JP5014972B2 - Interference confirmation device - Google Patents

Description

  The present invention relates to an interference confirmation device for confirming whether or not the moving body and the structure interfere with each other in a machine tool including a moving body and a structure disposed in a moving region of the moving body. .

  Conventionally, in the field of machine tools, for example, interference between a tool held by a tool post and a work held by a chuck of a spindle, interference between a tool rest and a work, interference between a tool and a chuck, tool post and chuck Various methods and apparatuses have been proposed for preventing interference and the like, and one of such methods is a collision prevention method disclosed in Japanese Patent Laid-Open No. 2006-102923.

  In this collision prevention method, a spindle, a chuck attached to the tip of the spindle and gripping a workpiece, a turret for holding a tool, a tool post for holding a tool, and a tool post moving in the feed direction are arranged. In a lathe equipped with a feed mechanism unit to be operated and an NC device for controlling the operation of the feed mechanism unit, a two-dimensional image is obtained by imaging a chuck, a workpiece, a tool post and a tool with an imaging camera. Is used to recognize the shape and position of the chuck, workpiece, tool post and tool, and to prevent collision between the chuck, workpiece, tool post and tool.

  Specifically, the shape and positional relationship of the chuck, the workpiece, the tool post and the tool are detected from the two-dimensional image acquired by the imaging camera, and the tool post and the tool are within a preset interference area of the chuck and the workpiece. Check if there is, or whether the chuck and workpiece are within the preset interference area of the tool post and tool, and if it is within the preset interference area, stop the operation of the feed mechanism .

  Such a collision prevention process is performed by a collision prevention apparatus provided separately from the NC apparatus. When it is confirmed that the collision prevention process is within the interference area, an alarm signal is transmitted from the collision prevention apparatus to the NC apparatus. Is done. Alternatively, the two-dimensional image acquired by the imaging camera is transmitted to the collision prevention apparatus incorporated in the NC apparatus, and is performed by the collision prevention apparatus in the NC apparatus.

JP 2006-102923 A

  However, the conventional collision prevention method has the following problems. That is, during machining, cutting fluid is often supplied to the contact portion between the tool and the workpiece for the purpose of chip removal and cooling. In such a case, a two-dimensional image acquired by an imaging camera is used. Since the cutting fluid is reflected on the surface and the shapes and positions of the chuck, workpiece, tool post and tool cannot be accurately detected, the collision prevention method cannot be applied as it is.

  In addition, if the collision prevention process is executed by the collision prevention apparatus incorporated in the NC apparatus, the collision prevention process is greatly influenced by the calculation capability of the NC apparatus, and it is difficult to implement the collision prevention process with high accuracy and high speed. In addition, in order to transmit a two-dimensional image acquired by an imaging camera to the NC device side, a function for transmitting and receiving data to and from an external device must be added to the NC device, and the NC device becomes expensive. The problem is that the cost of the machine tool increases. Such a problem also occurs when a collision prevention device separate from the NC device obtains interference confirmation information (for example, position information) from the NC device and performs the collision prevention processing. In this case, since the type and data structure of data handled by the NC device differs depending on the manufacturer of the NC device, the specifications of the collision prevention device must be changed for each manufacturer, and the development period of the collision prevention device There is also a problem that the burden increases in terms of development costs.

  The present invention has been made in view of the above circumstances, and can accurately prevent interference between the moving body and the structure even during machining using a cutting fluid, and is independent of the control device. An object of the present invention is to provide an interference confirmation device that can be configured as described above.

To achieve the above object, the present invention provides:
A movable body that can move in a preset direction, a structure disposed in a movement area of the movable body, a drive mechanism unit that moves the movable body, and an operation of the drive mechanism unit are controlled. In a machine tool provided with a control device, and confirming whether the moving body and the structure interfere with each other,
Image generation means comprising at least one image pickup unit arranged on the machine tool so as to be able to pick up an image within a moving region of the moving body, wherein the image pickup unit picks up the moving body and the structure to obtain two-dimensional image data An image generation means including: a first image generation unit that generates a first image generation unit; and a second image generation unit that generates two-dimensional image data by capturing an image of the moving region of the moving body at a predetermined time interval by the imaging unit;
At least one light emitter disposed on a portion of the movable body that can be imaged by the imaging unit;
From the two-dimensional image data generated by the first image generation unit, the contour shape of the moving body, the light emitting point of the light emitter, and the contour shape of the structure are extracted and the position of the structure is recognized, see containing the extracted moving object contour and the emission point of the light emitter, the contour shape data of a moving body as a reference point of the contour shape of the light emitting point of the light emitting member the moving body, of the extracted structure Contour shape data setting means for setting the contour shape data of the structure including the contour shape and the position of the recognized structure;
Contour shape data storage means for storing contour shape data of the movable body and structure set by the contour shape data setting means;
Image data storage means for storing the two-dimensional image data generated by the second image generation unit;
After extracting the light emission point of the light emitter from the two-dimensional image data stored in the image data storage means and recognizing the position, the position of the recognized light emission point and the movement stored in the contour shape data storage means Based on the contour shape data of the body and the structure, the contour shape of the moving body is arranged at the position of the recognized light emitting point with reference to the light emitting point included in the contour shape data, and the contour shape of the structure is It is arranged at the position of the structure included in the contour shape data, checks whether the moving body and the structure interfere with each other, and transmits an alarm signal to the control device when it is determined that they interfere with each other The present invention relates to an interference confirmation device comprising an interference confirmation means.

According to this invention, first, the moving body and the structure are imaged by the imaging unit by the first image generation unit of the image generation unit, and two-dimensional image data is generated. Next, the contour shape data setting means extracts the contour shape of the moving object, the light emitting point of the light emitter, and the contour shape of the structure from the two-dimensional image data generated by the first image generation unit, and the position of the structure. There is recognized, the extracted moving object contour and viewed including a light emitting point of the light emitter, and the moving body contour shape data and the reference point of the contour of the moving object light emitting points of the light emitter is extracted The contour shape data of the structure including the contour shape of the structure and the recognized position of the structure is set and stored in the contour shape data storage means.

  The method for extracting the contour shape of the moving body or the structure is not particularly limited. For example, the generated two-dimensional image data is binarized with a predetermined threshold value to form the moving body or the structure. Extract the corresponding images, extract the contour shape (contour line) of the moving object or structure based on the extracted binary image, and the edge of the moving object or structure from the generated 2D image data And a contour shape (contour line) of a moving body or a structure is extracted based on each detected edge. Moreover, extraction of the light emission point of a light-emitting body can be performed by extracting the part (point) with the lowest lightness level value from the produced | generated two-dimensional image data, for example.

