WO2023100418A1

WO2023100418A1 - Measuring device

Info

Publication number: WO2023100418A1
Application number: PCT/JP2022/029377
Authority: WO
Inventors: 貴雄井川; 雄之野中
Original assignee: 株式会社アドヴィックス
Priority date: 2021-12-02
Filing date: 2022-07-29
Publication date: 2023-06-08
Also published as: JP2023082417A; JP2023082707A

Abstract

A measuring device 20 comprises: a light emitting unit 374 that emits light; an image capturing unit 375 that captures a measurement image including an object being measured and a marker, which is an image of light displayed on a surface of the object being measured or of an object other than the object being measured, due to irradiation of the object with light by the light emitting unit 374; and a processing circuit 42 that measures the size of the object being measured on the basis of the measurement image captured by the image capturing unit 375.

Description

measuring device

The present invention relates to a measuring device that measures the size of an object to be measured.

Patent Document 1 discloses a measuring device for measuring brake linings of electromagnetic brakes. In this measuring device, an image including a marker and brake lining previously attached to at least one of the brake lining and braking portion of the electromagnetic brake is captured, and the actual size (hereinafter referred to as "actual size") in the image is taken. measures the thickness of the brake lining with reference to known marker dimensions (number of pixels).

JP 2019-56391 A

However, if the brake lining and braking portion become dirty, at least a portion of the marker may disappear or foreign matter may adhere to the marker. In this case, the markers may not be recognized in the image including the markers and the brake lining, and the thickness of the brake lining may not be measured. SUMMARY OF THE INVENTION An object of the present invention is to prevent the size of an object to be measured from becoming unmeasurable.

A measuring device for solving the above-mentioned problems is a measuring device for measuring the size of an object to be measured, wherein the light emitting unit emits light, and the light emitting unit irradiates the object to be measured or an object other than the object to be measured with light. an imaging unit that captures an image for measurement including a marker, which is a light image displayed on the surface of the object, and the measurement target; and an image of the measurement target based on the measurement image captured by the imaging unit and a measuring unit for measuring the size.

According to the above configuration, based on the measurement image including the measurement target and the marker, which is a light image displayed on the surface of the measurement target irradiated with light from the light emitting unit or on the surface of the object other than the measurement target, size can be measured. Since the marker is a light image formed by the light emitting unit irradiating the object to be measured or an object other than the object to be measured with light, the marker can be displayed in the measurement image regardless of the degree of dirt on the object to be measured or the object other than the object to be measured. can be identified. Therefore, it is possible to prevent the size of the object to be measured from becoming impossible.

FIG. 1 is a side view schematically showing a friction brake of a vehicle. FIG. 2 is a plan view schematically showing part of the same friction brake. FIG. 3 is a diagram showing a schematic configuration of the measuring device of the first embodiment. FIG. 4 is a block diagram of an industrial endoscope in the measuring device. FIG. 5 is a block diagram showing functions of the measuring device. In FIG. 6, (a) is a schematic diagram showing the positional relationship between the imaging unit and the imaging target when the imaging angle is 90°, and (b) is a schematic diagram showing the marker formed on the imaging target at that time. It is a diagram. In FIG. 7, (a) is a schematic diagram showing the positional relationship between the imaging unit and the imaging target when the imaging angle is not 90°, and (b) is a schematic diagram showing the marker formed on the imaging target at that time. It is a diagram. FIG. 8 is a schematic diagram showing an example of an image captured by an imaging unit. FIG. 9 is a schematic diagram showing an example of a measurement image captured by the imaging unit. FIG. 10 is a flow chart showing the flow of processing in the measuring device of the first embodiment. FIG. 11 is a schematic diagram showing how the probe head of the industrial endoscope is inserted into the inspection window. FIG. 12 is a flow chart showing the flow of processing in the measuring device of the second embodiment.

