JPH07134008A - Measurement of gap and difference in level - Google Patents

Abstract

PURPOSE:To make possible accurate measurement with good workability by selecting the first and second longest continuous lines from a cross-sectional shape calculated by a light cutting method and calculating the center position of roundness at the mutually approaching end parts of them. CONSTITUTION:The attaching part of a door panel 2a and a car body 2b is measured to be confirmed as an intermittent continuous line by an image processing device 3. The point P1 on the first longest continuous line (b) separated from the end point P01 on the side approaching the second longest continuous line (d) of the line (b) by a predetermined distance A1 is calculated. The line (b) is made approximate as a straight line having the point P1 as an end point to calculate an approximate straight line C1. The point Q1 on the line separated from the line C1 by a predetermined distance B1 in the depth direction of a gap is calculated. The interval between the points P1, Q1 is equally divided into a plurality of sections to calculate equally divided points and a plurality of the points separated by a predetermined distance R1 on the straight line vertical to the straight line passing two adjacent points among equally divided points are calculated. The position obtained by averaging a plurality of the points is confirmed as the center 01 of the curved surface at the end part of the line (b) to determine the center of roundness at the end part on the side approaching the line (d) of the line (b).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gap and a step measuring method for measuring a gap and a step between a mounting portion to which a door is formed when the door is closed and an opening of a vehicle body facing the door. Regarding

[0002]

2. Description of the Related Art Various panels that make up an automobile body are
It is press-molded into various shapes according to the structure and rigidity of the vehicle body, and most of them are assembled by welding to the vehicle body frame. Further, doors, hoods, and trunk lids formed by such panels are attached to the vehicle body so as to be openable and closable, and at the ends of these opening and closing members, there are seal members that adhere to the vehicle body in the closed state. It is installed.

[0003] In these various panels, for example, when distortion or deformation due to defective press working or defective welding occurs, the structure and rigidity of the vehicle body are directly adversely affected. In order to judge whether the shape of the processed panel is an appropriate shape,
In addition to measuring the surface shape of the panel processed in the inspection process and inspecting whether it is formed as designed, the doors, hoods, trunk lids, etc. that can be freely opened and closed are Must be inspected for proper installation (design position).

This is because, for example, when the gap between the door and the vehicle body is not at an appropriate position, it is not possible to reliably prevent the intrusion of water, dust or the like, or the gap between the door and the vehicle body. If the step is too wide, problems such as loud wind noise may occur during traveling.Therefore, when the door is mounted on the vehicle body, the gap and step formed between the door and the vehicle body are measured, and this gap is measured. We are inspecting whether or not the level difference is within the allowable range.

Each such panel (for example, door and car body)
Up to a decade ago, the gaps and steps were measured using step gauges and vernier calipers, but due to quality problems such as error and poor workability depending on the person making the measurement, In recent years, it has become mainstream to use a measuring device that performs measurement by the so-called optical cutting method.

Conventionally, there is a measuring device by the light section method as shown in FIG. 12, for example. In the measuring device shown in the figure, the slit-shaped slit light emitted by the slit light source 4 is transmitted to the panels 2a and 2b. The CCD camera 6 of the camera unit 5 inputs the reflected light formed by being reflected on the surface, and the image processing apparatus 3 performs image processing on the image data corresponding to the reflected light, which is output by the CCD camera 6 to generate the panel 2
A gap and a step between a and 2b are measured.

[0007]

However, in the conventional light cutting method, the shape of the panel 2a and the panel 2a are usually measured by detecting the reflected light from the panels 2a and 2b due to the slit light. Since the edge of 2b is rounded, the reflected light cannot be detected by the measuring instrument, and there is a problem in that it cannot be accurately measured as a gap at the edge.

The present invention has been made to solve the above-mentioned conventional problems. For example, an automobile door and
It is an object of the present invention to provide a gap and a step measuring method capable of accurately measuring the gap and the step between the opening and the opening of the vehicle body which face this.

