JP2022063582A - Round rod body length measurement device and method - Google Patents

Abstract

To provide a round rod body length measurement device and round rod body length measurement method which can measure the length between two points along the longitudinal direction of a round rod body in a non-contact manner.SOLUTION: A round rod body length measurement device D according to the present invention for measuring the length between prescribed first and second points along the longitudinal direction in a round rod body being a measurement object in a non-contact manner comprises: an imaging unit 1 which images the round rod body from a first direction orthogonal to the axis of the round rod body; a distance measurement unit 2 which measures a distance to the round rod body surface from the imaging unit 1 from a second direction in parallel to the first direction on the plane including the axial direction along the axis of the round rod body and the first direction; a radius calculation unit 42 which calculates a radius of the round rod body on the basis of the image captured by the imaging unit 1; and a length calculation unit 43 which calculates the length between the first and second points on the basis of the image captured by the imaging unit 1, the distance measured by the distance measurement unit 2 and the radius obtained by the radius calculation unit 42.SELECTED DRAWING: Figure 1

Description

The present invention relates to a round bar length measuring device and a round bar length measuring method for measuring the length of a round bar, preferably a stepped round bar during hot forging, in a non-contact manner.

Conventionally, a round bar-shaped forged product such as a crankshaft is formed from the ingot by undergoing a forging process in which an ingot (ingot) heated to a high temperature (about 1000 ° C.) is pressed by hitting with a hammer or the like. .. In the forging process, the diameter of the forged material (forged work) being forged is measured once or a plurality of times during the forging process in order to form a forged product with high dimensional accuracy. In particular, forged materials for large forged products such as crankshafts of large ships and turbine rotors for power generation equipment (steel ingots with a weight of approximately 15 tons or more, a diameter of 300 to 1000 mm, and a length of several thousand mm). Then, the worker approaches the high-temperature forging material and brings the path or the like into contact with the surface of the forging material to measure the diameter. Such a measurement method is an extremely hot work for the operator because a large amount of high radiant heat is radiated from the forged material heated to a high temperature. Further, since the above-mentioned measurement method measures by artificial work, the measured values may vary. Therefore, for example, Patent Document 1 and Patent Document 2 disclose measurement techniques that enable mechanical measurement without contacting the forged material by using an image pickup means such as a camera.

The diameter measuring device disclosed in Patent Document 1 can take an image of a round bar-shaped object to be measured together with a background, and on the image obtained by the imaging, the diameter direction is passed through the axis of the object to be measured. Obtained by the image pickup means, a portable measuring head unit including an image pickup means for accommodating a pair of boundaries facing the image pickup means, and a measurement means for measuring the distance from the lens center of the image pickup means to the surface of the object to be measured. The optical axis of the image pickup means is orthogonal to the axis of the object to be measured and the signal processing unit provided with the calculation means for calculating the diameter of the object to be measured based on the image and the measurement value obtained by the measurement means. The optical axis orthogonal means for the purpose is provided.

The round bar diameter measuring device disclosed in Patent Document 2 includes a first acquisition unit for acquiring an image including a round bar region showing a side surface of a hot forged round bar, and an image pickup obtained by capturing the image. The second acquisition portion for acquiring the distance between the portion and the round bar, the upper edge indicating the boundary between the upper side of the round bar and the round bar, and the lower side of the round bar and the round bar. The diameter of the round bar is calculated based on the detection unit that detects the lower edge indicating the boundary with the body from the image, the distance, the position of the upper edge, and the position of the lower edge. 1 The calculation unit, the second calculation unit that calculates the deviation amount between the center of the image and the center of the round bar region in the direction intersecting the upper edge and the lower edge, and the deviation amount so as to be small. Also includes a control unit that controls an actuator that adjusts the optical axis of the image pickup unit.

Japanese Unexamined Patent Publication No. 2007-155357 Japanese Unexamined Patent Publication No. 2018-205256

By the way, in order to improve the dimensional accuracy, it may be necessary not only to measure the diameter of the round bar but also to measure the length between two points along the long direction of the round bar. However, Patent Document 1 and Patent Document 2 disclose a technique for measuring the diameter, but do not disclose a technique for measuring the length.

The present invention has been made in view of the above circumstances, and an object thereof is a round bar length measuring device and a round bar length measuring device capable of measuring the length between two points along the long direction of a round bar body in a non-contact manner. It is to provide a method of measuring a rod length.

As a result of various studies, the present inventor has found that the above object can be achieved by the following invention. That is, the round bar length measuring device according to one aspect of the present invention is a device that non-contactly measures the length between a predetermined first and second points along a long direction in a round bar body to be measured. In a plane including the image pickup unit that images the round bar body, the axial direction along the axis of the round bar body, and the first direction from the first direction orthogonal to the axis of the round bar body. A distance measuring unit that measures the distance from the image pickup unit to the surface of the round bar from the second direction parallel to the first direction, and the round bar body based on the image captured by the image pickup unit. Between the first and second points based on the image captured by the image pickup unit, the distance measured by the distance measurement unit, and the radius obtained by the radius calculation unit. It is provided with a length calculation unit for obtaining a length. Preferably, in the above-mentioned round bar length measuring device, the round bar body is being hot forged. Preferably, in the above-mentioned round bar length measuring device, the round bar is a stepped round bar having a plurality of regions having different radii from each other along the long direction. Preferably, in the above-mentioned round bar length measuring device, the axial position of the distance measuring unit is fixed during the measurement. Preferably, in the above-mentioned round bar length measuring device, the imaging unit includes an infrared transmission type bandpass filter that transmits only infrared rays in a predetermined wavelength range.

Such a round bar length measuring device is a length between the first and second points based on the image captured by the imaging unit, the distance measured by the distance measuring unit, and the radius obtained by the radius calculation unit. Therefore, the length between two points along the long direction of the round bar can be measured in a non-contact manner.

In another aspect, in the above-mentioned round bar length measuring device, the imaging direction of the imaging unit coincides with the first direction, and the measuring direction of the distance measuring unit coincides with the second direction. It is further provided with an adjustment unit for adjusting the method. Preferably, in the above-mentioned round bar length measuring device, the adjusting unit is based on a moving mechanism that moves the image pickup direction of the image pickup unit and the measurement direction of the distance measurement unit, and an image captured by the image pickup unit. The edge center line between the edge extraction processing unit that extracts the upper edge and the lower edge of the round bar body in the image and the upper edge and the lower edge extracted by the edge extraction processing unit is the image pickup unit. It is provided with a movement control unit that controls the movement mechanism so as to coincide with the image center line between the upper end and the lower end in the captured image. Preferably, in the above-mentioned round bar length measuring device, the edge extraction processing unit causes the image captured by the imaging unit to act on a predetermined edge filter (for example, a differential filter such as a Sobel filter). The upper edge and the lower edge of the round bar body are extracted. Preferably, in the above-mentioned round bar length measuring device, the display unit that displays the image captured by the image pickup unit and the upper edge and the lower side of the round bar body with respect to the image displayed on the display unit. Further including an input unit for inputting an edge, the edge extraction processing unit further comprises an upper edge and a lower edge in the round bar body in the image by means of the upper edge and the lower edge input from the input unit. Extract.

Since such a round bar length measuring device includes an adjusting unit, the imaging direction of the imaging unit can be matched with the first direction, and the measuring direction of the distance measuring unit can be matched with the second direction.

