WO2012164987A1 - 形状計測方法 - Google Patents

形状計測方法 Download PDF

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Publication number
WO2012164987A1
WO2012164987A1 PCT/JP2012/054511 JP2012054511W WO2012164987A1 WO 2012164987 A1 WO2012164987 A1 WO 2012164987A1 JP 2012054511 W JP2012054511 W JP 2012054511W WO 2012164987 A1 WO2012164987 A1 WO 2012164987A1
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Prior art keywords
measurement
dimensional
point
measurement object
data
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PCT/JP2012/054511
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English (en)
French (fr)
Japanese (ja)
Inventor
秀威 吉▲柳▼
久良　賢二
山本　英明
浩史 大石
謙次郎 山崎
Original Assignee
三菱重工業株式会社
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Application filed by 三菱重工業株式会社 filed Critical 三菱重工業株式会社
Priority to CN201280021378.9A priority Critical patent/CN103534554A/zh
Priority to MX2013012660A priority patent/MX2013012660A/es
Priority to RU2013148563/08A priority patent/RU2013148563A/ru
Priority to BR112013027644A priority patent/BR112013027644A2/pt
Priority to KR20137028751A priority patent/KR101497260B1/ko
Publication of WO2012164987A1 publication Critical patent/WO2012164987A1/ja

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation

Definitions

  • the present invention relates to a shape measuring method used for an industrial machine or the like controlled by a numerical control device.
  • Patent Document 1 As a shape measuring method used as a collision prevention device for a machine tool, there is an optical cutting method in which a slit light is irradiated on an object, a light image along the shape of the object is obtained, and captured by a CCD camera.
  • Patent Document 2 As a method for creating a three-dimensional model of an object in the CAD system, the first point cloud data of the object placed on the reference plane and the second point of the object placed on the reference plane by changing its posture There is a method of acquiring group data and combining these two point group data into a single connection point group data (Patent Document 2).
  • a shape measuring method used for the collision prevention device a three-dimensional mesh structure formed by dividing a space into a polyhedron is generated, and workpiece measurement is performed based on the measured distance information to the workpiece.
  • voxel the ratio of the number of times the calculated measurement point is included in the voxel to the number of times the position of the workpiece corresponding to one unit of the three-dimensional mesh structure (hereinafter referred to as voxel) is scanned is greater than a predetermined threshold
  • Patent Document 3 there is a method of creating a measurement shape map assuming that the voxel is the shape of the workpiece.
  • STL is an abbreviation of Standard Triangulalated Language, which is an industry standard file format for 3D CAD systems developed by 3D ⁇ system (also called Stereo Lithography), and represents a three-dimensional shape as a collection of small triangles. To do.
  • the two-dimensional Delaunay diagram is “space division in which the circumscribed circle of each triangle (cell) does not include other vertices”.
  • the STL data generated by the 2D Delaunay diagram is an unclosed polyhedron. That is, three-dimensional measurement is performed from a plurality of directions, and the surface generation results from the respective measurement directions are coordinated and combined to generate shape data.
  • the shape data generated in this way is a collection of surfaces (surfaces) and does not strictly define a solid shape having a volume element.
  • Patent Document 2 if there is a missing part when combining the first and second point cloud data, there is a possibility that the created single connection point cloud data is not solidified and does not become a closed shape model. It was.
  • the conventional surface shape may be necessary and sufficient, but depending on the application, it may be a precondition that the input shape data is a closed polyhedron. This is because, when performing geometric calculations such as interference calculation in the program, the ease of mounting and robustness of the application is improved by using a closed polyhedron that strictly defines the volume element of the object as the starting point of the calculation. To do.
  • Patent Document 3 uses a measurement shape map that is three-dimensional data of a workpiece, but is a discrete shape model because the measurement shape map is a voxel having a three-dimensional mesh structure.
  • the algorithm for memory usage and processing speed due to the resolution improvement increases in the order of the cube, and it is very difficult to represent the shape with high resolution.
  • a closed polyhedron generated from a voxel shape is likely to be a non-manifold polyhedron.
  • a manifold polyhedron as well as a closed polyhedron may be a constraint for applications that handle geometric calculations, which is a problem to be solved.