[0009]

Means for Solving the Problems The present invention for achieving the above-mentioned object is to provide an irradiation means for irradiating the surface of a member to be measured with slit light and a reflected light of the surface of the member to be measured formed by the slit light. Using a measuring device that includes a measuring unit that is integrated with a recognizing unit that recognizes the shape, and that measures the shape of the surface of the measured member based on the shape of the reflected light recognized by the recognizing unit according to the light cutting method. , The other second measured member is configured to form a gap at a predetermined distance when approaching one of the first measured members.
A measuring method for measuring the gap and the level difference of a member to be measured which is attached to a member to be measured so as to be separated from and close to the member to be measured, wherein the second member to be measured approaches the second member to be measured of the first member to be measured. A first step of measuring both shapes of the first measured member approaching side by the measuring device, a second step of recognizing the shape measured by the first step as a continuous line, and the longest of the continuous lines First continuous line
The third step of selecting the second longest continuous line as the second continuous line, and the fourth step of recognizing the end point (P01) of the first continuous line on the second continuous line approaching side. A step, a fifth step of calculating a point (P1) on the first continuous line that is separated from the end point (P01) recognized by the fourth step by a predetermined distance (A1), and the first continuous line by the point ( P1)
A sixth step of obtaining a first approximation straight line C1 approximated as a straight line with the end point as the end point, and the first continuation separated from the first approximation straight line (C1) by a predetermined distance (B1) in the depth direction of the gap of the measuring member. The seventh step of calculating the point (Q1) on the line, the eighth step of comparing the position of the point (P1) with the position of the point (Q1), and the step (P1) in the eighth step. Point (Q
When it is located closer to the second continuous line than 1),
The point (P1) is a predetermined distance (A1) according to the fifth step.
Is changed to a value that is doubled in the direction away from the end point (P01) on the second continuous line approaching side, and a point (P1 ′) is calculated, and the points of each step from the sixth step to the eighth step are calculated. (P
1) is the point (P1 '), and the point (Q1) is the point (P1)
The ninth step, which is repeated until it comes closer to the second continuous line approaching side, and the point (P1) to the point (Q1)
A tenth step of obtaining a plurality of equally divided points obtained by equally dividing the distances, and obtaining a plurality of points separated by a predetermined distance (R1) on a straight line perpendicular to a straight line passing through two adjacent points of the equally divided points; 11th step of recognizing the position where the points are averaged as the center (O1) of the curved surface at the end of the first continuous line on the side closer to the second continuous line, and the step of approaching the first continuous line of the second continuous line. End point (P
02), and a thirteenth step of calculating a point (P2) on the second continuous line that is apart from the end point (P02) recognized by the twelfth step by a predetermined distance (A2),
A 14th step of obtaining a second approximate straight line (C2) by approximating the second continuous line as a straight line having the point (P2) as an end point, and the measurement on the second continuous line from the second approximate straight line (C2) In the fifteenth step of obtaining a point (Q2) separated by a predetermined distance B2 in the depth direction of the gap between the members, the sixteenth step of comparing the positions of the point (P2) and the point (Q2), and the sixteenth step, When the point (P2) is located closer to the second continuous line than the point (Q2), the point (P2)
Is calculated as a point (P2 ′) obtained by doubling the predetermined distance (A2) in the thirteenth step in the direction away from the end point (P02) on the first continuous line approaching side, and from the fourteenth step. Up to the 16th step, the point (P2) of each step is set as the point (P2 ′) and repeated until the point (Q2) is located closer to the second continuous line approaching point than the point (P2).
7 steps, and a plurality of equal points obtained by equally dividing the point (P2) to the point (Q2) are obtained, and a predetermined distance R2 on a straight line perpendicular to a straight line passing through two adjacent points of the equal points. 18th step of obtaining a plurality of points, and a 19th step of recognizing an averaged position of the plurality of points as the center (O2) of the curved surface at the end of the second continuous line on the side closer to the first continuous line. , The first
A distance (L) between the line passing through the center (O1) and the line passing through the center (O2) orthogonal to the approximate straight line or the second approximate straight line and parallel to the first approximate straight line or the second approximate straight line is obtained. A twentieth step of obtaining a distance obtained by subtracting the predetermined distances (R1) and (R2) from the distance L as a gap between the first measured member and the second measured member, and 2 of the distance (L). A twenty-first step for obtaining a difference between a line extending the first approximate straight line and a line extending the second approximate straight line on an equal point as a step between the first measured member and the second measured member; And a gap and step measuring method.