In another aspect, in the above-mentioned round bar length measuring device, the round bar is a stepped round bar having a plurality of regions having different radii from each other along the long direction, and the radius calculation. The unit is a reference region in which the distance is measured by the distance measuring unit in the plurality of regions, and the stepped round bar body in each of the first and second regions corresponding to the first and second points, respectively. The reference radius and the first and second radius of the Based on the first radius, the first length from the position of the intersection of the axis of the round bar body and the imaging direction of the imaging unit to the first point is obtained, and the image captured by the imaging unit, the distance. From the position of the intersection of the axis of the round bar and the imaging direction of the imaging unit to the second point based on the distance measured by the measuring unit and the reference radius and the second radius obtained by the radius calculation unit. The second length of the above is obtained, and the sum of the first length and the second length is obtained as the length between the first and second points.

Such a round bar length measuring device can measure the length between two points along the long direction in a non-contact manner even when the round bar is a stepped round bar.

In another aspect, these above-mentioned round bar length measuring devices further include an input unit for inputting each of the first and second points.

Since such a round bar length measuring device includes an input unit, it is possible to measure the length between two desired points.

The method for measuring the length of a round bar according to another aspect of the present invention is a method of measuring the length between predetermined first and second points along a long direction in a round bar to be measured in a non-contact manner. The image pickup step of imaging the round bar body by the imaging unit from the first direction orthogonal to the axis of the round bar body, the axial direction along the axis of the round bar body, and the first direction are included. A distance measurement step of measuring the distance from the image pickup unit to the surface of the round bar from the second direction on a plane and parallel to the first direction, and an image captured by the image pickup unit. Based on the radius calculation step of obtaining the radius of the round bar body, the image captured in the imaging step, the distance measured in the distance measurement step, and the radius obtained in the radius calculation step, the first And a length calculation step for obtaining the length between the second points.

Such a round bar length measuring method is a length between the first and second points based on the image captured in the imaging step, the distance measured in the distance measuring step, and the radius obtained in the radius calculation step. Therefore, the length between two points along the long direction of the round bar can be measured in a non-contact manner.

The round bar length measuring device and the round bar length measuring method according to the present invention can measure the length between two points along the long direction of the round bar body in a non-contact manner.

It is a block diagram which shows the structure of the round bar body length measuring apparatus in an embodiment. It is a schematic top view for demonstrating the state of measuring a stepped round bar body using the round bar body length measuring apparatus. It is a schematic side view for demonstrating the state of measuring a stepped round bar body using the round bar body length measuring apparatus. It is a schematic diagram for demonstrating the direction adjustment in the round bar body length measuring apparatus. It is a schematic diagram for demonstrating how to obtain the radius of the 4th region (central region) in a stepped round bar body using the round bar body length measuring apparatus. It is a schematic diagram for demonstrating how to obtain the radius of the 3rd region (the region corresponding to the 1st point) in a stepped round bar body using the round bar body length measuring apparatus. It is a schematic diagram for demonstrating how to obtain the length between two points in a stepped round bar body using the round bar body length measuring apparatus. As an example, it is a schematic diagram which shows the two-point input result display screen displayed on the round bar body length measuring apparatus. It is a flowchart which shows the operation of the round bar body length measuring apparatus. It is a schematic diagram for demonstrating the method of finding the distance between two points in a non-stepped round bar body (round bar body of the same diameter). It is a schematic diagram for demonstrating the deformation form of the adjustment part in the round bar body length measuring apparatus. It is a schematic diagram for demonstrating the deformation form.

Hereinafter, one or more embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the disclosed embodiments. It should be noted that the configurations with the same reference numerals in the respective drawings indicate the same configurations, and the description thereof will be omitted as appropriate. In the present specification, when they are generically referred to, they are indicated by reference numerals without subscripts, and when they refer to individual configurations, they are indicated by reference numerals with subscripts.

The round bar length measuring device according to the embodiment is a device that non-contactly measures the length between a predetermined first and second points along a long direction in a round bar body to be measured. This round bar length measuring device includes an image pickup unit that images the round bar from a first direction orthogonal to the axis of the round bar, an axial direction along the axis of the round bar, and the first direction. Based on the distance measuring unit that measures the distance from the image pickup unit to the surface of the round bar from the second direction parallel to the first direction, and the image captured by the image pickup unit. The first and first are based on the radius calculation unit for obtaining the radius of the round bar, the image captured by the image pickup unit, the distance measured by the distance measurement unit, and the radius obtained by the radius calculation unit. It is provided with a length calculation unit for obtaining the length between two points. Hereinafter, such a round bar length measuring device will be described more specifically.

FIG. 1 is a block diagram showing a configuration of a round bar body length measuring device according to an embodiment. FIG. 2 is a schematic top view for explaining how the stepped round bar body is measured by using the round bar body length measuring device. FIG. 3 is a schematic side view for explaining how the stepped round bar body is measured by using the round bar body length measuring device. FIG. 4 is a schematic diagram for explaining the direction adjustment in the round bar body length measuring device. FIG. 4A schematically shows the image IM1 before the direction adjustment, and FIG. 4B schematically shows the image IM2 after the direction adjustment. FIG. 5 is a schematic diagram for explaining how to obtain the radius of the fourth region (central region) in the stepped round bar using the round bar length measuring device. FIG. 5A schematically shows the image after the direction adjustment as an example, and FIG. 5B shows the radius _R0 of the stepped round bar Ob and the stepped round bar Ob from the imaging unit 1 in the fourth region PT4. The distance L ₀ to the surface of the image, the focal length f of the image pickup unit, and the y direction (vertical direction, vertical direction) in the image of the stepped round bar body in the image pickup unit 1 (the image of the stepped round bar body on the image sensor). ) Is shown to be related to the length ΔY ₀ . FIG. 6 is a schematic diagram for explaining how to obtain the radius of the third region (region corresponding to the first point) in the stepped round bar using the round bar length measuring device. FIG. 6A schematically shows the image IM2 after the direction adjustment as an example, and FIG. 6B shows the radius R1 of the stepped round bar Ob in the third region PT3 and the imaging unit ₁ in the fourth region PT4. The distance L ₀ from to the surface of the stepped round bar Ob, the focal length f of the image pickup unit, and the length in the y direction in the image of the stepped round bar Ob in the image pickup unit 1 in the third region PT3 Δ. The relationship with Y ₁ is shown. FIG. 7 is a schematic diagram for explaining how to obtain the length between two points in the stepped round bar using the round bar length measuring device. FIG. 7A schematically shows the image IM2 after the direction adjustment as an example, and FIG. 7B shows the length ΔX between two points along the long direction in the stepped round bar Ob, and the third and fourth images. The distances L ₁ , L ₀ , L ₂ from the image pickup unit 1 in the sixth region PT3, PT4, and PT6 to the surface of the stepped round bar Ob, the focal length f of the image pickup unit, and the stepped step in the image pickup unit 1. The relationship with the length in the x direction (horizontal direction, left-right direction) in the image of the round bar Ob is shown. FIG. 8 is a schematic view showing a two-point input result display screen displayed on the round bar body length measuring device as an example.

The round bar length measuring device D in the embodiment is a device that non-contactly measures the length between a predetermined first and second points along a long direction in a round bar body to be measured.