  Thereafter, when the driving mechanism is controlled by the control device and the moving body is moved together with the light emitter in a predetermined direction, the second image generating section of the image generating means causes the imaging section to move within the moving area of the moving body for a certain period of time. Two-dimensional image data is generated by imaging at intervals and stored in the image data storage means.

  Then, after the light emission point of the light emitter is extracted from the two-dimensional image data stored in the image data storage means by the interference confirmation means and the position thereof is recognized, the position of the recognized light emission point and the contour shape data Whether the moving body and the structure interfere with each other is confirmed based on the moving body and the contour shape data of the structure stored in the storage means.

  Whether the moving body and the structure interfere with each other is determined based on, for example, whether or not there is a contact or overlapping portion between the contour shape of the moving body and the contour shape of the structure. Judgment is made based on whether or not the distance between the contour shape and the contour shape of the structure is closer than a predetermined distance. When there is a contact or overlapping portion or when they are close to each other, it is determined that the moving body and the structure interfere with each other. At this time, the contour shape of the moving body is arranged at the position of the recognized light emitting point with reference to the light emitting point included in the contour shape data, and the contour shape of the structure is the structure included in the contour shape data. It is arranged at the position.

  When it is determined that interference occurs, an alarm signal is transmitted from the interference confirmation means to the control device, and when the transmitted alarm signal is received by the control device, the control device stops the operation of the drive mechanism. The moving body stops. This interference confirmation processing is executed at the same cycle as the imaging interval of the imaging unit.

  As described above, according to the interference confirmation apparatus of the present invention, the position of the moving body is specified by recognizing the position of the light emitting point of the light emitting body provided on the moving body from the two-dimensional image data generated by the image generating means. Therefore, even when machining is performed using the cutting fluid, the position of the moving body can be accurately detected, and highly accurate interference confirmation processing can be performed.

  Further, since the interference confirmation processing is performed without obtaining any interference confirmation information from the control device, the interference confirmation device can be separated from the control device and can be configured independently. Therefore, the interference confirmation process can be performed with high accuracy and at high speed. Further, it is sufficient to configure the control device so that at least only an alarm signal can be input, and it is not necessary to transmit and receive various data between the control device and the interference confirmation device. Can be suppressed. Furthermore, it is not necessary to change the specifications of the interference confirmation device according to the manufacturer of the control device, and the same interference confirmation device can be applied to the control device manufactured by any manufacturer. The burden can be reduced in terms of the development period and development cost of the confirmation device.

  When the movable body rotates around a predetermined rotation center axis, the rotational angle position of the movable body cannot be specified with one light emitter, but a plurality of (for example, two or three) light emitters. If it is provided, the position of the moving body including the rotational angle position can be specified from the positional relationship of the light emitting points of the respective light emitting bodies. Therefore, even a mobile body that changes its posture can effectively perform interference confirmation. At this time, the light emitters can be provided, for example, in a line at different intervals or at a position that becomes the top of a triangle. Further, the emission colors of the light emitters are not necessarily the same, and the same effect can be obtained even if at least two light emitters are provided by changing the light emission colors. Further, at least two of the same emission color and different light intensity (brightness and darkness) may be provided. Further, the contour shape of the moving body is arranged so that each light emitting point included in the contour shape data corresponds to the position of each recognized light emitting point.

  Further, the interference confirmation means extracts the light emission points of the light emitters from the latest two-dimensional image data stored in the image data storage means and those before a certain time, and determines their positions. The moving direction and moving speed of the light emitting point are calculated based on the first processing unit to be recognized, the current and predetermined positions of the light emitting point recognized by the first processing unit, and the imaging interval of the imaging unit. A predetermined time elapse based on the second processing unit, the current position of the light emitting point recognized by the first processing unit, and the moving direction and moving speed of the light emitting point calculated by the second processing unit. A third processing unit for estimating a position of the light emitting point later, a position of the light emitting point estimated by the third processing unit, a current position of the light emitting point recognized by the first processing unit, and the contour shape Stored in data storage means Whether the moving body and the structure interfere with each other by moving the contour of the moving body so that the light emitting point moves from the current position to the estimated position based on the contour shape data of the moving body and the structure You may comprise from the 4th process part which confirms whether or not.

  In this way, first, the first processing unit extracts the light emitting points of the illuminant from the latest two-dimensional image data stored in the image data storage means and the one before this fixed time. These positions are recognized, and then, by the second processing unit, the moving direction of the light emitting point and the current position of the light emitting point recognized by the first processing unit and the position before the predetermined time, and the imaging interval of the imaging unit, and The moving speed is calculated, and then, based on the current position of the light emitting point recognized by the first processing unit and the moving direction and moving speed of the light emitting point calculated by the second processing unit by the third processing unit, The position of the light emitting point after the preset time has elapsed is estimated.

  In estimating the position of the light emitting point, for example, even when estimating the position when moving at the calculated moving speed in the calculated moving direction, the calculated moving direction is accelerated or decelerated from the calculated moving direction. You may make it estimate the position at the time of moving. In addition, instead of the position of the light emitting point after the preset time has elapsed, the control device immediately stops the moving body, and from the current position in the light emitting point moving direction rather than the position of the light emitting point when the moving body stops. The distant position may be estimated as the position where the light emitting point reaches before the moving body stops. Note that such a reaching position is obtained by, for example, adding a fixed value to the position of the light emission point when the control device immediately stops the moving body and the moving body stops, or the control device immediately stops the moving body. It can be set by adding a value obtained by multiplying a constant value larger than 1 to the difference between the position of the light emitting point and the current position when the moving body is stopped after processing.

  Thereafter, the position of the light emitting point estimated by the third processing unit, the current position of the light emitting point recognized by the first processing unit, the moving body stored in the contour shape data storage means, and the fourth processing unit. Based on the contour shape data of the structure, it is confirmed whether or not the moving body and the structure interfere with each other by moving the contour shape of the moving body so that the light emission point moves from the current position to the estimated position.