[0010]

The operation of the gap measuring method of the present invention will be described below.

First, with the measuring device set at an arbitrary position, the first measured member approaches the second measured member approaching the second measured member and the second measured member.
The first step of measuring the shapes of both sides of the member to be measured approaching the first member to be measured, the second step of recognizing the measured shape as a continuous line, and the continuous line that is the longest continuous line of the continuous line to the first By the third step of selecting the continuous line as the continuous line and the continuous line that is the second longest continuous line as the second continuous line, either the longest first continuous line or the second longest continuous line is the first measured line. It is recognized as a shape corresponding to the member or the second measured member.

Then, first, with respect to the first continuous line, a fourth step of recognizing an end point P01 of the first continuous line on the side closer to the second continuous line, and an end point P01 recognized by the fourth step.
A fifth step of calculating a point P1 on the first continuous line that is apart from the first continuous line by a predetermined distance A1 from the sixth step, and a sixth step of obtaining a first approximate straight line C1 that approximates the first continuous line as a straight line with the point P1 as an end point. And a seventh step of calculating a point Q1 on the first continuous line that is apart from the first approximate straight line C1 by a predetermined distance B1 in the depth direction of the gap of the measurement member, and determines the position of the end of the measured member. To do. At this time, the P1 is compared with the point Q2 in the eighth step, and the point P1 is changed to the second point from the point Q1.
When the point is closer to the continuous line, since the point Q1 exists in a portion deeper than the portion subjected to the linear approximation, it is determined that the linear approximation is not accurately performed, and the point P1 is set to the first point. A point P1 'is calculated by changing the predetermined distance A1 in 5 steps to a value that is doubled in the direction away from the second continuous line approaching side, and the point P1 of each step from the 6th step to the 8th step is calculated. Is defined as the point P1 ′, and in the eighth step, the point P
1 and the point Q1 are compared with each other, and a ninth step is repeated until the point Q1 is located closer to the second continuous line than the point P1.

Then, a plurality of points P1 to Q1 are equally divided to obtain equal points, and a plurality of points separated by a predetermined distance R1 on a straight line passing through two points adjacent to the equally divided points are separated. A tenth step of obtaining a point and an eleventh step of recognizing a position obtained by averaging the plurality of points as the center O1 of the curved surface at the end of the first continuous line.
Depending on the process, the center of the roundness at the end of the first continuous line closer to the second continuous line is determined.

The steps up to this point are similarly performed for the second continuous line to determine the approximation of the straight line portion on the second continuous line and the center of the roundness of the end portion on the approaching side of the first continuous line (No. 1). 12 to 1
9 steps).

From the above, the accurate positions of the ends of the first and second members to be measured are found as the first continuous line and the second continuous line. Therefore, in the twentieth step, the center O1 of each roundness is determined. And the length of O2 obtained by subtracting the predetermined distances R1 and R2 from the distance L parallel to the first approximate straight line is defined as a gap, and the difference between the first approximate straight line and the second approximate straight line is calculated by the twenty-first step. The value taken in the middle part of L is obtained as the step.

Therefore, it is possible to accurately measure the gap and the level difference formed by the first and second measured members.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The gap and step measuring method of the present invention will be described in detail below with reference to the drawings.

FIG. 1 is a schematic configuration diagram of a measuring device used in the gap measuring method of the present invention, and FIGS.
It is explanatory drawing of the measurement unit shown in FIG. In each drawing, the same members as those described in the conventional art are designated by the same reference numerals.

As shown in FIG. 1, the measuring device used in the gap measuring method according to the present embodiment includes a measuring unit 20, an image processing device 3, a computer 8 for instructing a measurement site, a total evaluation of measurement results, and the like. The measurement unit 20 is constituted by a monitor 7 for displaying results and the like, and the measurement unit 20 converts the reflected light formed on the surface of the member to be measured into a video signal as in the conventional case, and outputs the video signal to the image processing apparatus 3. Has become. In addition to the monitor 7, a printer (not shown) may output the recording.