The round bar is a solid cylindrical or hollow cylindrical member, and may be a non-stepped round bar (same diameter round bar) having no steps having the same diameter along the long direction. However, preferably, as shown in FIG. 2, it is a stepped round bar Ob having a plurality of region PTs having different radii from each other along the longitudinal direction. Therefore, the axes of the regions PT in the stepped round bar Ob are aligned coaxially. In the example shown in FIG. 2, the stepped round bar Ob has seven regions PT1 to PT7 along the longitudinal direction. The number of region PTs in the stepped round bar Ob is arbitrary. The round bar is preferably a forged material (forged work) during hot forging, which is a solid columnar shape, as shown in FIG. 2. More specifically, the stepped round bar Ob is a solid columnar body having a high temperature of about 600 to 1000 ° C. at which hot forging is possible, and one end thereof is gripped by the manipulator MP. Is supported and beaten by the press PM to adjust its radius. The manipulator MP can rotate the stepped round bar body Ob and move the stepped round bar body Ob along the elongated direction. As a result, the part hit by the press machine PM can be changed. By operating the manipulator MP and the press machine PM, the operator changes the hitting point on the forged material during hot forging, processes the forged material to a desired diameter and length, and manufactures a stepped round bar body Ob. .. Hereinafter, as the round bar body, such a stepped round bar body Ob will be described as an example.

As described above, the round bar length measuring device D preferably used for measuring the length of the stepped round bar Ob during hot forging is, for example, with the imaging unit 1 as shown in FIGS. 1 to 3. A distance measuring unit 2, an adjusting unit 3, a control processing unit 4, an input unit 5, a display unit 6, an interface unit (IF unit) 7, and a storage unit 8 are provided.

The image pickup unit 1 is connected to the control processing unit 4 by wire or wirelessly, and according to the control of the control processing unit 4, the stepped round bar body is formed from a first direction orthogonal to the axis (axial direction) of the stepped round bar body Ob. It is a device that captures an image of Ob. The image pickup unit 1 may be, for example, a digital camera that generates an image of visible light, but in the present embodiment, it is a digital infrared camera that generates an image of infrared light. Such an image pickup unit 1 is, for example, an imaging optical system that forms an infrared optical image of an image pickup target on a predetermined image formation surface, and the light receiving surface is arranged so as to coincide with the image formation surface, and the image pickup is performed. An image sensor that converts an infrared optical image of an object into an electrical signal, and an image process that generates image data that represents an infrared image of the imaged object by image processing the output of the image sensor. It is a digital infrared camera equipped with a part and the like. The image pickup unit 1 is preferably provided with an autofocus function (automatic focus function) that automatically focuses on the subject, but may be manually focused or may be a fixed focus type. Since the stepped round bar Ob during hot forging is glowing red, the image pickup unit 1 preferably includes an infrared transmission type bandpass filter that transmits only infrared rays in a predetermined wavelength range. As a result, in the image in which the stepped round bar Ob is imprinted, the image portion of the stepped round bar Ob becomes bright, while the image portion of the background becomes dark. The edge of the round bar Ob is easily extracted. The image pickup unit 1 outputs an image (image data) generated by imaging the stepped round bar Ob to the control processing unit 4.

The distance measuring unit 2 is connected to the control processing unit 4 by wire or wirelessly, and is on a plane including an axial direction along the axis of the stepped round bar Ob and the first direction according to the control of the control processing unit 4. This is a device for measuring the distance from the image pickup unit 1 to the surface of the stepped round bar Ob from the second direction parallel to the first direction. More specifically, the distance measuring unit 2 measures the distance from the principal point of the imaging optical system in the imaging unit 1 to the surface of the stepped round bar Ob. The distance measuring unit 2 is configured to include, for example, a laser range finder or the like. The distance measuring unit 2 outputs the measurement result, the distance from the imaging unit 1 to the surface of the stepped round bar Ob, to the control processing unit 4.

The adjusting unit 3 so that the imaging direction of the imaging unit 1 (the optical axis of the imaging optical system) coincides with the first direction, and the measuring direction of the distance measuring unit 2 coincides with the second direction. It is a device that adjusts to. More specifically, the adjusting unit 3 is connected to the control processing unit 4 by wire or wirelessly, and the moving mechanism 31 moves the image pickup direction of the image pickup unit 1 and the measurement direction of the distance measurement unit 2 under the control of the control processing unit 4. The edge extraction processing unit 32 (44) that extracts the upper edge and the lower edge of the stepped round bar in the image based on the image captured by the imaging unit 1 and the edge extraction processing unit 32 (44). A movement control unit that controls the movement mechanism 31 so that the edge center line between the upper edge and the lower edge extracted in step 1 coincides with the image center line between the upper end and the lower end of the image captured by the image pickup unit 1. 33 (45) is provided.

The moving mechanism 31 includes, for example, a guide member 311, an arrangement member 312, and a moving portion 313, as shown in FIGS. 2 and 3. The guide member 311 stands along the normal direction of the plane including the axial direction and the first direction (the third direction orthogonal to the axial direction and the first direction (second direction), respectively). It is a rod-shaped (rod-shaped) member to be installed. The disposing member 312 arranges the image pickup unit 1 and the distance measurement unit 2 so that the image pickup direction of the image pickup unit 1 and the measurement direction of the distance measurement unit 2 are parallel to each other in the same plane (same height). It is a plate-shaped member. The image pickup unit 1 and the distance measurement unit 2 are arranged close to each other so that the distance to the surface of the stepped round bar Ob in the region PT corresponding to the image pickup direction of the image pickup unit 1 can be measured. The moving portion 313 is attached to one end of the disposing member 312, and the same plane including the imaging direction of the imaging unit 1 and the measuring direction of the distance measuring unit 2 has the axial direction and the first direction. It is movably attached to the guide member 311 so as to be parallel to the plane including the above. The moving portion 313 is guided by the guide member 311 to move the disposing member 312 along the normal direction while maintaining the parallelism. For example, it is a so-called rack and pinion including a rack formed on the guide member 311 along the normal direction and a pinion attached to the drive portion, and the moving portion 313 is guided and arranged by the guide member 311. The setting member 312 is moved.

The edge extraction processing unit 32 (44) and the movement control unit 33 (45) are functionally configured in the control processing unit 4, and these will be described later.

The input unit 5 is connected to the control processing unit 4, and is connected to, for example, various commands such as a command for instructing the start of length measurement, the name (lot number, etc.) of the stepped round bar Ob to be measured, and the above. It is a device that inputs various data necessary for operating the round bar body length measuring device D, such as the first and second points for obtaining the length, to the round bar body length measuring device D, for example, a predetermined function. Multiple input switches, keyboards, mice, etc. assigned. The display unit 6 is connected to the control processing unit 4, and outputs commands and data input from the input unit 5, the length between the first and second points which are measurement results, and the like according to the control of the control processing unit 4. Such as a display device such as a CRT display, a liquid crystal display, and an organic EL display.

The IF unit 7 is a circuit that is connected to the control processing unit 4 and inputs / outputs data to / from an external device according to the control of the control processing unit 4, for example, an interface circuit of RS-232C which is a serial communication method. , An interface circuit using the Bluetooth (registered trademark) standard, an interface circuit for performing infrared communication such as the IrDA (Infrared Data Association) standard, and an interface circuit using the USB (Universal Serial Bus) standard. Further, the IF unit 7 is a circuit that communicates with an external device, and may be, for example, a data communication card, a communication interface circuit according to the IEEE802.11 standard, or the like.