  Whether the moving body and the structure interfere with each other is determined by, for example, the region formed by connecting the contour shape of the moving body when the light emitting point is at the current position and the estimated position, and the contour shape of the structure body. Judgment based on whether there is a contact or overlapping portion between, or move the contour shape of the moving body step by step so that the light emitting point moves from the current position to the estimated position, The determination is made based on whether or not there is a contact or overlapping portion between the contour shape of the moving body and the contour shape of the structure. When there is a contact or overlapping portion, it is determined that the moving body and the structure interfere with each other.

  As described above, when the interference confirmation process is performed using the estimated position set based on the moving speed of the light emitting point and the contour shape data of the moving body and the structure, the interference area moves to the moving speed of the moving body (light emitting point). Even if the moving body is moved at a high speed, the moving body can be moved in the vicinity of the structure compared to the conventional case where the interference area needs to be widened to prevent interference even when the moving body is moving at high speed. It becomes difficult to determine that there is a possibility of interference, and workability can be improved.

  Further, when estimating the arrival position, the third processing unit of the interference confirmation unit moves the light emitting point from the current position and moving speed in the moving direction while accelerating at the maximum acceleration of the moving body. After calculating the moving speed and the moving position after the imaging interval of the imaging unit has elapsed, the light emitting point is decelerated from the calculated moving speed and moving position in the moving direction with the maximum acceleration of the moving body. However, it may be configured to calculate a position where the light emitting point stops when moved while moving and to estimate the arrival position.

  In this way, the arrival position of the light emitting point when the moving body stops is estimated in consideration of the current moving speed of the moving body (light emitting point) and the maximum acceleration at the time of acceleration. Even if the vehicle is accelerating, interference with the structure can be reliably prevented.

  As the moving body and the structure, for example, when the machine tool is a lathe, it is attached to a bed, a spindle head disposed on the bed, a spindle rotatably supported by the spindle table, and the spindle. , Chucks for gripping workpieces, workpieces, saddles movably arranged on the bed, tool post holding tools on the saddle, tools, tailstock movably arranged on the bed For example, if the machine tool is a machining center, a bed, a column arranged on the bed, a spindle head supported movably on the column, a spindle head A spindle, a tool, a table for holding a work, a work holding the work, and the like are supported. Furthermore, since a machine tool is generally provided with a cover body in order to prevent intrusion of chips, cutting fluid, etc., such a cover body may be included.

  Examples of the light emitter include a light emitting diode and a laser oscillator.

  As described above, according to the interference confirmation device according to the present invention, it is possible to prevent interference between the moving body and the structure with high accuracy even during machining using the cutting fluid, and it is independent of the control device. Can be configured.

  Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a block diagram showing a schematic configuration of an interference confirmation apparatus according to an embodiment of the present invention, and FIG. 2 is a front view showing an NC lathe provided with the interference confirmation apparatus according to this embodiment. FIG. 3 is a cross-sectional view in the direction of arrow AA in FIG.

  As shown in FIG. 1, the interference confirmation device 1 of this example includes an image generation device 11, a first image data storage unit 12, a second image data storage unit 13, a tool data storage unit 14, and a contour shape data setting processing unit 15. , An outline shape data storage unit 16, an image composition processing unit 17, a composite image data storage unit 18, an interference confirmation processing unit 19, a display control unit 20, a light emitter 21, and the like, for example, as shown in FIGS. An NC lathe 30 is provided.

  First, the NC lathe 30 will be described. As shown in FIGS. 1 to 3, the NC lathe 30 is rotatable about a bed 31, a headstock (not shown) disposed on the bed 31, and a horizontal axis (around the Z axis). A spindle 32 supported by a spindle head (not shown), a chuck 33 attached to the spindle 32, a saddle 34 disposed on the bed 31 so as to be movable in the Z-axis direction, and the Z-axis and the horizontal plane The tool rest 35 disposed on the saddle 34 so as to be movable in the orthogonal X-axis direction, the first feed mechanism 36 that moves the saddle 34 in the Z-axis direction, and the tool rest 35 is moved in the X-axis direction. A second feed mechanism 37, a spindle motor 38 that rotates the spindle 32 about its axis, a control device 39 that controls the operation of each feed mechanism 36, 37 and the spindle motor 38, and an operation panel connected to the control device 39 43 and cutting fluid supply device for supplying cutting fluid 47 comprises a like. The NC lathe 30 is formed with a machining area K, which is surrounded by a cover body 46, and the tip of the spindle 32, the chuck 33, the saddle 34, and the tool post 35 are within the machining area K. Is arranged.

  The chuck 33 includes a chuck main body 33a and a plurality of gripping claws 33b for gripping the workpiece W. The turret 35 is supported by a turret body 35a provided on the saddle 34 so as to be indexable at a predetermined index angle position by the turret body 35a, and a polygonal columnar turret 35b that holds the tool T on the outer peripheral surface. The tool T is a turning tool such as a cutting tool, and includes a tool body Ta and a blade portion (chip) Tb for processing the workpiece W. The operation panel 43 includes an input device 44 for inputting various signals to the control device 39, a screen display device 45 for displaying a control state by the control device 39, and the like.

  The control device 39 includes a program storage unit 40, a program analysis unit 41, a drive control unit 42, and the like, and performs machining while supplying a cutting fluid to a contact portion between the workpiece W and the tool T by a cutting fluid supply device 47. The program storage unit 40 stores a machining program created in advance. The program analysis unit 41 analyzes the machining program stored in the program storage unit 40 and extracts operation commands relating to the movement position and feed speed of the tool rest 35, the rotation speed of the spindle motor 38, and the like.

  The drive control unit 42 moves the tool rest 35, rotates the spindle 32, and indexes the turret 35b based on the operation command extracted by the program analysis unit 41 and the operation signal input from the input device 44 by the operator. The angular position and the operation of the cutting fluid supply device 47 are controlled. Further, when receiving the alarm signal transmitted from the interference confirmation processing unit 19, the drive control unit 42 stops the operations of the feed mechanism units 36 and 37, the spindle motor 38, and the cutting fluid supply device 47.

  Next, the interference confirmation apparatus 1 will be described. As described above, the interference confirmation device 1 includes the image generation device 11, the first image data storage unit 12, the second image data storage unit 13, the tool data storage unit 14, the contour shape data setting processing unit 15, the contour shape data. A storage unit 16, an image composition processing unit 17, a composite image data storage unit 18, an interference confirmation processing unit 19, a display control unit 20, a light emitter 21, and the like are provided. In this example, a structure composed of the tip of the main shaft 32, the chuck 33 and the workpiece W (hereinafter referred to as “stationary structure”), and a structure composed of the tool post 35 and the tool T (hereinafter referred to as “moving structure”). “)” Is confirmed as to confirm whether or not they interfere with each other.