(First embodiment)
An embodiment of the measuring device will be described below with reference to FIGS. 1 to 11. FIG.
<Vehicle friction brake>
FIG. 1 is a schematic diagram of a friction brake 10 provided on a vehicle. FIG. 2 is a plan view schematically showing a portion of the friction brake 10 when the friction brake 10 is viewed from the direction indicated by the white arrow A11 shown in FIG.

The friction brake 10 shown in FIGS. 1 and 2 is a disc brake. The friction brake 10 includes a caliper 11 supported by the vehicle body, two friction members 12, and a disk rotor 13 rotating integrally with the vehicle wheel. As shown in FIG. 2, the friction material 12 is supported by the back plate 14. As shown in FIG. A disc rotor 13 is interposed between two friction members 12 .

As shown in FIG. 2, the caliper 11 is provided with an inspection window 11a. When looking into the caliper 11 through the inspection window 11a, the disk rotor 13, the friction material 12, and the back plate 14 can be visually recognized.

<Measuring device>
FIG. 3 is a configuration diagram showing an outline of the measuring device 20 of this embodiment. The measuring device 20 is a device that measures the thickness D of the friction material 12 of the friction brake 10 . That is, the measuring device 20 measures the thickness D, which is the size of the friction material 12 to be measured.

As shown in FIG. 3 , the measuring device 20 includes an industrial endoscope 30 , a computing device 40 , a display device 51 and a notification device 53 . FIG. 4 is a block diagram of the industrial endoscope 30. As shown in FIG.
As shown in FIG. 3, the industrial endoscope 30 has a main body 31, a connection cable 33, a control unit 35 and a probe 37. As shown in FIG.

The probe 37 has a connecting portion 371 , a movable portion 372 and a probe head 373 . A connecting portion 371 is provided at one end of the probe 37 , and a probe head 373 is provided at the other end of the probe 37 . The probe 37 is connected to the control unit 35 via a connection 371 . The movable portion 372 is movable to change the orientation of the probe head 373 as shown in FIG. In this embodiment, the movable part 372 can change the orientation of the probe head 373 by 90° or more.

The probe head 373 has a light emitting section 374 that emits light and an imaging section 375 that captures an image of the object to be measured. The light emitting section 374 emits parallel light. In this embodiment, the light emitting section 374 includes a semiconductor laser that emits laser light. The beam shape of the light emitted by the light emitting section 374 is a perfect circle. The light emitting unit 374 displays a marker MK, which is a light image, on the surface of the irradiation target by irradiating the irradiation target with light (see FIG. 8). When measuring the thickness D of the friction material 12, the irradiation target of the light emitting unit 374 is the friction material 12 or other members existing around the friction material 12 (for example, the disk rotor 13 and the back plate 14). .

The imaging unit 375 forms an image by imaging the marker MK and the periphery of the display position of the marker MK. When measuring the thickness D of the friction material 12, the image capturing unit 375 captures a measurement image including the friction material 12 to be measured and the marker MK described above.

The main body 31 has a display screen 311 and an operation section 312. An image captured by the imaging unit 375 of the probe 37 is displayed on the display screen 311 . The operation unit 312 is provided with a plurality of buttons operated by the operator using the industrial endoscope 30 . The operation unit 312 includes, as buttons, a light emission button 312a and an imaging button 312b. The light emission button 312a is a button operated by the operator when causing the light emission unit 374 to emit light or stopping the light emission of the light emission unit 374 . The imaging button 312b is a button operated by the operator when causing the imaging unit 375 to capture an image.

Note that the main body 31 may be a device dedicated to the industrial endoscope 30, or may be a general device. As a general device, a mobile device such as a mobile phone can be considered. The buttons of the operation unit 312 are not limited to physical buttons. For example, the light emission button 312a and the imaging button 312b may be buttons displayed on a display device having a touch panel.

The main body 31 can communicate with the computing device 40. The communication between the main body 31 and the computing device 40 may be wired communication or wireless communication. For example, the main body 31 transmits the measurement image captured by the imaging unit 375 to the computing device 40 .