The storage unit 8 is a circuit connected to the control processing unit 4 and stores various predetermined programs and various predetermined data according to the control of the control processing unit 4. The various predetermined programs include, for example, a control processing program, and the control processing program includes parts 1 to 3, 5 to 8 of the round bar length measuring device D according to the functions of the parts, respectively. A control program to control, a radius calculation program for obtaining the radius of the stepped round bar Ob based on the image captured by the imaging unit 1, an image captured by the imaging unit 1, and a distance measured by the distance measuring unit 2. Further, a length calculation program for obtaining the length between the first and second points based on the radius obtained by the radius calculation program, and a step in the image based on the image captured by the image pickup unit 1. The edge extraction processing program for extracting the upper edge and the lower edge of the round bar Ob, and the edge center line between the upper edge and the lower edge extracted by the edge extraction processing program were imaged by the image pickup unit 1. A movement control program or the like that controls the movement mechanism 31 so as to coincide with the image center line between the upper end and the lower end in the image is included. The various predetermined data include, for example, the first and second positions of the first and second points input from the input unit 5, the image (image data) generated by the image pickup unit 1, and the distance measurement unit 2. It includes data necessary for executing each of these programs, such as the distance measured and the focal length of the image pickup unit 1. Such a storage unit 8 includes, for example, a ROM (Read Only Memory) which is a non-volatile storage element, an EEPROM (Electrically Erasable Programmable Read Only Memory) which is a rewritable non-volatile storage element, and the like. The storage unit 8 includes a RAM (Random Access Memory) or the like that serves as a working memory of the so-called control processing unit 4 that stores data or the like generated during the execution of the predetermined program. The storage unit 8 may be provided with a hard disk device capable of storing a large capacity.

The control processing unit 4 controls each part 1 to 3, 5 to 8 of the round bar body length measuring device D according to the function of each part, and is a predetermined first unit along the long direction in the stepped round bar body Ob. It is a circuit for measuring the length between the second point and the second point in a non-contact manner. The control processing unit 4 includes, for example, a CPU (Central Processing Unit) and its peripheral circuits. By executing the control processing program, the control processing unit 4 has a control unit 41, a radius calculation unit 42, a length calculation unit 43, an edge extraction processing unit 44 (32), and a movement control unit 45 (33). Functionally configured. The edge extraction processing unit 44 (32) and the movement control unit 45 (33) together with the above-mentioned movement mechanism 31 constitute an adjustment unit 3.

The control unit 41 controls each part 1 to 3, 5 to 8 of the round bar body length measuring device D according to the function of each part, and controls the entire round bar body length measuring device D.

The edge extraction processing unit 44 (32) extracts the upper edge and the lower edge of the stepped round bar Ob in the image based on the image captured by the image pickup unit 1. More specifically, the edge extraction processing unit 44 applies a predetermined edge filter (for example, a differential filter such as a Sobel filter) to the image captured by the image pickup unit 1 to act on the upper side of the stepped round bar Ob. Extract edges and lower edges. For example, by imaging the stepped round bar Ob in the imaging unit 1, an image IM1 in which the stepped round bar Ob shown in FIG. 4A is imprinted is generated, and a sobel filter is applied to this image IM1. Extracts the upper edge UE4 and the lower edge DE4 in the image IMO of the stepped round bar Ob. As shown in FIG. 4A, on the paper of FIG. 4A, the xy orthogonal coordinate system in which the apex of the image IM1 in the upper left is the coordinate origin, the upper end of the image IM1 is the x-axis, and the left end of the image IM1 is the y-axis is the image IM1. When set, in the example shown in FIG. 4A, the upper edge UP4 is determined to be y = y ₁ , and the lower edge DE is determined to be y = y ₂ . Here, the upper edge UE4 and the lower edge DE4 were extracted in the fourth region PT4 of the stepped round bar body Ob, but when used in the movement control unit 45 (33), the other regions PT1 to PT3 and PT5 The upper edge UE and the lower edge DE may be extracted by PT7. In order to more accurately adjust the imaging direction of the imaging unit 1 to match the first direction and to adjust the measuring direction of the distance measuring unit 2 to match the second direction, the upper edge UE and the lower side It is preferable that the upper edge UE and the lower edge DE are extracted in the region PT having a wide distance from the side edge DE. More specifically, by applying a sobel filter to the image IM1, the upper edges UE1 to UE7 and the lower edges DE1 to DE7 in each region PT1 to PT7 in the image IMO of the stepped round bar Ob are obtained. , The upper edge UE and the lower edge DE with the widest spacing among them are extracted. Further, when the position is adjusted by the movement control unit 45 (33), the center line of the edge can be obtained separately in each region PT, and the average value thereof can be used as the midpoint to improve the accuracy. In the image IM1 shown in FIG. 4A, the point ● LP is an image LP of the laser light emitted from the laser rangefinder to the stepped round bar Ob when the distance measuring unit 2 is a laser rangefinder. The same applies to FIGS. 4B, 5A, 6A, 7A and 10A.

In the above description, the upper edge UE and the lower edge DE are extracted by using a predetermined edge filter, but may be extracted by using a so-called linear Hough transform after using the predetermined edge filter. ..

In the movement control unit 45 (33), the edge center line between the upper edge and the lower edge extracted by the edge extraction processing unit 44 (32) is between the upper end and the lower end of the image captured by the image pickup unit 1. The movement mechanism 31 is controlled so as to coincide with the image center line. For example, as shown in FIG. 4A, the edge center line AX (y) between the upper edge UE 4 (y = y ₁ ) and the lower edge DE 4 (y = y ₂ ) extracted by the edge extraction processing unit 44 (32). The movement mechanism 31 is controlled so that = (y ₁ + y ₂ ) / 2) coincides with the image center line CL2 (y = y ₀ ) between the upper end and the lower end in the image captured by the imaging unit 1. The image captured by the image pickup unit 1 in the state is the image IM2 shown in FIG. 4B. Here, the edge center line AX corresponds to the axis AX of the stepped round bar Ob, and the image center line CL2 is located at the center of the vertical direction (vertical direction) in the field of view of the image pickup unit 1 and is located in the image pickup unit 1. It corresponds to the second field center line CL2, which is a straight line along the horizontal direction (horizontal direction) of the field. The first visual field center line CL1 (x = x ₀ ) is located at the center in the horizontal direction in the visual field of the image pickup unit 1 and is a straight line along the vertical direction of the visual field in the image pickup unit 1. By the control of the movement control unit 45 (33), the deviation amount ΔA between the edge center line AX and the image center line CL2 shown in FIG. 4A becomes 0 as shown in FIG. 4B (ΔA = 0), and FIGS. 2 and 2 and As shown in FIG. 3, the image pickup unit 1 and the distance measurement unit 2 arranged on the arrangement member 312 are such that the image pickup direction of the image pickup unit 1 coincides with the first direction and the distance measurement unit 2 is used. The measurement direction is integrally adjusted so as to coincide with the second direction.

The control unit 41 acquires the first and second positions of the first and second points whose lengths are desired to be measured via the input unit 5, and stores them in the storage unit 8. More specifically, first, the control unit 41 was obtained by adjusting the image pickup direction of the image pickup unit 1 and the measurement direction of the distance measurement unit 2 by the movement control unit 45 (33) and then causing the image pickup unit 1 to take an image. An image is acquired from the image pickup unit 1, the distance is measured by the distance measurement unit 2, the distance is acquired from the distance measurement unit 2, and the acquired image is displayed on the display unit 6. For example, the control unit 41 displays an image of the stepped round bar Ob, inputs the first and second positions of the first and second points for which the length is desired to be measured, and is measured. The acquired image is displayed on the display unit 6 by using the two-point input result display screen for displaying the length between the first and second points.