  The light emitter 21 is composed of, for example, a light emitting diode or a laser oscillator, and is attached to the outer peripheral surface of the turret 35 b of the tool rest 35. Although not shown in the drawing, a plurality of light emitters 21 are provided at equal intervals in the circumferential direction on the outer peripheral surface of the turret 35b. As shown in FIGS. 2 and 3, the light emission located above the turret 35b. Only the body 21 is lit. The lighting control of the light emitter 21 is controlled even when the interference confirmation device 1 receives a signal related to the index angle position of the turret 35b from the control device 39 and lights the light emitter 21 corresponding to the index angle position. The light emitter 21 corresponding to the index angle position of the turret 35b may be turned on on the device 39 side. Further, the color of light emitted from the light emitter 21 is not particularly limited as long as it can be imaged by CCD cameras 11a.

  The image generation device 11 includes a plurality of CCD cameras (first CCD camera 11a, second CCD camera 11b,..., Fifteenth CCD camera 11o) disposed on the cover body 46 above the processing area K. These CCD cameras 11a,. 11o, the tip of the spindle 32, the chuck 33 and the workpiece W, the tool post 35 and the tool T are imaged to generate two-dimensional image data, and the generated two-dimensional image data is stored in the first image data storage unit 12. First image generation processing (processing corresponding to the first image generation unit described in the claims) and processing area K is imaged at a constant time interval (for example, 1 millisecond) to generate two-dimensional image data And a second image generation process for storing the generated two-dimensional image data in the second image data storage unit 13 (a process corresponding to the second image generation unit in the claims). It is carried out. The first image generation process is performed before the start of processing, and the second image generation process is performed during the processing.

  Each of the CCD cameras 11a... 11o is provided downward so that these optical axes are parallel to each other and perpendicular to both the X axis and the Z axis, and each inside the processing area K (in the movement area of the tool rest 35). Image from different viewpoints. The CCD cameras 11a... 11o are arranged in a grid in the X-axis direction and the Z-axis direction, and the number of processing regions K is the same as each CCD camera 11a... 11o (15 in this example). Each of the areas obtained by dividing the area is configured so that one camera captures each area (see FIG. 6).

  Each of the CCD cameras 11a ... 11o includes a plurality of photoelectric conversion elements arranged two-dimensionally in multiple rows and columns, and digitizes voltage signals output from the photoelectric conversion elements in accordance with received light intensity. This is converted into a gray level value and output as two-dimensional gray image data having the same arrangement as that of the photoelectric conversion elements. The first image data storage unit 12 or the second image data storage unit 13 stores the two-dimensional grayscale image data (two-dimensional image data) output in this way.

  In the first image generation process, for example, the tip of the spindle 32, the chuck 33, and the workpiece W are imaged by the third CCD camera 11c and the sixth CCD camera 11f while the workpiece W is held by the chuck 33. In addition to generating two-dimensional image data, the third CCD camera 11c captures the tip of the spindle 32 and the chuck 33 in a state where the workpiece W is not gripped by the chuck 33, and generates these two-dimensional image data. Further, for example, the tool post 35 and the tool T are held in a state where the tool T is held on the tool post 35 by the tenth CCD camera 11j, the eleventh CCD camera 11k, the twelfth CCD camera 11l, the thirteenth CCD camera 11m, and the fourteenth CCD camera 11n. These two-dimensional image data are generated by imaging, and the tool post in a state where the tool T is not held on the tool post 35 by the tenth CCD camera 11j, the eleventh CCD camera 11k, the thirteenth CCD camera 11m, and the fourteenth CCD camera 11n. 35 is imaged and its two-dimensional image data is generated.

  In the third CCD camera 11c, the tip of the spindle 32, the chuck 33 and a part of the workpiece W, or the tip of the spindle 32 and the chuck 33 are imaged, and in the sixth CCD camera 11f, a part of the workpiece W is imaged. (See FIG. 6). The tenth CCD camera 11j, the thirteenth CCD camera 11m, and the fourteenth CCD camera 11n pick up images of a part of the tool rest 35, and the eleventh CCD camera 11k takes a part of the tool rest 35 and a part of the tool T, or the tool rest. A part of 35 is imaged, and a part of the tool T is imaged by the twelfth CCD camera 11l (see FIG. 6).

  On the other hand, in the second image generation processing, all the CCD cameras 11a... 11o image the inside of the processing area K and generate the two-dimensional image data (see FIG. 6).

  In the tool data storage unit 14, the tool contour shape of a plurality of tools T that may be held on the tool post 35, and the tool contour shape corresponds to the blade portion (chip) Tb. Blade portion data indicating whether the portion is a portion that is present is stored in association with each other.

  The contour shape data setting processing unit 15 is based on the two-dimensional image data stored in the first image data storage unit 12 by the first image generation processing of the image generation device 11, and the contour shape of the stationary structure and the moving structure. Set each data.

  Regarding the contour shape data of the stationary structure, first, the tip of the spindle 32, the chuck 33 and the workpiece W are two-dimensionally stored in the first image data storage unit 12 when the workpiece W is gripped by the chuck 33. After combining the image data into one two-dimensional image data, the contour shape of the stationary structure is extracted from the combined two-dimensional image data (see FIG. 4A), and the first image data storage unit 12 is extracted from the two-dimensional image data of the tip end of the spindle 32 and the chuck 33 in a state where the workpiece W is not gripped by the chuck 33, and the contour shape of the structure composed of the tip end of the spindle 32 and the chuck 33 is extracted. (See FIG. 4B). In addition, the position of the stationary structure is recognized.

  The method for extracting the contour shape of the stationary structure is not particularly limited. For example, the synthesized two-dimensional image data is binarized with a predetermined threshold value, and an image corresponding to the stationary structure is obtained. Extracting and extracting the contour shape (contour line) of the stationary structure based on the extracted binarized image, or detecting the edge of the stationary structure from the synthesized two-dimensional image data, and detecting each detected edge A method for extracting the contour shape (contour line) of the stationary structure based on the above is mentioned. The position of the stationary structure is, for example, recognized by the CCD camera 11a... 11o of the stationary structure after recognizing the coordinate value (for example, pixel value) of the reference point P of the contour shape of the stationary structure. By converting the coordinate value of the recognized reference point P into a coordinate value corresponding to the two-dimensional synthesized image data obtained by synthesizing the two-dimensional image data from all the CCD cameras 11a. The position of the stationary structure in the processing region K can be recognized.