  • the “manifold” polyhedron is “non-linear” in which three or more faces share one side when attention is paid to the connection relation between the sides of the polyhedron. It is not a “manifold”, but a polyhedron with a geometrically characteristic property.
  • FIG. 23 shows an example in which four planes share one side
  • FIG. 24 shows an example in which four sides of two cubes share one side
  • FIG. 25 shows the upper end of four inclined surfaces. Shows an example of sharing one side.
  • FIG. 28 shows an example of a polyhedron including self-intersection.
  • 28A shows self-intersection in two dimensions
  • FIGS. 28B and 28C show examples (1) and (2) of self-intersection in three dimensions (the broken line portion in the figure is shown). Self-intersection).
  • the present invention has been made in view of the above-described prior art, and an object thereof is to generate closed polyhedron data that is a manifold of a measurement object and does not include self-intersection from point cloud data measured by a three-dimensional measuring instrument.
  • the shape measuring method according to claim 1 of the present invention that solves the above-described problems includes the following steps. (1) A step of acquiring measurement point cloud data of a measurement object for each measurement direction by scanning the measurement object from a plurality of measurement directions with a three-dimensional measuring instrument. (2) A step of generating an implicit function that represents the shape of the measurement object based on the measurement point cloud data. (3) A step of generating polyhedron data based on an implicit function expressing the shape of the measurement object. Further, the step (3) includes the following small steps. (a) A tetrahedron small region (hereinafter referred to as a cell) that is filled without gaps by performing a spatial division process using a three-dimensional Delaunay diagram based on the measurement point cloud data.
  • a cell A tetrahedron small region that is filled without gaps by performing a spatial division process using a three-dimensional Delaunay diagram based on the measurement point cloud data.
  • the entire measurement region where the surface representing the surface shape of the measurement object exists is divided into tetrahedral cells filled with no gaps and without overlap by division processing by a three-dimensional Delaunay diagram,
  • the intersection between the surface and each boundary cell is inevitably 3 or 4 points. Therefore, a triangular or quadrangular surface connecting these intersections can be regarded as a surface obtained by slicing (cutting) each boundary cell on the surface (hereinafter, the surface is referred to as a slice cross section). Therefore, closed polyhedron data can be generated by combining slice sections of all boundary cells.
  • the closed polyhedron data is not a non-manifold in which three sides share one side because two sides share each side of the slice cross section, and can therefore be called a manifold.
  • the cells of the 3D Delaunay diagram do not overlap each other due to the 3D Delaunay diagram definition. Therefore, it can be ensured that the polyhedron data generated by combining the slice cross sections of each cell does not include self-intersection.
  • closed polyhedron data that is manifold and does not include self-intersection can be generated easily and reliably.
  • the present invention can adopt continuous coordinate values in the intersection coordinate calculation compared to the conventional discrete shape expression method such as voxels, the shape approximation accuracy is high, and the normal vector of each triangular surface is used. Missing can be suppressed.
  • the “surface” is an abstract representation of the object to be measured other than the surface shape. Meaning of the measurement object itself observed from outside, as described in [Means for Doing] and [Claims].
  • FIG. 12C is a rectangular parallelepiped formed by the tetrahedral cell.
  • FIG. It is a three-dimensional Delaunay diagram which shows the outer point and inner point of a surface. It is a three-dimensional Delaunay diagram which shows the intersection of a surface and a cell. It is a perspective view which shows the slice cross section of the cell by a surface (the 1). It is a perspective view which shows the slice cross section of the cell by a surface (the 2). It is a perspective view (the 3) which shows the slice cross section of the cell by a surface. It is explanatory drawing which shows the polyhedron data closed by the manifold.
  • FIG. 1 is a system configuration diagram showing an embodiment in which a shape measuring method of the present invention is applied to an NC apparatus. It is explanatory drawing of the machine tool used for the shape measuring method of this invention. It is a flowchart which shows the work procedure of shape measurement. It is a flowchart which shows STL process. It is explanatory drawing which shows the example (the 1) of a non-manifold polyhedron. It is explanatory drawing which shows the example (the 2) of a non-manifold polyhedron. It is explanatory drawing which shows the example (the 3) of a non-manifold polyhedron. It is a two-dimensional Delaunay diagram. It is explanatory drawing of a voxel shape model.