The measuring unit 20 is constructed as shown in FIGS. As shown in FIG. 2, the measurement unit 20 includes a slit light source 21 as an irradiation unit.
One is prepared. Each of these slit light sources 21 has a semiconductor laser element (not shown), a collimator lens and a cylindrical lens, which are similar to those of the slit light source 4 of the conventional measurement unit 1, built in a cylindrical outer peripheral case 22, and is formed by these. The slit light is emitted to the outside from a light emitting port 23 formed in the outer peripheral case 22. Each slit light source 21 is held by a holder 25 fixed to a base 24. The base 24 measures the shape of the slit light source 21 held by the holder 25 by a so-called light cutting method. The camera unit 5 is fixed so as to have a positional relationship capable of

The holder 25 is configured as shown in FIG. The holder 25 includes the outer case 2 of the slit light source 21.
A holding hole 30 for holding 2 is formed. As shown in the partial cross-sectional view of FIG.
The outer diameter case 2 and the adjusting portion 31 having a diameter several mm larger than the outer diameter of
2 is formed into a so-called stepped hole in which a fitting portion 32 having a fitting tolerance diameter of about H7 and a light irradiation opening portion 33 having a diameter that allows slit light to pass through are formed in accordance with the light irradiation opening 23. . Further, each holding hole 30 is formed in the holder 25 in a symmetrical manner so that the slit lights emitted from the slit light sources 21 overlap each other in the longitudinal direction. That is, when the slit light source 21 is attached to the holding hole 30, the respective slit light beams output by the respective slit light sources 21 are overlapped with each other within the recognition range that the CCD camera 6 of the camera unit 5 can recognize.

Then, the slit light source 21 has a light irradiation port 2
3 is mounted in the holding hole 30 so that the light irradiation port 33 faces the light irradiation port 33, and the end portion of the outer peripheral case 22 on the light irradiation port 23 side is fitted to the fitting portion 3.
2 and is fixed to the holder 25 by the setscrews 34 at the ends and the setscrews 35 to 38 from the four sides at the other ends. When these slit light sources 21 are operated, as shown in the drawing, the surface of the panel 2 is irradiated with slit light from different directions, and the slit light is set to be in an overlapping state. Even if a concave portion is formed on the surface of 2,
The shape of this recess can be measured reliably.

Further, each slit light source 21 can adjust the irradiation direction of the slit light to be irradiated by adjusting the screwing amount of the set screws 35 to 38. By adjusting the screwing amounts of the setscrews 37 and 38, the slit light in the direction perpendicular to the longitudinal direction of the slit light can be adjusted. Further, the setscrews 34 to 38 are loosened, and the slit light source is adjusted. By rotating 21 itself, the longitudinal direction of the slit light can be adjusted. Then, each slit light source 21 is adjusted by the set screws 34 to 38 so that the optical axis of the slit light output from each slit light source coincides with the reference optical axis. Note that the set screws 34 to 38 are locked by a so-called screw lock material after the adjustment is completed.

The video signal from the CCD camera 6 of the measuring unit 20 is processed by the image processing device 3, and the image processing device 3 operates as shown in FIG.
The video signal from the camera 6 is A / D converted (analog / digital converted), loaded into the image memory 301, and image-processed by the image processing operation unit 302, and the shape of the surface of the measured member indicated by the reflected light is converted into an image. The gap and the step are calculated while forming the data, and the data is sent to the computer 8 via the communication unit 303 connected by the data bus. Further, the image data taken in the image memory 301 is D / A converted and displayed on the monitor 7.

The measuring device provided with the measuring unit 20 constructed as described above operates according to the flow charts shown in FIGS. 4 and 5, whereby, for example, the door and the body of a conventional automobile are It is possible to measure the gap and the step at the mounting portion.

