processing error in detail, but even with the current technology, it is possible to determine the match / mismatch of geometric shapes. Therefore, it is possible to check whether the contour lines (outer lines) match / mismatch and the presence or absence of geometric shapes (holes, grooves, protrusions).

Next, it is checked whether the measurement object shown in the measurement space moving image data is correctly set on the rotary table (or surface plate, moving stage).
For example, it is checked whether or not the orientation and inclination of the object to be measured are within the allowable range (ST442). For example, if the object to be measured is a cylinder or a cylinder, it is determined whether or not the inclination of the central axis is within the allowable range. It is an error if the axis of the work is misaligned so that it cannot be handled by the alignment of the rotary table. Alternatively, if the object to be measured is longitudinal, it can be determined whether the orientations in the major axis direction and the minor axis direction are set correctly.

Then, it is checked whether dust or oil is attached to the measurement object shown in the measurement space moving image data (ST443). Further, it is checked whether or not dust is attached to the probe, particularly the tip of the probe, which is reflected in the measurement space moving image data (ST444).

If all the check items are cleared, the host computer 400 issues a measurement start command to the motion controller 300. If even one of the check items cannot be cleared, an error report (ST470) is performed.

When the shape measuring machine 200 automatically calibrates with the master ball, it is more preferable to check the dirt on the master ball by image recognition.

According to the second embodiment, it is possible to notice the cause of an error or failure before starting the measurement and automatically interrupt the measurement. Downtime can be minimized if the operator can stop the measurement and reconfigure it correctly before a serious accident occurs.

The present invention is not limited to the above embodiment, and can be appropriately modified without departing from the spirit.
In the above embodiment, the example in which the camera information storage unit 432 is provided in the host computer 400 has been described, but the camera information storage unit 432 may be a medium different from the host computer 400.
If each camera 610-640 is equipped with a sufficient memory, the memory may be used as a moving image buffer memory or a camera information storage unit.

10 ... processing machine, 20 ... production line,
100 ... Shape measurement system,
200 ... Shape measuring machine,
210 ... rotary table, 220 ... probe, 230 ... drive mechanism,
300 ... Motion controller,
310 ... Measurement command acquisition unit, 320 ... Counter unit, 330 ... Movement command generation unit, 340 ... Drive control unit, 350 ... Error detection unit,
360 ... Measurement manual controller,
400 ... Host computer,
410 ... storage unit, 420 ... shape analysis unit,
430 ... Error information storage unit, 431 ... Error log storage unit, 432 ... Camera information storage unit,
500 ... Carry-in / out device,
510 ... Transport rail, 520 ... Robot arm, 530 ... Carry-in / out operation panel,
610 ... Surveillance camera for measurement space,
620 ... Surveillance camera for loading / unloading routes,
630 ... Measurement operation surveillance camera,
640 ... Carry-in / out operation monitoring camera,
700 ... Video buffer memory device,
710 ... Memory controller.

Claims (2)

A shape measuring machine having a detector for detecting the surface of the object to be measured and a moving mechanism for relatively moving the detector and the object to be measured, and measuring the shape of the object to be measured with the detector. ,
A surveillance camera for measurement space provided so that the movable range of the detector or the object to be measured by the moving mechanism is the imaging range.
A storage unit that stores master data of the measurement object and
A shape measurement system equipped with a shape analysis unit.
The shape analysis unit
The measurement object shown in the measurement space moving image data captured by the measurement space surveillance camera is compared with the master data of the measurement object.
When it is determined that the two match, the shape measuring machine is started to start the measurement of the measurement object.
A shape measurement system characterized in that an error is reported when it is determined that the two do not match. In the shape measuring system according to claim 1,
Further, the shape analysis unit is
Based on the measurement space moving image data captured by the measurement space surveillance camera, it is determined whether or not at least one of the measurement object, the detector, and the calibration master ball is dirty.
When it is determined that there is no dirt, the shape measuring machine is started to start measuring the object to be measured.
A shape measurement system characterized in that an error is reported when it is determined that there is dirt.