  • FIG. 28A is an explanatory diagram showing an example of a polyhedron including self-intersection in two dimensions
  • FIG. 28B is an explanatory diagram showing an example (1) of a polyhedron including self-intersection in three dimensions
  • FIG. c) is an explanatory view showing an example (2) of a polyhedron including self-intersection in three dimensions.
  • measurement point cloud data which is the three-dimensional coordinates of the measurement point cloud on the measurement object
  • a three-dimensional measuring instrument that is, in the present embodiment, as shown in FIG. 1, the three-dimensional measurement sensor 1 is attached to the spindle 2 of the machine tool, and the spindle movement direction (horizontal direction) is perpendicular to the measurement direction (downward) A.
  • the measurement object 3 is measured while being moved to B.
  • the measuring object 3 is placed on a table 9 and the spindle 2 of the machine tool is movable in a three-dimensional direction.
  • the measurement object 3 can be measured three-dimensionally.
  • a laser sensor that measures the distance to the measurement object 3 after moving in the main axis movement direction B, it moves a certain distance in the direction perpendicular to the paper surface, and then the main axis movement direction B By repeating the movement, the measurement object 3 can be measured three-dimensionally.
  • a line sensor in which a laser sensor that measures the distance to the measurement object 3 is linearly arranged in the direction perpendicular to the paper surface is used as the three-dimensional measurement sensor 1, it is moved once in the spindle movement direction B.
  • the measurement object 3 can be measured three-dimensionally.
  • a measurement point a that is a point measured by the three-dimensional measurement sensor 1 is a point that is lowered from the three-dimensional measurement sensor 1 in the measurement direction A, and is not only on the measurement object 3 but also on the table 9. Is also present.
  • the measurement point group data measured for each measurement point a is composed of the three-dimensional coordinates of the spindle 2, that is, the three-dimensional coordinates of the three-dimensional measurement sensor 1, and the distance from the three-dimensional measurement sensor 1 to the measurement object 3.
  • a portion that is visible from the measurement direction A and does not enter the blind spot (shadow) of the object is not included. That is, the point cloud data has no overlap when viewed from the measurement direction.
  • the point cloud data includes the distance from the three-dimensional measurement sensor 1 to the measurement object 3, that is, the height information.
  • the point cloud data is a two-dimensional point cloud arranged at regular intervals in the vertical and horizontal directions in FIG. 2a, and the two-dimensional triangular mesh is a two-dimensional point cloud having a triangular shape as shown in FIG. 2b. They are connected by edges to form vertices.
  • a two-dimensional triangular mesh is generated from two-dimensional point cloud data using Delaunay triangulation.
  • Delaunay triangulation is one of the methods for creating a triangular mesh for expressing a shape when the surface shape is restored from a group of measurement points that are a collection of three-dimensional coordinates. The division of space by the triangles that fill. (1) Each point in the point group is a vertex. (2) The points of the point group are not included inside each triangle circumscribed circle.
  • the Delaunay triangulation is not limited as long as the surface shape can be restored from the measurement point group which is a collection of three-dimensional coordinates.
  • a three-dimensional triangular mesh is also a type of surface representing the surface shape of the measurement object, and triangular mesh data is also a type of surface data.
  • FIG. 3 shows one image of the surface C represented by a three-dimensional triangular mesh, which is a shape different from the surface shape of the measurement object of FIG.
  • a surface C shown in FIG. 4 (indicated by a broken line in the figure) corresponds to the measurement object 3 shown in FIG.
  • the surface shape of the measurement object 3 is represented by a three-dimensional triangular mesh.
  • the surface C can be acquired as triangular mesh data, it is only a result obtained from one measurement direction. Therefore, in the present embodiment, results obtained from a plurality of measurement directions are combined to generate the following implicit function that represents the measurement object.
  • the measurement object can be converted and represented from surface data that is a set of surface data and the volume element of the object is not strictly defined to solid data that precisely defines the volume element of the object.
  • the implicit function of the present embodiment is an inside / outside determination function that receives an arbitrary three-dimensional coordinate value, and outputs 1 when the designated coordinate value is inside the measurement object and 0 when the designated coordinate value is outside. .