A method of measuring a gap and a step according to the present invention using this measuring apparatus will be described below with reference to FIGS. 4 to 10. 4 and 5 are flowcharts of measurement, and FIGS. 6 to 10 are drawings for explaining measurement sites.

First, as a first step (S1), a door panel (first member to be measured) 2a and a vehicle body (second member to be measured) 2
The mounting unit of b is the measurement site, and the measurement unit 20
Measured by the second step (S
As 2), the image processing apparatus 3 recognizes it as a number of continuous continuous lines. The recognized image is discontinuous because the slit light for measurement does not enter the inside of the mounting part where the gap is deep and the reflected laser beam or the reflected laser beam reaches the CCD camera 6. Because it does not reach. In the case shown, there are four recognized continuous lines, lines ad. The image processing device 3
The data inside is recognized as a set of points on the XY coordinates, and in the following processing, all the points on the XY coordinates or the set of points are processed as lines.

Next, as shown in FIG. 6b, the third step (S
As 3), the longest continuous line is selected as the first continuous line and the second longest continuous line is selected as the second continuous line among the continuous lines. Those shorter than the second continuous line are deleted from the processing target. here,
The line b is the first continuous line, the line d is the second continuous line, and the lines a and c are deleted from the processing target. As a result, the measured portions of the two panels (door panel and vehicle body) at the measurement site are recognized as two continuous lines.

Next, as shown in FIG. 6c, a fourth step (S
4), the end point P of the first continuous line b on the side closer to the second continuous line
01 is obtained, and as a fifth step (S5), a first continuous linear point P1 that is away from the point P01 by a predetermined distance A1 is obtained. The predetermined distance A1 is arbitrarily defined, but may be a design value corresponding to the radius of the rounded portion at the end of the door panel 2a or the vehicle body 2b, which is the member to be measured, for example.

Then, as shown in FIG. 6d, in a sixth step (S6), the first continuous line b having the end point at the point P1 is linearly approximated to obtain a first approximated straight line C1. First approximate straight line C
In order to obtain 1, the coordinate value of each point from P1 on the first continuous line b on the XY coordinates to the other end point may be approximated by the least square method.

Next, as shown in FIG. 6e, the seventh step (S
As 7), a point Q1 on the first continuous line b at a distance of a predetermined distance B1 from the first approximate straight line C1 in the depth direction of the gap of the measurement site is obtained. The predetermined distance B1 is changed depending on how deep the gap is measured when measuring the gap, and is set as a predetermined standard at the time of measurement. This is provided as a standard at the time of measurement because the measurement value of the gap changes as the depth of the measurement position of the gap changes.

Next, in the eighth step (S8), the points P1 and Q1 on the first continuous line b are compared with each other, and the point P1 is located closer to the second continuous line d than the point Q1. In the ninth step (S9), the point P1 is moved to the predetermined distance A1 in the fifth step.
Is changed to a value that is doubled in the direction away from the second continuous line approaching side, and a point P1 ′ of each step is calculated from the sixth step (S6) to the eighth step (S8). Is repeated as the point P1 ′ (S91), and the points P1 and Q
1 is compared and repeated until the point Q1 is located closer to the second continuous line approaching point than the point P1 to newly obtain the first approximate straight line C1 and the point Q1.

The comparison between the points P1 and P2 in the eighth step is to confirm whether or not the straight line portion of the first continuous line b is accurately approximated, that is, as shown in FIG. If it is on the left side of the point P1, the point P
Despite obtaining the first approximation straight line with 1 being the end point of the straight line (sixth step (S6)), the first continuous line b includes the point Q2 at a portion apart from the approximated straight line. Therefore, the straight line part of the continuous line is not exactly approximated. Therefore, when the position of the point P1, which is the end point of the portion approximated as a straight line, is shifted to the left by two times the predetermined distance A (2 × A), the point P1 ′ is calculated and the linear approximation is calculated again. By this, the straight line portion is accurately approximated, and the point Q1 at the end portion necessary for the measurement is also obtained.