  Thereafter, the extracted two contour shapes are compared, for example, a difference between them is obtained, and after the contour shape corresponding to the workpiece W is recognized (see FIG. 4C), the contour shape of the recognized workpiece W is Based on the extracted contour shape of the stationary structure and the recognized position of the stationary structure, the contour shape and position of the stationary structure and which part of the contour shape corresponds to the contour shape of the workpiece W The contour shape data including the data indicating whether or not it is set is set (see FIG. 4D), and the set contour shape data is stored in the contour shape data storage unit 16. In FIG. 4D, the outline shape of the workpiece W is indicated by a bold line.

  On the other hand, for the contour shape data of the moving structure, first, two-dimensional image data of the tool rest 35 and the tool T stored in the first image data storage unit 12 in a state where the tool T is held on the tool rest 35. Are combined into one two-dimensional image data, and then the contour shape of the moving structure and the light emission point of the light emitter 21 are extracted from the combined two-dimensional image data (see FIG. 5A). The contour shape of the tool rest 35 and the light emission point of the light emitter 21 are extracted from the two-dimensional image data of the tool rest 35 in a state where the tool T is not held on the tool rest 35 stored in the one image data storage unit 12 ( (Refer FIG.5 (b)). As a method for extracting the contour shape of the moving structure, a method similar to that for the stationary structure can be employed.

  Thereafter, the extracted two contour shapes are compared, for example, the difference between them is obtained, and the contour shape corresponding to the tool T is recognized (see FIG. 5C). Next, based on the recognized contour shape of the tool T, the blade data corresponding to the contour shape of the tool T is recognized with reference to the data stored in the tool data storage unit 14. Next, based on the recognized blade data, the extracted contour shape of the moving structure and the light emission point of the light emitter 21, the contour shape of the moving structure and which portion of the contour shape is the blade portion Tb. The contour shape data including the data indicating whether or not the contour shape of the light emitting body 21 and the light emitting point of the light emitting body 21 as the reference point Q of the contour shape of the moving structure is set ( The set contour shape data is stored in the contour shape data storage unit 15 (see FIG. 5D). In FIG. 5D, the outline shape of the blade portion Tb is indicated by a bold line.

  As shown in FIGS. 6 and 7, the image composition processing unit 17 converts the two-dimensional image data stored in the second image data storage unit 13 by the second image generation processing of the image generation device 11 at every predetermined time. The two-dimensional composite image data is synthesized and stored in the composite image data storage unit 18. 6 illustrates a two-dimensional image before the moving structure moves, and FIG. 7 illustrates a two-dimensional image after the moving structure moves. In addition, a method for synthesizing each two-dimensional image into one two-dimensional image is not particularly limited. For example, a feature point of each two-dimensional image is extracted, and the extracted feature point is used as a basis. The method of synthesizing is mentioned. Moreover, the same thing can be employ | adopted also about the method with which the said outline shape data setting process part 15 synthesize | combines a two-dimensional image.

  The interference confirmation processing unit 19 includes two-dimensional composite image data stored in the composite image data storage unit 18, the latest one and a predetermined time ago, and a static structure stored in the contour shape data storage unit 16. Based on the contour shape data of the body and the moving structure and the imaging intervals of the CCD cameras 11a... 11o, a series of processes as shown in FIGS. To check if it interferes with.

  That is, first, the latest two-dimensional composite image data (for example, the two-dimensional composite image as shown in FIG. 7) and the one before this fixed time (for example, FIG. (Two-dimensional composite image as shown) is read (step S1), and the contour shape data of the stationary structure and the moving structure are respectively read from the contour shape data storage unit 16 (step S2).

  Next, the light emitting point of the light emitter 21 in each of the latest two-dimensional composite image data read out and the two-dimensional composite image data of a predetermined time before is extracted, and the position (coordinate value (for example, pixel value)) of each light emitting point is recognized. After that (step S3), the moving direction and moving speed of the light emitting points are calculated based on the current and predetermined positions of the recognized light emitting points and the imaging intervals of the CCD cameras 11a ... 11o (step S4). .

  Thereafter, based on the current position, moving direction and moving speed of the light emitting point, and the imaging interval of each CCD camera 11a... 11o, the light emitting point is accelerated from the current position and moving speed to the moving direction at the maximum acceleration of the moving structure. After calculating the moving speed and moving position of the light emitting point after time has passed for the imaging interval of each CCD camera 11a... 11o, the light emitting point is moved from the calculated moving speed and moving position. The position where the light emitting point stops when moving while decelerating at the maximum acceleration of the moving structure in the direction is calculated, and thus the light emitting point is stopped before the moving structure stops at the stop position of the light emitting point. Is estimated as the position to reach (step S5). Note that the maximum acceleration at the time of acceleration and the maximum acceleration at the time of deceleration are stored in advance in a storage unit (not shown) set in the NC lathe 30, and the interference confirmation processing unit 19 stores this set value. The process of step S5 is performed with reference to the maximum acceleration in the unit.

  Next, based on the estimated stop position and current position of the light emitting point and the contour shape data of the stationary structure and the moving structure, the contour shape of the moving structure so that the light emitting point moves from the current position to the estimated stop position. Is moved (step S6). At this time, the contour shape of the moving structure is arranged such that the light emitting point (reference point Q) included in the contour shape data corresponds to the position of the recognized light emitting point, and the contour shape of the stationary structure is the contour shape. It is arranged at the position of the stationary structure included in the data.

  Then, it is determined whether or not there is a contact or overlapping portion between the contour shape of the moving structure and the contour shape of the stationary structure due to this movement (step S7). Specifically, for example, the region formed by connecting the contour shape of the moving structure when the light emission point (reference point Q) is at the current position and the estimated stop position and the contour shape of the stationary structure Based on whether or not there is a contact or overlapping portion between them (see FIG. 10A, FIG. 11A and FIG. 12A), and the light emission point (reference point Q) from the current position The contour shape of the moving structure is moved step by step so as to move to the estimated stop position, and at each step, there is a contact or overlapping portion between the contour shape of the moving structure and the contour shape of the stationary structure. Judgment is made based on whether or not (refer to FIG. 10B, FIG. 11B and FIG. 12B).