  • the area (1) where there is no object and areas other than (1) when viewed from one measurement direction Create an implicit function for classifying into (2). Since the area (1) is an area closer to the three-dimensional measurement sensor than the surface C, and the area (2) is an area closer to the measurement object than the surface C, the area (1) and the area (2 ) Is the surface C (see FIG. 4).
  • the implicit function classifies the area (1) where there is no object and the area (2) other than (1) with the surface C as a boundary surface, in other words, the area (1 )
  • the boundary data of the region (2) other than (1) can be referred to as surface data defining the surface C representing the surface shape of the measurement object 3.
  • the region (2) is a region where the measurement target object may exist, but cannot be immediately determined as a region where the measurement target object exists. For example, as shown in FIG. 1, when the measurement direction A is downward, the region (2) becomes an area (2), but when there is another direction, for example, the measurement direction is horizontal, This is because it may be judged as 1).
  • the implicit function based on only one-plane measurement overestimates the area where the object exists.
  • an area where the measurement object does not exist may be erroneously determined as an area where the measurement object exists. Therefore, the measurement object is measured from multiple directions, a plurality of measurement point cloud data is obtained, and a plurality of triangular mesh data is created by representing the surface shape of the measurement object with a three-dimensional triangular mesh.
  • An implicit function is created from each, and a plurality of created implicit functions are synthesized to obtain a final implicit function. In this way, overestimation can be suppressed as much as possible.
  • a plan view a right side view, a front view, a left side view, a rear view, and a bottom view.
  • an implicit function based on the acquired point cloud data measured from five directions excluding the bottom surface is synthesized (logical product)
  • This point will be briefly described below.
  • three-dimensional measurement is performed on the measurement object 3 from a measurement direction A from the upper surface, a measurement direction D from the left surface, and a measurement direction E from the right surface.
  • 3D cannot be expressed in the drawing, in FIG. 3, the description of the measurement from two directions perpendicular to the paper surface is simplified and mainly described in 2D.
  • a surface C 1 (indicated by a broken line in the figure) representing the shape of the upper surface of the measurement object 3 is used as a boundary surface, and there is no object on the upper side.
  • An implicit function is created with the region (1) and the region below the region (2) with the object.
  • the surface C 1 is bowl-shaped and has a shape having a convex portion at the bottom.
  • the area (2) where the object is located is shaded in the figure.
  • the measurement direction D from the left surface as shown in FIG.
  • a surface C 2 (indicated by a broken line in the figure) representing the shape of the left surface of the measurement object 3 is used as the boundary surface, and the left side is An implicit function is created in which the area (1) has no object and the area on the right side (2) has an object.
  • the measurement range is limited to a certain height or higher than the table 9 so that the three-dimensional measurement sensor 1 does not interfere with the table 9, and the portion of the measurement object 3 that contacts the table 9 cannot be measured.
  • the area that cannot be measured is the area (1) where the object does not exist.
  • a surface C 3 (indicated by a broken line in the figure) representing the shape of the right surface of the measurement object 3 is used as a boundary surface, and the right side is An implicit function is created in which the area (1) has no object and the area to the left (2) has an object.
  • the measurement range is limited to a certain height or higher than the table 9 so that the three-dimensional measurement sensor 1 does not interfere with the table 9, and the portion of the measurement object 3 that contacts the table 9 cannot be measured.
  • the area that cannot be measured is the area (1) where the object does not exist.
  • the object is measured in the measurement directions A, D, and E. Even in the region that is defined as the region (2), according to the measurement from another measurement direction, the region (1) in which there is no object is determined. Since it is actually three-dimensional, the logical product of each implicit function when measured from two directions perpendicular to the paper surface is also obtained.
  • the “logical product” is an area where there is no object according to measurement from another measurement direction, even though it is an area where the object is (2) according to measurement from a certain measurement direction.
  • it is set as (1), it means judging that it is a field (1) without an object.
  • the bottom surface is obtained inaccurately by side surface measurement from the measurement directions D and E (including measurement from two directions perpendicular to other paper surfaces).
  • the area that cannot be measured is the area (1) in which the object does not exist.