Next, as shown in FIG. 8, the tenth step (S
As 10), the point P1 to the point Q1 is equally divided into a plurality of points, and a point that is a predetermined distance R1 away from a straight line passing through two adjacent points of the equally divided points is A plurality is calculated for each of the two points of the plurality of equal points, and the eleventh step (S11)
As, the average position of a plurality of points is recognized as the center O1 of the curved surface at the end of the first continuous line. At this time, a point distant by the distance R1 is obtained only with respect to an intersection angle between the straight line passing through two adjacent points and the first approximate straight line C1 in the range of 20 to 80 degrees. When the intersecting angle is not in the range of 20 to 80 degrees, it is determined that the end of the first continuous line is not rounded, the center O1 is stopped, and the point Q1 is set to the first continuous line b. This is because it is regarded as the end point on the measurement side of.

Through the above fourth step (S4) to eleventh step (S11), the first continuous line b, that is, the panel shape on the left side at the measurement site in the case of being shown is recognized.

Next, from the above-mentioned fourth step (S4) to the first step
The shape recognition of the second continuous line d is performed similarly to the panel shape recognition of the first continuous line b up to the first step (S11).

That is, as shown in FIG.
As a step (S12), an end point P02 of the second continuous line b on the first continuous line approaching side is obtained, and as a thirteenth step (S13),
A point P2 on the second continuous line that is a predetermined distance A2 away from the point P02
Ask for. This predetermined distance A2 may be the same as the above-mentioned predetermined distance A2 on the first continuous line, or may be a different value when the panel shapes are different by design. And
In the fourteenth step (S14), the second process using the point P2 as the end point
The second approximation straight line C2 of the continuous line d is obtained in the same manner as the above-mentioned first approximation straight line.

Next, as the fifteenth step (S15), the second step
A point Q2 on the second continuous line d at a distance of a predetermined distance B2 from the approximate straight line C2 in the depth direction of the gap of the measurement site is obtained. The predetermined distance B2 is the depth of the measurement position when the panel surface is used as the measurement reference.

Next, as the 16th step (S16), the second step
By comparing the points P2 and Q2 on the continuous line d, the point P1 becomes the point Q.
If it is located closer to the first continuous line b than 2
As the seventh step (S17), the point P2 in which the predetermined distance A2 is changed to a value doubled in the direction away from the first continuous line approaching side.
′ Is calculated, and from the 14th step (S14) to the 16th step.
Until the step (S16), the point P1 in each step is changed to the point P1 ′.
(S171) repeatedly, the point P2 and the point Q2 are compared, and the point Q2 is repeated until the point Q2 is located closer to the first continuous line b than the point P2. Find the point Q2.

Next, as the 18th step (S18), the point P
2 to the point Q2 is equally divided into a plurality of equally divided points, and a point which is separated by a predetermined distance R2 on a straight line perpendicular to the straight line passing through the two adjacent points of the equally divided points is divided into the plurality of equally divided points. For each two points, the position obtained by averaging a plurality of points is recognized as the center O2 of the curved surface at the end of the second continuous line in the nineteenth step (S19). At this time, similarly to the 11th step (S11), a point distant by the distance R2 is obtained only when the angle at which the straight line passing through the two adjacent points and the second approximate straight line C2 intersect is in the range of 20 to 80 degrees. If the intersecting angle is not within the range of 20 to 80 degrees, it is determined that the end of the second continuous line is not rounded, the center O2 is stopped, and the point Q2 is measured on the second continuous line d. It is regarded as the end point of the side to do.

As a result, the second continuous line d, that is, the shape of the panel on the right side of the measurement site in the case shown is recognized.

As described above, since the straight line portions of the first continuous line b and the second continuous line d and the roundness of the end portions of the portions which are close to each other are recognized, the gap and the step of the measurement site are obtained from them.
First, as shown in FIG. 10, the gap is formed in the 20th step (S2
0), the first approximate straight line C1 is made parallel to the X axis of the XY coordinates, and the distance L in the X coordinate between the center O1 of the first continuous line b and the center O2 of the second continuous line d is calculated, A value obtained by subtracting R1 and R2 from the distance L is obtained as a gap. If this is expressed by a formula, the gap = L− (R1 + R2). At this time, in the present embodiment, the first approximate straight line is used as a reference, but the second approximate straight line may be used as a reference. In that case, the second approximate straight line is made parallel to the X axis.