  When it is determined in step S7 that there is a contact or overlapping portion (for example, as shown in FIG. 11 or 12), the contact or overlap occurs between the blade Tb of the tool T and the workpiece W. Is determined (step S8). This can be determined from the contour shape data of the stationary structure and the contour shape data of the moving structure. On the other hand, when it is determined in step S7 that there is no contact or overlapping part (for example, as shown in FIG. 10), the process proceeds to step S12.

  When it is determined in step S8 that the contact or overlap occurs between the blade portion Tb of the tool T and the workpiece W (for example, as shown in FIG. 12), the light emitter calculated in step S4. It is determined whether or not the moving speed is less than or equal to the maximum cutting feed speed (step S9). As for the maximum cutting feed rate, the set value set in the NC lathe 30 is stored in advance in a storage unit (not shown), and the interference confirmation processing unit 19 determines the maximum cutting feed rate in this storage unit. The process of step S9 is performed with reference.

  If it is determined in step S9 that the moving speed of the light emitter is equal to or less than the maximum cutting feed rate, the workpiece W is regarded as being processed by the tool T and the contour shape of the workpiece W is updated. Based on this, the contour shape data of the stationary structure is updated and stored in the contour shape data storage unit 16 (see FIG. 13) (step S10), and the process proceeds to step S12. The contour shape of the workpiece W is updated by, for example, the region formed by connecting the contour shape of the moving structure when the light emitter is at the current position and the estimated stop position, and the stationary structure (work W). This can be done by deleting the overlapping part with the outline shape. The workpiece W (spindle 32) is rotating. This can be recognized, for example, by monitoring whether or not a control signal is output from the control device 39 to the spindle motor 38. When the part 19 recognizes that the work W is rotating, the part 19 deletes contour portions corresponding to both sides of the outer peripheral part of the work W.

  On the other hand, when it is determined in step S8 that no contact or overlap has occurred between the blade Tb of the tool T and the workpiece W (for example, as shown in FIG. 11), and in step S9, the moving speed of the light emitter. Is determined to be faster than the maximum cutting feed rate, it is assumed that the moving structure and the stationary structure interfere with each other, and an alarm signal is transmitted to the drive control unit 42 and the display control unit 20 to complete the processing ( Step S11).

  In step S12, it is confirmed whether or not the process has been completed. If not, it is confirmed that a certain period of time (the same time as the imaging interval of each CCD camera 11a... 11o) has elapsed, and the processes after step S1 are repeated. Execute (Step S13). On the other hand, when it is determined in step S12 that the process is finished, the above series of processes is finished.

  Of the above processes, Steps S1 to S3 correspond to the first processing unit described in the claims, Step S4 corresponds to the second processing unit described in the claims, and Step S5 includes The processing corresponding to the third processing section referred to in the claims and Steps S6 to S11 are the processing corresponding to the fourth processing section referred to in the claims.

  When receiving the alarm signal transmitted from the interference confirmation processing unit 19, the display control unit 20 displays an alarm on the screen display device 45.

  According to the interference checking apparatus 1 of the present example configured as described above, the tool contour shape and the blade portion data for the plurality of tools T that may be held in the tool post 35 in the tool data storage unit 14 in advance. Are stored in association with each other.

  Further, the first image generation process of the image generation apparatus 11 is performed, and the tip end portion of the spindle 32, the chuck 33, and the workpiece W are imaged while the workpiece W is gripped by the chuck 33, and two-dimensional image data is generated. At the same time, the tip of the spindle 32 and the chuck 33 are imaged while the workpiece W is not gripped by the chuck 33, and two-dimensional image data is generated. Further, the tool rest 35 and the tool T are imaged in a state where the tool T is held on the tool rest 35 to generate two-dimensional image data, and the tool rest in a state where the tool T is not held on the tool rest 35. 35 is imaged to generate two-dimensional image data. Each two-dimensional image data generated in this way is stored in the first image data storage unit 12.

  Then, based on the two-dimensional image data stored in the first image data storage unit 12 by the contour shape data setting unit 15, the contour shape and position of the stationary structure and which portion of the contour shape is the workpiece W Contour shape data including data indicating whether or not the contour shape corresponds to the two-dimensional image data stored in the contour shape data storage unit 16 and stored in the first image data storage unit 12; Based on the data stored in the tool data storage unit 14, the contour shape of the moving structure, the data indicating which portion of the contour shape corresponds to the contour shape of the blade portion Tb, and the light emitter Contour shape data including 21 light emission points is set and stored in the contour shape data storage unit 16.

  Thereafter, when the feed mechanism units 36 and 37, the spindle motor 38, and the cutting fluid supply device 47 are controlled by the control device 39 (drive control unit 42) and the machining of the workpiece W is started, the movable structure is moved to the Z axis. In this case, the second image generation process of the image generation device 11 is performed, and the processing area K is imaged at a certain time interval to generate two-dimensional image data, and the second image is generated. It is stored in the data storage unit 13.

  The two-dimensional image data generated by the second image generation processing of the image generation device 11 and stored in the second image data storage unit 13 is synthesized by the image synthesis processing unit 17 at a certain time interval to be one two-dimensional synthesized image data. And stored in the composite image data storage unit 18.

  Thereafter, the interference confirmation processing unit 19 stores the latest two-dimensional composite image data stored in the composite image data storage unit 18 and the one before this fixed time, and the contour shape data storage unit 16. Whether or not the stationary structure and the moving structure interfere with each other is confirmed based on the contour shape data of the stationary structure and the moving structure and the imaging intervals of the CCD cameras 11a. At this time, since the cutting fluid is supplied by the cutting fluid supply device 47, the position of the moving structure can be accurately specified from the light emitting point of the light emitter 21 even if a clear image of the moving structure is not obtained. it can. This interference confirmation process is executed at the same cycle as the imaging interval of each CCD camera 11a.

  When it is determined that the stationary structure and the moving structure interfere with each other, an alarm signal is transmitted to the drive control unit 42 and the display control unit 20. When the alarm signal is received by the drive control unit 42, the operations of the feed mechanism units 36 and 37, the spindle motor 38, and the cutting fluid supply device 47 are stopped, and the alarm signal is received by the display control unit 20. Then, an alarm display is displayed on the screen display device 45.

  Thus, according to the interference confirmation device 1 of the present example, the position of the light emitting point of the light emitter 21 provided on the moving structure (the tool rest 35) is recognized from the two-dimensional image data generated by the image generator 11. Since the position of the moving structure is specified, it is possible to accurately detect the position of the moving structure and perform highly accurate interference confirmation processing even when machining is performed using a cutting fluid. it can.