  • the shape will be understood.
  • the shape of the bottom surface can be determined.
  • “inaccurate” means that, in fact, overestimation remains because measurement from the bottom surface is not performed.
  • the logical product of the implicit functions when measured from each measurement direction is the final implicit function, and is surface data that defines the surface representing the surface shape of the measurement object.
  • an accurate shape cannot be obtained for the recess 3a formed at the center of the bottom surface.
  • an accurate shape cannot be obtained for the portion of the measurement object 3 that contacts the table 9. If measurement is performed from the bottom surface direction, the final implicit function can accurately represent the surface shape over the entire region of the measurement object.
  • the final implicit function obtained in this way is surface data that defines a surface C representing the surface shape of the measurement object in the measurement region, as shown in FIG.
  • the outside of the surface C is an area (1) where there is no object
  • the inside of the surface C is an area (2) other than (1), that is, an area where there is an object.
  • the surface C defined by the final implicit function does not coincide with the surface C represented by a three-dimensional triangular mesh in a strict sense. However, when the interval between the point cloud data is sufficiently narrow, the approximate values coincide with each other. Therefore, in the present embodiment, the same symbol C is given.
  • the measurement area is not an area where the measurement object is physically present but an area virtually assumed that the surface C representing the surface shape of the measurement object exists in the computer.
  • “surface data” in the present invention is a final implicit function that defines the surface C in the measurement region.
  • the entire measurement area is divided into a set of tetrahedral small areas (cells) filled without gaps by a division process using a three-dimensional Delaunay diagram.
  • the division processing by the three-dimensional Delaunay diagram means that a point group 4 (indicated by black circles) 4 randomly arranged in the measurement region becomes a vertex of a small region (cell) of the tetrahedron.
  • FIG. 11 is a three-dimensional Delaunay diagram showing a measurement region, which is a space where the surface C of the measurement object exists, and represents a tetrahedron instead of a triangle due to restrictions as a drawing.
  • the point group 4 is randomly arranged in FIG. 11, but the present invention is not limited to this, and the point group 4 may be regularly arranged in a grid pattern.
  • the point group 4 is also arranged inside the surface C of the measurement object, is arranged outside the surface shape C of the measurement object, and is always arranged near the boundary of the measurement region.
  • the three-dimensional Delaunay diagram is an extension of the two-dimensional Delaunay diagram, and the two-dimensional Delaunay diagram is "space division in which the circumscribed circle of each triangle (cell) does not contain other vertices" In contrast, the circumscribed sphere of each tetrahedron (cell) does not include other vertices inside.
  • FIG. 12A shows an example in which one unit of a tetrahedral cell is formed
  • FIGS. 12B and 12C show examples in which a sphere or a cube is formed by a combination of a plurality of tetrahedral cells.
  • the point group 4 of the three-dimensional Delaunay diagram that is, each vertex of the cell is represented by an implicit function as an inner point 5 (indicated by a triangle in the figure) existing inside the surface C of the measurement object. ) And an external point 6 (indicated by a square in the figure) existing outside of it.
  • a cell in which the four vertices of the cell include both the inner point 5 and the outer point 6 is extracted from all the cells of the three-dimensional Delaunay diagram. Since such a cell can be regarded as a cell near the surface C of the measurement object, such a cell is called a boundary cell.
  • the intersection of the surface C of the measurement object and the boundary cell by the bisection method 7 (boundary coordinates, indicated by ⁇ in the figure) is calculated.
  • the bisection method determines whether the obtained midpoint is an inner point or an outer point by an implicit function, and if the middle point is an inner point, finds the middle point with the outer point of the boundary cell. For example, it is a method of obtaining the intersection 7 between the surface C and the boundary cell by repeatedly obtaining the midpoint with the inner point of the boundary cell.
  • FIGS. 15 to 17 the intersection 7 between the surface C and the boundary cell is necessarily 3 or 4 points, and the intersection 8 is appropriately connected to obtain the triangular or quadrangular surface 8.
  • FIG. 15 shows a case where the four vertices of a cell are composed of three inner points 5 and one outer point 6, and each of the three sides having the inner point 5 and the outer point 6 at both ends has intersection points 7 respectively. Therefore, when the three intersections 7 are connected, a triangular surface 8 is formed.