Next, in the step, as a 21st step (S21), the first approximate straight line C1 and the second approximate straight line C2 are extended, and the center O1 of the first continuous line end and the center of the second continuous line end are drawn. The distance between the first approximate straight line C1 and the second approximate straight line C2 that are extended at the midpoint of the distance L on the X coordinate from O2 is obtained.

The flow of the whole measurement will be described below with reference to the flow chart shown in FIG. First, computer 8
The measurement unit is instructed (S100), and the measurement unit 20
Is set to the measurement site (S101).

Then, the measurement switch is turned on to capture the shape of the measurement site in the image memory 301 of the image processing section 3 (S102), and the gap and step are obtained by the above-described measurement method of the present invention (S103). Then, the measurement result (measured value of the step / gap, whether or not the measurement is normally performed (OK or NG), etc.) is transferred to the computer 8 (S104).

Then, it is judged whether or not the measurement of all the measurement sites has been carried out (S105), and if all have not been completed, the process returns to step 100 (S100) and the next measurement site is instructed and the measurement is carried out. When the measurement of the measurement site is completed, the measurement data is recorded, printed out, and completed (S106).

Table 1 shows the results of the above measurements. This measurement is a measurement result of a gap and a step between two measurement portions (point 1 and point 2) on the surface of the door panel and the fender panel of the vehicle body. The measurement unit 20 is supported by the robot at the measurement portion and the same measurement portion is measured. Is a result of repeating measurement 32 times.

[0048]

[Table 1]

As can be seen from Table 1, the variation due to the number of measurements appears only slightly in the gap measurement, and the value is as low as 0.2 mm. And
The average of 32 times is almost in agreement with the measurement result by the caliper.

The method of supporting the measurement unit 20 on the measurement site may be arbitrary, and it may be fixed manually or by using a fixing member, or may be fixed to the robot hand as in the conventional case. Of course, the measurement may be automatically performed.

[0051]

As described above, according to the gap and step measuring method of the present invention, the longest continuous line and the second longest continuous line are selected from the sectional shapes obtained by the optical cutting method. Approximate the straight line by approximating the straight line part of the two continuous lines as a straight line, find the center position of the roundness at the ends that are close to each other, and find the value obtained by subtracting the radius of the roundness from the interval at the center position as the gap Since the difference is calculated as a step, there is no variation or error due to the measurer in the case of the conventional manual measurement, and the time required for the inspection process can be shortened and the productivity can be improved.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a measuring device used in a gap measuring method of the present invention.

FIG. 2 is an explanatory diagram of the measurement unit shown in FIG.

FIG. 3 is an explanatory diagram of the measurement unit shown in FIG.

FIG. 4 is a flowchart of a measuring method of the present invention.

5 is a flowchart of the measuring method of the present invention following FIG.

FIG. 6 is a diagram showing a state of measurement by the measuring method of the present invention.

FIG. 7 is a diagram showing a state of measurement by the measuring method of the present invention.

FIG. 8 is a diagram showing a state of measurement by the measuring method of the present invention.

FIG. 9 is a diagram showing a state of measurement by the measuring method of the present invention.

FIG. 10 is a diagram showing a state of measurement by the measuring method of the present invention.

11 is a flow chart of a measuring operation showing a gap measuring method of the present invention by the measuring device shown in FIG.

FIG. 12 is a schematic configuration diagram of a measuring device used in a conventional gap measuring method.

[Explanation of symbols]

3 ... Image processing device, 5 ... Camera unit (recognition means), 6 ... CCD camera (recognition means), 20 ... Measurement unit, 21 ... Slit light source (irradiation means).