  Further, since the interference confirmation processing is performed without obtaining any interference confirmation information from the control device 39, the interference confirmation device 1 can be separated from the control device 39 and can be configured independently. The interference confirmation process can be performed with high accuracy and high speed without being affected by the computing ability. Further, the control device 39 (drive control unit 42) only needs to be configured so that at least only an alarm signal can be input, and there is no need to transmit and receive various data between the control device 39 and the interference confirmation device 1. It is possible to reduce the cost of the NC lathe 30 by reducing the cost of 39. Furthermore, it is not necessary to change the specifications of the interference confirmation device 1 according to the manufacturer of the control device 39, and the same interference confirmation device 1 can be applied to the control device 39 manufactured by any manufacturer. Therefore, the burden can be reduced in terms of the development period and development cost of the interference confirmation apparatus 1.

  In addition, since the interference confirmation process is performed using the estimated stop position set based on the moving speed of the light emitting point and the contour shape data of the moving structure and the stationary structure, the interference region is the moving structure (light emitting point). ) Is set uniformly regardless of the moving speed of the moving structure, and even when the moving structure is moving at a high speed, the moving structure is made to be Even if it is moved in the vicinity, it is difficult to determine that there is a possibility of interference, and workability can be improved.

  In addition, since the stop position is estimated in consideration of the current moving speed of the moving structure (light emitting point) and the maximum acceleration during acceleration, the stationary structure is surely stationary even if the moving structure is accelerating at the maximum acceleration. Interference with the body can be prevented.

  As mentioned above, although one Embodiment of this invention was described, the specific aspect which this invention can take is not limited to this at all.

  In the above example, whether or not the stationary structure (structure consisting of the tip of the main shaft 32, the chuck 33 and the workpiece W) and the moving structure (structure consisting of the tool post 35 and the tool T) interfere with each other. However, the present invention is not limited to this. For example, it may be confirmed whether interference occurs between the moving structure and the cover 46.

  Further, the estimated position of the light emitting point is not necessarily estimated as described above. Further, this estimated position is a position that is further away from the current position in the direction of movement of the light emitting point than the position of the light emitting point when the drive control unit 42 immediately performs the stop process of the moving structure and the moving structure stops. In such a position, the moving structure can be reliably stopped before the moving structure interferes with the stationary structure. Note that such an estimated position is obtained by adding a fixed value to the position of the light emitting point when the drive control unit 42 immediately stops the moving structure and the moving structure stops, or the drive control unit 42, for example. Immediately stops the moving structure and adds a value obtained by multiplying the difference between the position of the light emitting point and the current position when the moving structure stops by a constant value larger than 1 to the current position. Can be set.

  In addition, instead of the stop position of the light emission point, the position of the light emission point after the elapse of a predetermined time may be estimated. In this case, for example, the light emission point is moved at the same movement speed calculated in the moving direction calculated in step S4. The position when moving is estimated, or the position when the light emitting point moves in the same calculated moving direction while accelerating or decelerating from the moving speed calculated in step S4 is estimated.

  In the above example, the stop position of the light emitting point is estimated, and the estimated stop position is used to check whether the moving structure and the stationary structure interfere with each other. However, the present invention is not limited to this. Instead, it may be confirmed whether the moving structure and the stationary structure interfere with each other based on the recognized current position of the light emitting point and the position of the stationary structure. In this case, for example, when there is a contact or overlapping portion between the contour shape of the moving structure and the contour shape of the stationary structure, or the distance between the contour shape of the moving structure and the contour shape of the stationary structure Is determined to interfere when the distance is closer than a predetermined distance.

  The arrangement positions of the CCD cameras 11a... 11o are not particularly limited as long as the stationary structure and the moving structure in the processing area K can be imaged. For example, although not particularly illustrated, instead of or in addition to the above arrangement position, the CCD camera may be arranged on the cover body 46 so as to face the stationary structure, and the stationary structure may be imaged from the front. . In this case, the light emitter 21 needs to be provided, for example, on the end surface of the turret 35b on the CCD camera side.

  Further, although a plurality of CCD cameras 11a... 11o are provided in the image generating device 11, only one CCD camera may be provided when the entire processing area K can be imaged with one CCD camera. In this case, the image composition process can be omitted. Further, one of the CCD cameras 11a... 11o cannot image the tip end portion of the spindle 32, the chuck 33 and the work W, the tip end portion of the spindle 32 and the chuck 33, the tool post 35, the tool T, and the tool post 35. Therefore, some of the CCD cameras 11a... 11o are actuated to pick up images, and the obtained two-dimensional images are synthesized to extract the contour shape, but one of the CCD cameras 11a. 32, the chuck 33 and the workpiece W, the tip of the spindle 32 and the chuck 33, the tool post 35, the tool T, and the tool post 35 can be imaged. These may be picked up by the CCD cameras 11a... 11o in the upper), and the contour shape and the like may be extracted from the obtained two-dimensional image.

  Further, for example, as shown in FIG. 14, when the tool post 50 constituting the moving structure includes a tool spindle 51 configured to be indexed at a predetermined index angle position, the interference determination is performed. In this case, it is necessary to specify the index angle position of the tool spindle 51. In this case, if only one light emitter 21 (reference point Q) is provided as in the tool post 35, the index angle position is determined. Cannot be specified. Therefore, if three light emitters 55, 56, 57 are provided on the outer peripheral surface of the tool spindle 51 as shown in the figure, the positional relationship between the light emission points (reference points) of the three light emitters 55, 56, 57 is shown. Thus, the index angle position of the tool spindle 51 can be specified. Therefore, even if the tool post 50 changes the direction of the tool spindle 51, interference can be confirmed effectively. In the illustrated example, the tool spindle 51 holds a rotary tool T such as a drill or an end mill, which includes a tool body Ta and a blade portion Tb. Reference numerals 52 and 53 are saddles.

  Each of the light emitters 55, 56, and 57 can be provided at a position that becomes the top of a triangle, for example, as shown in FIG. 14, or can be provided in a row at different intervals as shown in FIG. It is not limited to. In addition, it is not always necessary to provide three light emitters 55, 56, and 57, and two light emitters having different emission colors or two having the same emission color but different light intensity (brightness and darkness) may be provided. Furthermore, when the tool spindle 51 rotates only within the range of 0 ° to 180 °, the index angle position of the tool spindle 51 can be specified even if two of the same emission color are provided. it can. Note that the number of the light emitters 55, 56, and 57 is not limited to two or three as described above.