As shown in FIG. 8, for example, the two-point input result display screen 61 displays an image display area 62, which is an area for displaying an image IM obtained by imaging with the image pickup unit 1, and a reference radius. The reference radius display area 63, which is an area of the above, the first radius display area 64, which is an area for displaying the first radius, the second radius display area 65, which is an area for displaying the second radius, and the second. A two-point length display area 66 for displaying the length between the first and second points is provided. In the image display area 62, the first and second cursors CS-1 and CS-2 are displayed as straight lines extending in the vertical direction so as to be superimposed on the image IM displayed in the image display area 62. The third and fourth cursors CS-3 and CS-4 are displayed by a straight line of a broken line extending in the vertical direction, the first field center line CL1 is displayed by a straight line of a one-point chain line extending in the vertical direction, and the second field center line CL2 is displayed. Is displayed as a straight line of a single point chain line extending in the horizontal direction. The first cursor CS-1 is a mark indicating the input position of the first point P1, and the intersection of the straight line first cursor CS-1 and the second visual field center line CL2 is input from the input unit 5. This is the input position of the point P1. The second cursor CS-2 is a mark indicating the input position of the second point P2, and the intersection of the straight second cursor CS-2 and the second visual field center line CL2 is input from the input unit 5. This is the input position of the point P2. The first and second cursors CS-1 and CS-2 are moved left and right in the image display area 62 by a mouse, which is an example of the input unit 5, respectively, and the first and second cursors CS-1 and CS-2 are linear first by the left-click input operation of the mouse. The intersections of the 1st and 2nd cursors CS-1, SC-2 and the 2nd field center line CL2 are input to the round bar length measuring device D as the 1st and 2nd positions of the 1st and 2nd points P1 and P2. Will be done. The third cursor CS-3 is a mark indicating an input position of the first radius measurement region corresponding to the first point P1, and the region PT of the stepped round bar body Ob overlapping with the straight third cursor CS-3 is the third. 1 Radius measurement area. The fourth cursor CS-4 is a mark indicating the input position of the second radius measurement region corresponding to the second point P2, and the region PT of the stepped round bar body Ob that overlaps with the straight fourth cursor CS-4 is the first. 2 Radius measurement area. The first and second radii of the first and second radius measurement regions, respectively, are obtained by the radius calculation unit 42 as described later.

In the above, the first and second radius measurement areas are designated and input by the third and fourth cursors CS-3 and CS-4, respectively, but in the image IM, the area including the first point P1 or the area including the first point P1 or A region adjacent to the first point P1 near the center position of the stepped round bar Ob is automatically obtained by the control unit 41 as the first radius measurement region, and includes the second point P2 in the image IM. A region or a region adjacent to the second point P2 near the center position of the stepped round bar Ob may be automatically obtained by the control unit 41 as the second radius measurement region.

The radius calculation unit 42 obtains the radius of the stepped round bar Ob based on the image captured by the image pickup unit 1. More specifically, in the present embodiment, the radius calculation unit 42 includes the reference region in which the distance is measured by the distance measurement unit 2 in the plurality of regions PT, and the first and second points P1 and P2, respectively. The reference radius and the first and second radii of the stepped round bar Ob in each of the first and second radius measurement regions corresponding to the above are obtained. Here, the radius calculation unit 42 detects the reference region in which the distance is measured by the distance measurement unit 2, and the laser spot PL reflected in the image IM2 when the distance measurement unit 2 is a laser distance meter. Alternatively, the radius calculation unit 42 may specify, or the radius calculation unit 42 may measure the distance to the surface of the stepped round bar Ob in the region PT of the stepped round bar body Ob corresponding to the image pickup direction of the image pickup unit 1 so that the distance measurement unit 2 can measure the distance to the surface. When arranged in, the region reflected in the center position of the adjusted image IM2 may be used as a reference region for which the distance is measured by the distance measuring unit 2.

For example, in the examples shown in FIGS. 5 and 8, the reference region is the fourth region PT in which the distance _L0 is measured by the distance measuring unit 2, and the first radius measuring region is the image IM2. The third region PT3 is adjacent to the first point P1 near the center position of the stepped round bar Ob, and the second radius measurement region is the stepped round bar Ob at the second point P2 in the image IM2. It is the sixth region PT6 adjacent to the center position of.

First, the radius calculation unit 42 includes the upper edge UE 4 and the lower edge DE 4 in the fourth region PT4 of the reference region, the distance L ₀ measured by the distance measurement unit 2, the focal distance f of the image pickup unit 1, and the image pickup unit 1. Based on the size (size) Kv of one pixel in the direction corresponding to the y direction (vertical direction, vertical direction) in the image sensor of the above, the radius R ₀ of the stepped round bar Ob in the fourth region PT4 of the reference region. Is calculated as the reference radius R ₀ . More specifically, the radius calculation unit 42 obtains the upper edge UE4 and the lower edge DE4 in the fourth region PT4 of the reference region from the image IM2 that is focused and captured, and the obtained upper edge UE4 and the lower side. The number of pixels Δy0 between the edge DE4 and the edge DE4 is determined as the number of pixels _Δy0 in which the image of the fourth region PT4 is reflected on the image sensor of the image pickup unit ₁ , and the determined number of pixels _Δy0 is determined. By multiplying the size Kv [mm] of the one pixel, the actual length ΔY ₀ in the direction corresponding to the y direction in the image of the fourth region PT4 reflected on the image sensor of the image pickup unit 1 is obtained. Then, as shown in FIG. 5B, the radius calculation unit 42 uses the following equations 1 and 2 understood from the similarity of the triangles, and the radius R ₀ [mm] of the stepped round bar body Ob in the fourth region PT4. ] As the reference radius R ₀ .
Equation 1; R ₀ = (L ₀ × sinθ ₀ ) / (1-sinθ ₀ )
Equation 2; tan θ ₀ = ΔY ₀ / (2 × f)

Here, when the distance measuring unit 2 is arranged on the disposing member 312 so as to measure the distance from the main point of the imaging optical system in the imaging unit 1 to the surface of the stepped round bar Ob. As described above, the radius of the stepped round bar Ob can be obtained, but the stepped circle is obtained from the position where the distance measuring unit 2 is deviated from the main point of the imaging optical system in the imaging unit 1. When the rod is arranged on the arrangement member 312 so as to measure the distance to the surface of the rod Ob, the amount of the positional deviation (distance measurement with respect to the position of the main point and the position of the main point). The amount of deviation from the arrangement position of the unit 2) is stored in advance in the storage unit 8 as one of the various data, and the radius calculation unit 42 uses the distance L0 measured by the distance measurement unit 2 as the displacement amount. The radius R of the stepped round bar Ob is obtained by correction.