Claims (1)

[Claims] 1. A measurement unit in which an irradiation means for irradiating the surface of the member to be measured with slit light and a recognition means for recognizing the shape of the reflected light on the surface of the member to be measured formed by the slit light are integrated. When using the measuring device for measuring the shape of the surface of the member to be measured based on the shape of the reflected light recognized by the recognition means according to the light section method, when approaching one of the first members to be measured. A measuring method for measuring the gap and the step of a member to be measured in which the other second member to be measured is attached to the first member to be measured so as to be spaced apart from the first member so as to form a gap at a predetermined interval. A first step of measuring the shapes of both the second measured member approaching side of the first measured member and the first measured member approaching side of the second measured member by the measuring device; Measured by process The second step of recognizing the formed shape as a continuous line, and selecting the longest continuous line of the continuous line as the first continuous line and the second longest continuous line as the second continuous line. A third step, and an end point (P0) of the first continuous line on the side closer to the second continuous line.
1) recognizing 1), a fifth step of calculating a point (P1) on the first continuous line that is a predetermined distance (A1) away from the end point (P01) recognized by the fourth step, and A sixth step of obtaining a first approximate straight line C1 by approximating one continuous line as a straight line with the point (P1) as an end point, and a predetermined distance from the first approximate straight line (C1) in the depth direction of the gap of the measuring member. (B1) A seventh step of calculating a point (Q1) that is distant from the first continuous line, an eighth step of comparing the positions of the point (P1) and the point (Q1), and an eighth step , The point (P1) is the point (Q1)
When located closer to the second continuous line approaching side, the point (P1) is moved in a direction away from the end point (P01) on the second continuous line approaching side by a predetermined distance (A1) in the fifth step. The point (P1 ') changed to the doubled value is calculated, and the sixth point is calculated.
Repeat from the step to the eighth step, using the point (P1) of each step as the point (P1 ') until the point (Q1) is located closer to the second continuous line approaching point than the point (P1). A ninth step, and a plurality of equal points obtained by equally dividing the point (P1) to the point (Q1) are obtained, and a predetermined distance on a straight line perpendicular to a straight line passing through the two points that are adjacent to the equal point ( R1) a tenth step of obtaining a plurality of distant points, and an averaged position of the plurality of points is the second line of the first continuous line.
An eleventh step of recognizing the center of the curved surface (O1) at the end on the approaching side of the continuous line, and an end point (P0 on the side approaching the first continuous line of the second continuous line.
2) recognizing 2), a 13th step of calculating a point (P2) on the second continuous line that is a predetermined distance (A2) away from the end point (P02) recognized by the 12th step, A fourteenth step of obtaining a second approximate straight line (C2) by approximating the two continuous lines as a straight line with the point (P2) as an end point, and from the second approximate straight line (C2) to the measuring member on the second continuous line. A point (Q
15th step of obtaining 2), 16th step of comparing the positions of the point (Q2) with the (P2), and in the 16th step, the point (P2) is the point (Q2).
When it is located closer to the second continuous line than 2),
The point (P2) is a predetermined distance (A
The point (P2 ′) obtained by changing 2) to a value doubled in the direction away from the end point (P02) on the first continuous line approaching side is calculated,
From the 14th step to the 16th step, the point (P2) of each step is defined as the point (P2 ′), and the point (Q2) is located closer to the second continuous line than the point (P2). The seventeenth step which is repeated until the point (P2) and the point (Q2) are equally divided into a plurality of equal points, and the straight line is perpendicular to the straight line passing through the two adjacent points. First to obtain a plurality of points separated by a predetermined distance R2
8 steps, and the position obtained by averaging the plurality of points is the first line of the second continuous line.
A nineteenth step of recognizing as the center (O2) of the curved surface at the end on the side closer to the continuous line, a line passing through the center (O1) orthogonal to the first approximate straight line or the second approximate straight line, and the center (O2) A distance (L) parallel to the first approximate line or the second approximate line between passing lines is obtained, and a distance obtained by subtracting the predetermined distances (R1) and (R2) from the distance L is the first measured object. A twentieth step of obtaining a member as a gap between the second member to be measured, a line obtained by extending the first approximate straight line and a line obtained by extending the second approximate straight line at the bisector of the distance (L). And a step of obtaining the difference between the first measured member and the second measured member as a step between the first measured member and the second measured member.