  • FIG. 16 shows a case in which the four vertices of the cell are two inner points 5 and two outer points 6. Since each of the four sides having the inner point 5 and the outer point 6 at both ends has an intersection point 7 respectively.
  • FIG. 17 shows a case where four vertices of a cell are composed of one inner point 5 and three outer points 6. Since each of the three sides having the inner point 5 and the outer point 6 at both ends has the intersection point 7, the three intersection points 7 are connected to form a triangular surface 8.
  • the triangular or quadrangular surface 8 obtained by the above procedure can be regarded as a slice section obtained by slicing (cutting) the boundary cell with the surface C of the measurement object.
  • the rectangular slice section 8 is divided into two, it corresponds to a triangular slice section 8. Therefore, by combining slice sections 8 of all boundary cells, polyhedral data (STL format) defined as a closed polyhedron that is manifold and does not include self-intersection can be generated.
  • STL format polyhedral data
  • the generated polyhedron data combines the slice cross sections 8 of all the boundary cells as shown in FIG. 18, it becomes a closed polyhedron 10.
  • two slice cross sections 8 share each side of the slice cross section 8, it is not a non-manifold in which three or more surfaces share one side, and therefore can be called a manifold.
  • the cells of the 3D Delaunay diagram do not overlap each other due to the definition of the 3D Delaunay diagram. Therefore, it can be ensured that the polyhedron data generated by combining the slice cross sections of the boundary cells does not include self-intersection.
  • the STL format expresses a three-dimensional shape as a collection of small triangles. Since the slice cross section 8 is a triangle or a quadrangle, and the quadrangle is a triangle divided into two, the slice cross section 8 The polyhedron data formed by combining is generated as an STL format that is a set of triangles.
  • the present embodiment includes an NC device 100 and a measurement system 200, and is used in the machine tool 140 shown in FIG.
  • the NC apparatus 100 includes an NC program storage unit 110 that stores an NC program that describes a movement path of a tool for cutting a workpiece, and a tool movement amount and movement based on the NC program read from the NC program storage unit 110.
  • An NC program analysis unit 120 that creates information on speed
  • a movement control unit 130 that performs movement control of the machine tool 140 including a table, saddle, and ram based on the information created by the program analysis unit 120, And a machine tool 140 made of a saddle.
  • FIG. 20 A machine tool 140 having a table, a ram and a saddle is shown in FIG.
  • the machine tool 140 includes a table 141 on which a workpiece (measurement target) is placed and moves in the X direction, and a support portion 142 formed in a gate shape so as to straddle the table 141.
  • a beam part 143 extending in the Y direction at the upper part of the support part 142, a saddle 144 installed on the beam part 143 so as to be movable in the Y direction, and a ram (main shaft) 145 movable on the saddle 144 in the Z direction. .
  • the three-dimensional coordinates of the ram 145 with respect to the workpiece on the table 141 can be obtained from the movement amounts of the table 141, the saddle 144, and the ram 145.
  • the ram 145 is attached with a three-dimensional measuring unit 210 that measures the distance to the workpiece at the time of measurement and a tool at the time of cutting.
  • the measurement system 200 includes a three-dimensional measuring device 210 that measures the distance to the measurement object 300 that is a workpiece, a measuring unit control unit 220 that controls the three-dimensional measuring device 210, and a workpiece measured by the measuring unit 210. And the point cloud data stored in the measurement point storage unit 230, “manifold” based on the distance and the point cloud data that is the three-dimensional coordinates (X, Y, Z) of the ram 145 at that time And an STL generation unit 240 that generates polyhedron data (STL data) defined as a closed polyhedron that does not include self-intersection.
  • a laser distance sensor used for distance measurement can be used as the three-dimensional measuring instrument 210.
  • a flow chart of shape measurement in the measurement system 200 is shown in FIG.
  • the worker installs the measurement object 300 on the table 110 (step S1).
  • the worker attaches the three-dimensional measuring device 210 to the ram 145 (step S2).
  • the distance from the three-dimensional measuring device 210 to the measurement object is measured, and the three-dimensional coordinates (X, Y, Z) of the ram 145 at that time are acquired (step S3).