  In the above example, the NC lathe 30 has been described as an example of the machine tool. However, the interference confirmation apparatus 1 of this example can be provided in various machine tools such as a machining center. Further, a wiper may be provided on the lens of the CCD camera 11a... 11o to wipe off the cutting fluid attached to the surface.

It is the block diagram which showed schematic structure, such as the interference confirmation apparatus which concerns on one Embodiment of this invention. It is the front view which showed the NC lathe provided with the interference confirmation apparatus of this embodiment. It is sectional drawing of the arrow AA direction in FIG. It is explanatory drawing for demonstrating the setting of the outline shape data of a stationary structure. It is explanatory drawing for demonstrating the setting of the outline shape data of a moving structure. It is explanatory drawing which showed the relationship between the two-dimensional image obtained by each CCD camera, and one two-dimensional synthetic image obtained by synthesize | combining these two-dimensional images. It is explanatory drawing which showed the relationship between the two-dimensional image obtained by each CCD camera, and one two-dimensional synthetic image obtained by synthesize | combining these two-dimensional images. It is the flowchart which showed a series of processes in the interference confirmation process part of this embodiment. It is the flowchart which showed a series of processes in the interference confirmation process part of this embodiment. It is explanatory drawing for demonstrating interference determination. It is explanatory drawing for demonstrating interference determination. It is explanatory drawing for demonstrating interference determination. It is explanatory drawing for demonstrating the outline shape data of the stationary structure after an update. It is explanatory drawing for demonstrating the example of arrangement | positioning of a light-emitting body. It is explanatory drawing for demonstrating the example of arrangement | positioning of a light-emitting body.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Interference confirmation apparatus 11 Image generation apparatus 11a ... 11o CCD camera 12 1st image data storage part 13 2nd image data storage part 14 Tool data storage part 15 Contour shape data setting process part 16 Contour shape data storage part 17 Image composition process part DESCRIPTION OF SYMBOLS 18 Composite image memory | storage part 19 Interference confirmation process part 20 Display control part 21 Light emitter 30 NC lathe 31 Bed 32 Spindle 33 Chuck 34 Saddle 35 Tool post 36 1st feed mechanism part 37 2nd feed mechanism part 38 Spindle motor 39 Control apparatus 42 Drive control part W Work T Tool

Claims (5)

A movable body that can move in a preset direction, a structure disposed in a movement area of the movable body, a drive mechanism unit that moves the movable body, and an operation of the drive mechanism unit are controlled. In a machine tool provided with a control device, and confirming whether the moving body and the structure interfere with each other,
Image generation means comprising at least one image pickup unit arranged on the machine tool so as to be able to pick up an image within a moving region of the moving body, wherein the image pickup unit picks up the moving body and the structure to obtain two-dimensional image data An image generation means including: a first image generation unit that generates a first image generation unit; and a second image generation unit that generates two-dimensional image data by capturing an image of the moving region of the moving body at a predetermined time interval by the imaging unit;
At least one light emitter disposed on a portion of the movable body that can be imaged by the imaging unit;
From the two-dimensional image data generated by the first image generation unit, the contour shape of the moving body, the light emitting point of the light emitter, and the contour shape of the structure are extracted and the position of the structure is recognized, see containing the extracted moving object contour and the emission point of the light emitter, the contour shape data of a moving body as a reference point of the contour shape of the light emitting point of the light emitting member the moving body, of the extracted structure Contour shape data setting means for setting the contour shape data of the structure including the contour shape and the position of the recognized structure;
Contour shape data storage means for storing contour shape data of the movable body and structure set by the contour shape data setting means;
Image data storage means for storing the two-dimensional image data generated by the second image generation unit;
After extracting the light emission point of the light emitter from the two-dimensional image data stored in the image data storage means and recognizing the position, the position of the recognized light emission point and the movement stored in the contour shape data storage means Based on the contour shape data of the body and the structure, the contour shape of the moving body is arranged at the position of the recognized light emitting point with reference to the light emitting point included in the contour shape data, and the contour shape of the structure is It is arranged at the position of the structure included in the contour shape data, checks whether the moving body and the structure interfere with each other, and transmits an alarm signal to the control device when it is determined that they interfere with each other An interference confirmation device comprising an interference confirmation means.   The interference confirmation apparatus according to claim 1, wherein the moving body is provided with at least two light emitting bodies having different emission colors. The interference confirmation means
A first processing unit for extracting the light emitting points of the light emitters from the latest two-dimensional image data stored in the image data storage means and the ones before the predetermined time, and recognizing these positions;
A second processing unit that calculates a moving direction and a moving speed of the light emitting point based on the current and predetermined position of the light emitting point recognized by the first processing unit and the imaging interval of the imaging unit;
Based on the current position of the light emitting point recognized by the first processing unit and the moving direction and moving speed of the light emitting point calculated by the second processing unit, the position of the light emitting point after elapse of a preset time. A third processing unit for estimating
The position of the light emitting point estimated by the third processing unit, the current position of the light emitting point recognized by the first processing unit, and the contour shape data of the moving body and the structure stored in the contour shape data storage means And a fourth processing unit that confirms whether or not the moving body and the structure interfere with each other by moving the contour shape of the moving body so that the light emitting point moves from the current position to the estimated position based on The interference confirmation device according to claim 1, wherein the interference confirmation device comprises:   The third processing unit of the interference confirmation means replaces the position of the light emitting point after the preset time has elapsed, when the control device immediately performs the stop processing of the moving body and the moving body stops. 4. The apparatus according to claim 3, wherein a position farther from the current position in the movement direction than the position of the light emitting point is estimated as a position where the light emitting point reaches before the moving body stops. The interference confirmation apparatus as described. The third processing unit of the interference confirmation means
In estimating the arrival position, when the light emitting point is moved while accelerating at the maximum acceleration of the moving body in the moving direction from the current position and moving speed, after an elapse of time corresponding to the imaging interval of the imaging unit The position at which the light emitting point stops when the light emitting point is moved while decelerating from the calculated moving speed and moving position in the moving direction with the maximum acceleration of the moving body after calculating the moving speed and moving position of The interference confirmation apparatus according to claim 4, wherein the interference confirmation apparatus is configured to calculate the position and estimate the arrival position.

Images