Next, the radius calculation unit 42 includes the upper edge UE 3 and the lower edge DE 3 in the third region PT3 of the first radius measurement region, the distance L ₀ measured by the distance measurement unit 2, the focal distance f of the image pickup unit 1, and the focal distance f. Based on the size (size) Kv of one pixel in the direction (vertical direction, vertical direction) corresponding to the y direction in the image sensor of the image pickup unit 1, the stepped circle in the third region PT3 of the first radius measurement region. The radius R ₁ of the rod body Ob is obtained as the first radius R ₁ . More specifically, as shown in FIG. 6A, for example, the radius calculation unit 42 obtains the upper edge UE3 and the lower edge DE3 in the third region PT3 of the first radius measurement region from the image IM2, and obtains the upper side. The number of pixels Δy1 between the edge UE 3 and the lower edge DE3 is determined as the _number of pixels Δy1 in which the image of the third region PT3 is reflected on the image sensor of the image pickup unit ₁ , and the determined number of pixels is obtained. By multiplying Δy 1 by the size Kv [mm] of the 1 pixel, the actual length ΔY ₁ in the direction corresponding to the y direction in the image of the third region PT3 reflected in the image sensor of the imaging unit ₁ . Ask for. Then, as shown in FIG. 6B, the radius calculation unit 42 uses the following equations 3 and 4 understood from the similarity of the triangles, and the radius R ₁ [mm of the stepped round bar body Ob in the third region PT3. ] Is obtained as the _first radius R1.
Equation 3; R ₁ = (L ₀ + R ₀ ) × sin θ ₁
Equation 4; tan θ ₁ = ΔY ₁ / (2 × f)

Similarly, the radius calculation unit 42 includes the upper edge UE 6 and the lower edge DE6 in the sixth region PT6 of the second radius measurement region, the distance L0 measured by the distance measurement unit 2, the focal distance f of the image pickup unit 1, and the radius calculation unit 42. A stepped round bar in the sixth region PT6 of the second radius measurement region based on the size (size) Kv of one pixel in the direction corresponding to the y direction (vertical direction, vertical direction) in the image sensor of the image pickup unit 1. The radius R ₂ of the body Ob is obtained as the second radius R ₂ . More specifically, the radius calculation unit 42 uses the following equations 5 and 6 to set the radius R ₂ [mm] of the stepped round bar Ob in the sixth region PT6 of the second radius measurement region to the second radius R. Obtained as ₂ . ΔY ₂ is the actual length in the direction corresponding to the y direction in the image of the sixth region PT6 reflected in the image sensor of the image pickup unit 1.
Equation 5; R ₂ = (L ₀ + R ₀ ) × sin θ ₂
Equation 6; tan θ ₂ = ΔY ₂ / (2 × f)

The length calculation unit 43 is a length between the first and second points based on the image captured by the image pickup unit 1, the distance measured by the distance measurement unit 2, and the radius obtained by the radius calculation unit 42. Is what you want. More specifically, in the present embodiment, the length calculation unit 43 includes the image captured by the image pickup unit 1, the distance measured by the distance measurement unit 2, the reference radius obtained by the radius calculation unit 43, and the first. Based on the radius, the first length from the position of the intersection of the axis of the round bar body and the imaging direction of the imaging unit to the first point is obtained, and the image captured by the imaging unit 1 and the distance measuring unit 2 From the position of the intersection of the axis of the stepped round bar Ob and the image pickup direction of the image pickup unit 1 to the second point based on the distance measured in 1 and the reference radius and the second radius obtained by the radius calculation unit 43. The second length of the above is obtained, and the sum of the first length and the second length is obtained as the length between the first and second points.

More specifically, the length calculation unit 43 first has a first point, an intersection of the axis of the stepped round bar Ob and the image pickup direction of the image pickup unit 1, the distance measured by the distance measurement unit 2, and the image pickup unit 1. The first from the first point to the intersection based on the focal distance f and the size (size) Kh of one pixel in the direction (horizontal direction, left-right direction) corresponding to the x direction in the image sensor of the image pickup unit 1. Find the length. For example, as shown in FIG. 7B, the length calculation unit 43 obtains an intersection P3 between the axis of the stepped round bar Ob and the image pickup direction of the image pickup unit 1 from the image IM2 that is focused and imaged. As described above, since the imaging direction of the image pickup unit 1 is adjusted, the intersection point P3 is the center position of the image IM2. Therefore, the length calculation unit 43 obtains the center position of the image IM2 as the intersection point P3. Next, the length calculation unit 43 has a pixel number Δx1 between the _first point P1 and the intersection P3 from the image IM2, and the first point P1 in the stepped round bar Ob in the image sensor of the image pickup unit 1. The number of pixels in which the image of the portion (first portion) from the intersection to the intersection P3 is reflected is Δx1, and the calculated _number of pixels Δx1 is multiplied by the size Kh [mm] of the ₁ pixel. The actual length Kh × Δx1 in the direction corresponding to the x direction in the image of the first portion reflected on the image sensor of the image pickup unit ₁ is obtained. Then, as shown in FIG. 7B, the length calculation unit 43 uses the following equations 7 and 8 understood from the similarity of the triangles, and the length ΔX ₁ between the first point P1 and the intersection P3. Find [mm].
Equation 7; ΔX ₁ = Kh × _{Δx1 × (L 1 /} f)
Equation 8; L ₁ = L ₀ + R ₀ -R ₁

Next, similarly, the length calculation unit 43 has a second point, an intersection of the axis of the stepped round bar Ob and the image pickup direction of the image pickup unit 1, the distance measured by the distance measurement unit 2, and the image pickup unit 1. The second from the second point to the intersection based on the focal distance f and the size (size) Kh of one pixel in the x-direction direction (horizontal direction, left-right direction) of the image sensor of the imaging unit 1. Find the length. The length calculation unit 43 obtains the length ΔX ₂ [mm] between the second point P2 and the intersection P3 using the equations 9 and 10. Δx2 is the number of pixels between the _second point P2 and the intersection P3.
Equation 9; ΔX ₂ = Kh × Δx ₂ × (L ₂ / f)
Equation 10; L ₂ = L ₀ + R ₀ -R ₂

Then, the length calculation unit 43 obtains the sum of the first and _second lengths ΔX1 and ΔX2 as the length ΔX between the _first and second points P1 and P2 (ΔX = Δ). X ₁ + △ X ₂ ).

The control processing unit 4, the input unit 5, the display unit 6, the IF unit 7, and the storage unit 8 can be configured by, for example, a computer such as a desktop type or a notebook type. The computers constituting each of these parts 4 to 8 may be arranged in an operation room and incorporated into a console (may also be used as a console), or may be separate from the console. Alternatively, the round bar body length measuring device D may be integrally configured with each part 1 to 8.

In the three-dimensional space where the stepped round bar Ob and the round bar length measuring device D are arranged, the stepped round bar Ob is viewed from the adjusting unit 3, and the axial direction is the horizontal direction (left-right direction). The first direction (the second direction) may be referred to as a depth direction (front-back direction), and the normal direction (the third direction) may be referred to as a vertical direction (vertical direction).

Next, the operation of this embodiment will be described. FIG. 9 is a flowchart showing the operation of the round bar length measuring device.

When the power of the round bar length measuring device D having such a configuration is turned on, the necessary initialization of each part is executed and the operation of the round bar length measuring device D is started. By executing the control processing program, the control processing unit 4 functionally includes a control unit 41, a radius calculation unit 42, a length calculation unit 43, an edge extraction processing unit 44 (32), and a movement control unit 45 (33). It is composed.

First, the operator (user) installs the moving mechanism 31 of the adjusting unit 3 so that the imaging direction of the imaging unit 1 and the measuring direction of the distance measuring unit 2 are orthogonal to the axial direction of the stepped round bar. The image pickup unit 1 and the distance measurement unit 2 are arranged respectively. Since the moving mechanism 31 does not have a mechanism that moves relative to an arrangement surface such as a floor, the axial position of the distance measuring unit 2 is fixed during the measurement. Then, the operator inputs a measurement start command from the input unit 5.