  • This process is performed a plurality of times while moving the table 141 in the X direction and moving the saddle 144 in the Y direction while changing the position of the CMM 210 with respect to the measurement object 300.
  • a so-called measurement object 300 is scanned by the three-dimensional measuring device 210.
  • Step S4 based on the distance from the three-dimensional measuring instrument 210 to the measurement object 300 and the three-dimensional coordinates (X, Y, Z) of the ram 145 at that time, the three-dimensional coordinates (point group data) of the measurement points are calculated (Ste S4).
  • specific operation details regarding “attachment of the three-dimensional measuring device (step S2)” to “coordinate calculation of the measurement point (step S4)” are supplemented as follows (1) to (4).
  • the measurement path of the three-dimensional measuring device 210 is determined. Since the three-dimensional measuring device 210 is attached to the ram (main shaft) 145 of the machine, the measuring path of the three-dimensional measuring device 210 can be realized by the axial movement of the machine.
  • the measurement target 300 that is acquired information of the three-dimensional measuring device 210 is measured.
  • the machine coordinate data (point cloud data) of the object can be calculated by combining the distance up to and the machine coordinate information (that is, the position coordinates of the three-dimensional measuring device 210) at each measurement time.
  • the region can be classified into the region (1) where there is no object or the other region (2) by the logical product of the implicit functions.
  • the point cloud data calculated on each surface is created as “two-dimensional point cloud data with height information” ⁇ triangle mesh data represented by a three-dimensional triangle mesh Create ⁇ Create implicit function from triangle mesh data repeatedly, and AND multiple created implicit functions for each face to obtain the final implicit function.
  • Step S5 is performed by the STL generation unit 240 in accordance with the flowchart shown in FIG. 22 as specifically described below.
  • step S6 a set of cells that fills the entire measurement region where the surface defined by the final implicit function exists is generated (step S6).
  • step S7 it is determined whether each vertex of the cell is inside or outside the surface.
  • step S8 the boundary cell which has both an inner point and an outer point is extracted among all the cells (step S8).
  • step S9 the coordinates (3 or 4) of intersection points between the boundary cell, the side, and the surface are calculated (step S9). Further, as shown in FIGS. 15 to 17, slice cross sections (triangles or quadrangles) are generated by connecting the intersections of the boundary cells (step S10). The rectangular slice cross section is divided into two to make a triangle. Then, as shown in FIG. 18, STL data defined as a closed polyhedron that is “manifold” and does not include self-intersection is generated by combining slice sections of all boundary cells (step S11).
  • FIG. 29 An embodiment of an attachment for attaching a three-dimensional measurement sensor (hereinafter referred to as a measuring device) used in the shape measuring method of the present invention to the main shaft will be described with reference to FIGS. 29 and 30.
  • a measuring device used in the shape measuring method of the present invention to the main shaft.
  • FIG. 29 As described above, in a measurement result from only one surface, an area where the measurement object does not exist may be erroneously determined as an area where the measurement object exists. By measuring five objects (upper surface + four side surfaces in the case of a vertical machine) on an object placed on the table of a machine tool, it is possible to obtain a surface that represents the surface shape over the entire area of the object to be measured. is there.
  • the three-dimensional measuring device can be attached to the main spindle of the machine tool, the measurement path can be realized by the axial movement of the machine tool.
  • the measurement is performed using the side surface processing attachment attached to the machine tool, the inclined surface processing attachment, or the attachment having the tilt mechanism dedicated to the sensor.
  • the measuring device 22 is attached to the main shaft 20 via the 90-degree inclined attachment 21.
  • the 90-degree inclined attachment 21 is one type of attachment for side processing, and the rotation axis is inclined by 90 degrees with respect to the rotation axis of the main shaft 20.
  • the rotation axis of the main shaft 20 when the rotation axis of the main shaft 20 is oriented in the vertical direction, the rotation axis of the 90-degree inclined attachment 21 is oriented in the horizontal direction, so that the measuring device 22 is rotated around these two rotation axes.
  • the laser beam emitted from the measuring device 22 is reflected by the measuring object 23, whereby the distance to the measuring object 23 is measured.