Upon receiving the input of the measurement start command, in FIG. 3, first, the round bar length measuring device D causes the image pickup unit 1 to take an image by the control unit 41 of the control processing unit 4, and the image IM is taken from the image pickup unit 1. For example, it is acquired as an image IM1 before adjustment as shown in FIG. 4A (S1).

Next, the round bar length measuring device D uses the adjusting unit 3 so that the imaging direction of the imaging unit 1 coincides with the first direction and the measuring direction of the distance measuring unit 2 coincides with the second direction. (S2). More specifically, the edge extraction processing unit 44 (32) of the adjustment unit 3 determines the upper edge UE and the lower edge DE in the stepped round bar Ob in the image based on the image IM acquired in the processing S1. Extract. For example, the edge extraction processing unit 44 extracts the upper edge UE 4 and the lower edge DE 4 in the fourth region PT4 of the stepped round bar body Ob. Subsequently, in the movement control unit 45 (33), the edge center line AX between the upper edge UE and the lower edge DE extracted by the edge extraction processing unit 44 is the upper end and the lower end of the image captured by the image pickup unit 1. The movement mechanism 31 is controlled so as to coincide with the image center line CL2 between.

Next, the round bar body length measuring device D takes an image IM obtained by having the image pickup unit 1 take an image by the control unit 41 of the control processing unit 4, as an adjusted image IM 2 as shown in FIG. 4B, for example. The distance L ₀ obtained by acquiring from the unit 1 and having the distance measuring unit 2 measure is acquired from the distance measuring unit 2 (S3).

Next, the round bar length measuring device D displays the image IM2 acquired in the process S3 on the display unit 6 by the control unit 41 of the control processing unit 4 using the two-point input result display screen 61 (S4). ..

When the image IM2 is displayed on the two-point input result display screen 61, the operator inputs the first to fourth cursors CS-1 to CS-4 via the input unit 5, and the first and second points are input. P1, P2 and the first and second radius measuring regions (third and sixth regions PT3, PT6 in the example shown in FIGS. 4 to 8) are input to the round bar length measuring device D via the input unit 5. ..

Next, the round bar length measuring device D is subjected to the first and second points P1, P2 and the first and second radius measuring regions (for example, the third and sixth regions PT3, by the control unit 41 of the control processing unit 4). The input of PT6) is received by the input unit 5 (S5).

Next, the round bar length measuring device D is a reference region (FIGS. 4 to 8) in which the distance L0 is measured by the distance measuring unit 2 in the plurality of regions PT by the radius calculation unit 42 of the control processing unit 4. In the example shown, the reference radius _R0 and the second of the stepped round bar Ob in the fourth region PT4) and the first and second radius measurement regions corresponding to the first and second points P1 and P2, respectively. 1 and the second radii R ₁ and R ₂ are obtained (S6).

Next, in the round bar length measuring device D, the length calculation unit 43 of the control processing unit 4 captures the image IM2 captured by the imaging unit 1, the distance L ₀ measured by the distance measuring unit 2, and the radius calculation unit. Based on the reference radius R ₀ and the first radius R ₁ obtained in 43, the first length from the position of the intersection P3 between the axis of the stepped round bar Ob and the imaging direction of the imaging unit to the first point P1 Δ The above is based on the image IM2 captured by the imaging unit ₁ , the distance L ₀ measured by the distance measuring unit 2, and the reference radius R ₀ and the second radius R ₂ obtained by the radius calculation unit 43. The second length ΔX ₂ from the position of the intersection P3 to the second point P2 is obtained, and the sum of these first length ΔX ₁ and the second length ΔX ₂ ΔX ₁ + ΔX ₂ is the first. It is obtained as a length ΔX (= ΔX ₁ + ΔX ₂ ) between 1 and the second points P1 and P2 (S7).

Then, the round bar length measuring device D displays these results on the display unit 6 by the control unit 41 of the control processing unit 4 (S8), and ends this processing. For example, the control unit 41 has a reference radius R ₀ in each of the reference radius display area 63, the first radius display area 64, the second radius display area 65, and the two-point length display area 66 on the two-point input result display screen 61. [Mm], the first radius R ₁ [mm], the second radius R ₂ [mm], and the length ΔX [mm] between the two points are displayed. If necessary, the control unit 41 may output each result from the IF unit 7 to an external device.

As described above, the round bar length measuring device D and the round bar length measuring method mounted therein have the image captured by the imaging unit 1, the distance measured by the distance measuring unit 2, and the distance measured by the distance measuring unit 2. Since the length between the first and second points is obtained based on the radius obtained by the radius calculation unit 42, the length between the two points along the long direction of the round bar can be measured in a non-contact manner.

In the present embodiment, the axial position of the distance measuring unit 2 is fixed during the measurement. That is, the round bar length measuring device D in the embodiment measures the distance from the image pickup unit 1 to the surface of the round bar at only one point, and as described above, between the first and second points. Seeking the length of. In particular, when the round bar is a stepped round bar having a plurality of regions having different radii from each other and includes such a plurality of regions between the first and second points, each By measuring each distance from the imaging unit 1 to the surface of the round bar for each region, each length of each region is obtained, and the lengths of each of the obtained regions are summed up easily. The length between the first and second points can be obtained, but in the round bar length measuring device according to the embodiment, even if the round bar is a stepped round bar, the image pickup unit 1 may determine the length. By measuring the distance to the surface of the round bar body at only one point, the length between the first and second points can be obtained as described above.

Since the round bar length measuring device D and the round bar length measuring method include the adjusting unit 3, the imaging direction of the imaging unit 1 is matched with the first direction, and the measuring direction of the distance measuring unit 2 is the second. Can match direction.

The round bar length measuring device D and the round bar length measuring method can measure the length between two points along the long direction in a non-contact manner even when the round bar body is a stepped round bar body.

Since the round bar body length measuring device D and the round bar body length measuring method include the input unit 5, the length between two desired points can be measured.

In the above description, the round bar length measuring device D automatically obtains the upper edge and the lower edge of the round bar, but the upper edge and the lower edge of the round bar are manually input. You may. Such a round bar length measuring device D displays the image captured by the image pickup unit 1 on the display unit 6, and the upper edge and the lower side of the round bar body with respect to the image displayed on the display unit 6. An edge is input from the input unit 5, and the edge extraction processing unit 44 (32) and the radius calculation unit 42 use the upper edge and the lower edge input from the input unit 5 to increase the upper side of the round bar in the image. Extract edges and lower edges.

Further, in the above description, the round bar length measuring device D automatically moves the moving mechanism 31 so that the imaging direction of the imaging unit 1 coincides with the first direction, and the measuring direction of the distance measuring unit 2. Was adjusted to match the second direction, but the imaging direction of the imaging unit 1 coincided with the first direction manually (manually) while viewing the image captured by the imaging unit 1 and displayed on the display unit 6. The moving mechanism 31 may be moved so that the measurement direction of the distance measuring unit 2 coincides with the second direction. In this case, the edge extraction processing unit 32 (44) and the movement control unit 33 (45) can be omitted.

Further, in the above, when the round bar body is a stepped round bar body, the distance between the first and second points is obtained, but the round bar body has the same diameter step along the long direction. In the case of a non-stepped round bar (same diameter round bar) without a step, the length between the first and second points can be obtained as follows.

FIG. 10 is a schematic diagram for explaining how to obtain a distance between two points in a non-stepped round bar (round bar having the same diameter). FIG. 10A schematically shows the image IM3 after the direction adjustment as an example, and FIG. 10B shows the distance L0 from the image pickup unit 1 to the surface of the non-stepped round bar Oba and the focal length f of the image pickup unit 1. , Relationship between the length Kh × Δx in the x direction (horizontal direction, left-right direction) in the image of the non-stepped round bar Oba in the image pickup unit 1 (the image of the non-stepped round bar on the image sensor). Is shown.

In the non-stepped round bar Oba, the distance L0 from the image pickup unit 1 to the surface of the non-stepped round bar Oba is constant at each position along the long direction. The length ΔX [mm] between the first and second points is obtained by using the following equation 11 understood from the similarity of triangles. Δx is the number of pixels between the first and second points.
Equation 11; ΔX = (L ₀ / f) × Kh × Δx

Of course, even in the case of such a non-stepped round bar, the length between the first and second points can be obtained by using the formulas 1 to 10 as in the stepped round bar.

Further, in the above description, the adjusting unit 3 is configured to include a moving mechanism 31 that is guided by the guide member 311 to move the disposing member 312 along the normal direction while maintaining the parallelism. The member may be configured to include a moving mechanism that rotates the member around a rotation axis parallel to the axis of the round bar.

FIG. 11 is a schematic diagram for explaining a modified form of the adjusting portion in the round bar body length measuring device. As shown in FIG. 11, such a moving mechanism 31a includes, for example, a guide member 311a, an arrangement member 312a, a support base 313a, and a rotational moving portion 314a. Like the guide member 311, the guide member 311a is erected along the normal direction (the third direction) of the plane including the axial direction along the axis of the round bar and the first direction. It is a rod-shaped (rod-shaped) member. Similar to the arrangement member 312, the arrangement member 312a has the image pickup unit 1 and the image pickup unit 1 and the arrangement member 312a so that the image pickup direction of the image pickup unit 1 and the measurement direction of the distance measurement unit 2 are parallel to each other in the same plane (same height). It is a plate-shaped member for arranging the distance measuring unit 2. The support base 313a is a plate-shaped member having one end movably attached to the guide member 311 in the normal direction (vertical direction) to support the rotational movement portion 314a. The rotational movement unit 314a is provided with a drive unit such as a stepping motor, and is a mechanism for rotating the arrangement member 312a around a rotation axis parallel to the axis of the round bar body. For example, it is driven by a shaft body attached to the arrangement member 312a, a mounting tool that rotatably supports the shaft body and attaches it to the support base 313a, a first gear attached to the shaft body, and a drive unit. A second gear (reducer) that meshes with the first gear is provided. When the second gear is rotationally driven by the drive unit, the first gear is rotationally driven to drive the shaft body to rotate, and the arrangement member 312a is rotated around the shaft body.

Further, in the above-described embodiment, as shown in FIG. 8, when measuring the length, it is necessary to align the first and second cursors CS-1 and CS-2 with the part to be measured, but the stepped round bar. Depending on the color and shape of the body Ob, the left and right vertical edges may be unclear. In such a case, adjust as follows.

FIG. 12 is a schematic diagram for explaining the modified form. FIG. 11A schematically shows the image IM2 after the direction adjustment as an example, and FIG. 11B shows the relationship between each part in the stepped round bar Ob.

As shown in FIG. 12A, when the vertical edge on the edge center line AX is unclear, the first and second ends are at the end points of the upper edge UE7 or the lower edge DE7 where the contrast with the background is easily obtained. Place the cursors CS-1 and CS-2. Here, as the positions of the first and second cursors CS-1 and CS-2 are changed, as shown in FIG. 12B, the distance from the principal point of the imaging optical system changes, so that L1'= L0 + R0-R1 Calculated as × sin θ1'. L0 is a value of the distance measuring unit 2 (for example, a laser displacement meter), and R0, R1 and θ1 are values obtained by the radius calculation unit 42. Then, the length ΔX1 can be obtained by ΔX1 = Kh × Δx1 ′ × (L1 ′ / f).

In order to express the present invention, the present invention has been appropriately and sufficiently described through the embodiments with reference to the drawings described above, but those skilled in the art can easily change and / or improve the above-described embodiments. It should be recognized that it is possible. Therefore, unless the modified or improved form implemented by a person skilled in the art is at a level that deviates from the scope of rights of the claims stated in the claims, the modified form or the improved form is the scope of rights of the claims. It is interpreted to be included in.

D Round bar length measuring device 1 Imaging unit 2 Distance measuring unit 3 Adjustment unit 4 Control processing unit 5 Input unit 6 Display unit 7 Interface unit (IF unit)
8 Storage unit 31, 31a Movement mechanism 32 (44) Edge extraction processing unit 33 (45) Movement control unit 41 Control unit 42 Radius calculation unit 43 Length calculation unit 61 Two-point input result display screen

Claims (5)

A round bar length measuring device that non-contactly measures the length between predetermined first and second points along a long direction in a round bar to be measured.
An imaging unit that captures an image of the round bar from a first direction orthogonal to the axis of the round bar.
The distance from the image pickup unit to the surface of the round bar is measured from the second direction parallel to the first direction on a plane including the axial direction along the axis of the round bar and the first direction. Distance measurement unit and
A radius calculation unit that obtains the radius of the round bar body based on the image captured by the image pickup unit, and
With the length calculation unit that obtains the length between the first and second points based on the image captured by the image pickup unit, the distance measured by the distance measurement unit, and the radius obtained by the radius calculation unit. Equipped with
Round bar length measuring device. Further, an adjusting unit for adjusting the imaging direction of the imaging unit so as to coincide with the first direction and the measurement direction of the distance measuring unit to coincide with the second direction is further provided.
The round bar body length measuring device according to claim 1. The round bar is a stepped round bar having a plurality of regions having different radii from each other along the long direction.
The radius calculation unit is a reference region in which the distance is measured by the distance measurement unit in the plurality of regions, and the step in each of the first and second regions corresponding to the first and second points, respectively. Find the reference radius of the round bar and the first and second radii,
The length calculation unit is the axis of the round bar body based on the image captured by the image pickup unit, the distance measured by the distance measurement unit, and the reference radius and the first radius obtained by the radius calculation unit. The first length from the position of the intersection of the image pickup unit with the image pickup direction to the first point is obtained, and the image captured by the image pickup unit, the distance measured by the distance measurement unit, and the radius calculation unit. Based on the reference radius and the second radius obtained in the above, the second length from the position of the intersection of the axis of the round bar body and the image pickup direction of the imaging unit to the second point is obtained, and the first length is obtained. The sum with the second length is obtained as the length between the first and second points.
The round bar body length measuring device according to claim 2. An input unit for inputting each of the first and second points is further provided.
The round bar length measuring device according to any one of claims 1 to 3. It is a round bar length measuring method for measuring the length between predetermined first and second points along a long direction in a round bar body to be measured in a non-contact manner.
An imaging step of imaging the round bar with an imaging unit from a first direction orthogonal to the axis of the round bar.
From the second direction parallel to the first direction on the plane including the axial direction along the axis of the round bar and the first direction, from the image pickup section to the surface of the round bar in the distance measuring section. Distance measurement process to measure the distance of
A radius calculation step for obtaining the radius of the round bar body based on the image captured by the image pickup unit, and
With the length calculation step of obtaining the length between the first and second points based on the image captured in the imaging step, the distance measured in the distance measuring step, and the radius obtained in the radius calculation step. Equipped with
Round bar length measurement method.

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