  • the inclined surface machining attachment refers to an attachment that can arbitrarily change the inclination angle of the 90-degree inclined attachment 21 described above as shown in FIG. 34 as well as 90 degrees. By using this, five-plane measurement can be performed. Therefore, as shown in FIG. 29, there is an advantage that there is no need for a dedicated attachment by diverting the processing attachment.
  • a measuring device 22 is attached to the main shaft 20 via a rotating mechanism (tilt mechanism) 24 having two rotating shafts.
  • the rotation mechanism 24 is a kind of dedicated attachment for the measuring device 22, and in addition to the rotation axis of the main shaft 20, two rotation axes, for example, directions orthogonal to each other and at an arbitrary angle with respect to the main axis. It has a rotation axis that faces in the crossing direction. Therefore, if the main shaft is included, a total of three axes can be rotated, and there is an advantage that the degree of freedom of the measuring device 22 with respect to the measuring object 23 on the table 25 can be widened. Therefore, as shown in FIG.
  • a sensor-specific attachment is used, measurement can be performed without a processing attachment.
  • the attachment can be downsized, and the measurement range can be made wider than the processing attachment.
  • the laser line and the feed direction at the time of measurement can be adjusted to be perpendicular to each measurement surface. The degree of freedom increases.
  • FIG. 31 when measuring a measurement target 23 having an arbitrary shape by a triangulation method only from one direction indicated by an arrow in the figure, if there is a step in the measurement target 23, a light projecting unit in the measurement apparatus 22 Since the laser beam from (not shown) may be blocked and may not return to the light receiving unit (not shown) in the measuring device 22, a missing (so-called missing) on the three-dimensional shape data may occur.
  • the direction of the light projecting unit and the light receiving unit in the measuring device 22 may be reversed with respect to the measurement direction indicated by the arrow in the drawing, but this is automated. This is difficult unless the shape of the measurement object is recognized in advance.
  • the five surfaces are respectively measured by a grid-like measurement path and converted into three-dimensional shape data. That is, as shown in FIG. 33, first, measurement is performed while moving the measuring device 22 in the horizontal right direction along the arrow from the upper left position indicated by reference numeral 22a with respect to one surface of the measurement object 23, and thereafter The position is shifted downward by a certain distance to the positions indicated by 22b and 22c, and measurement is repeated while moving the measuring device 22 in the horizontal right direction along the arrow. That is, measurement is performed along the horizontal measurement path. Thereafter, in FIG.
  • measurement is performed while moving the measuring device 22 vertically upward along the arrow from the lower left position indicated by reference numeral 22d, and thereafter, the position indicated by reference numerals 22e and 22f is positioned to the right by a certain distance.
  • the measurement is repeated while shifting the measurement device 22 in the vertical upward direction along the arrow. That is, measurement is performed along the vertical measurement path.
  • the measurement is similarly performed for the other four surfaces.
  • the five faces of the measurement object 23 are measured in a grid-like path, so that the shape is not recognized in advance (however, it is necessary to recognize a rough shape to the extent that the measurement object 23 has five faces). Compared with the case of measuring only from one direction, data loss due to the blockage of the laser light can be reduced. Furthermore, if the measuring device 22 is attached to the main shaft via an attachment having two rotating shafts, the measurement object can be measured on the five surfaces in one setup, and the rough overall shape is converted into three-dimensional shape data. There are advantages you can do.
  • the shape measuring method of the present invention is widely applicable to industrial machines controlled by a numerical controller, for example, machine tools.

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Graphics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
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PCT/JP2012/054511 2011-06-02 2012-02-24 形状計測方法 WO2012164987A1 (ja)

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CN201280021378.9A CN103534554A (zh) 2011-06-02 2012-02-24 形状计测方法
MX2013012660A MX2013012660A (es) 2011-06-02 2012-02-24 Metodo para medicion de forma.
RU2013148563/08A RU2013148563A (ru) 2011-06-02 2012-02-24 Способ измерения формы
BR112013027644A BR112013027644A2 (pt) 2011-06-02 2012-02-24 método de medição de conformação
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TW201250509A (en) 2012-12-16
CN103534554A (zh) 2014-01-22
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MX2013012660A (es) 2013-12-02

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