A connection cable 33 connects the main body 31 and the control unit 35 .
As shown in FIG. 4, the control unit 35 has an operating wheel 351 and an actuator 352 . Actuator 352 is built in control unit 35 . When the actuator 352 operates, the movable portion 372 of the probe 37 moves as shown in FIG. The operation wheel 351 is operated by the operator when changing the orientation of the probe head 373 . When the operator operates the operation wheel 351, the actuator 352 operates according to the operation. As a result, the movable portion 372 is moved to change the orientation of the probe head 373 .

As shown in FIG. 3, computing device 40 comprises communication device 41 and processing circuitry 42 .
The communication device 41 receives information transmitted from the industrial endoscope 30 and outputs the information to the processing circuit 42 .

The processing circuit 42 has an execution unit 421 and a storage unit 422 . For example, the execution unit 421 is a CPU. The storage unit 422 stores a control program that the execution unit 421 executes at predetermined intervals. In this embodiment, the storage unit 422 stores a control program for measuring the thickness D of the friction material 12 based on the measurement image captured by the imaging unit 375 of the industrial endoscope 30 .

The display device 51 displays the thickness D of the friction material 12 calculated by the calculation device 40 .
The notification device 53 notifies the operator of the content instructed by the calculation device 40 . The notification device 53 may be a speaker that notifies the worker by sound, a lamp that notifies the worker by light, or a screen that notifies the worker by display. It may be a vibration generator that notifies the operator by vibration.

FIG. 5 is a block diagram showing the functions of the measuring device 20. FIG. The processing circuit 42 functions as the imaging angle estimating section 71, the imaging distance estimating section 75, and the measuring section 80 by the executing section 421 executing the control program. An angle condition notification unit 72 and a distance condition notification unit 76 are configured by the processing circuit 42 and the notification device 53 .

The imaging angle estimation unit 71 estimates the imaging angle θ of the friction material 12 by the imaging unit 375 by analyzing the image captured by the imaging unit 375 . Although details will be described later, the imaging angle estimator 71 estimates the imaging angle θ based on the shape of the marker MK in the image.

The angle condition notification unit 72 outputs a measurement image, which is an image for measuring the thickness D of the friction material 12, when the imaging angle θ estimated by the imaging angle estimation unit 71 is within a predetermined angle range. The operator is notified that imaging is possible. If the imaging angle θ deviates significantly from 90°, the distortion of the shape of the marker MK increases, which may reduce the accuracy of the calculation for estimating the thickness D of the friction material 12 based on the measurement image. Therefore, a predetermined angle range is set as a criterion for determining whether or not the accuracy of the estimation calculation of the thickness D of the friction material 12 is within the allowable range. In this embodiment, the predetermined angle range is the range of imaging angles θ including 90°.

The imaging distance estimation unit 75 estimates the imaging distance L, which is the linear distance between the imaging unit 375 and the friction material 12, by analyzing the image captured by the imaging unit 375. Although details will be described later, the imaging distance estimator 75 estimates the imaging distance L based on the dimensions of objects other than the friction material 12 in the image.

The distance condition notification unit 76 notifies the operator that the image for measurement can be captured when the imaging distance L estimated by the imaging distance estimation unit 75 is within a predetermined distance range. The accuracy of the calculation for estimating the thickness D of the friction material 12 based on the measurement image may vary depending on the imaging distance L. Therefore, a predetermined distance range is set as a criterion for determining whether the accuracy of the estimation calculation of the thickness D of the friction material 12 is within the allowable range.

The measurement unit 80 measures the thickness D of the friction material 12 based on the image for measurement captured by the imaging unit 375 . In this embodiment, the measurement unit 80 measures the thickness D of the friction material 12 based on the dimension of the marker MK in the measurement image, although the details will be described later.

<Estimation of Imaging Angle by Imaging Angle Estimation Unit>
Estimation processing of the imaging angle θ by the imaging angle estimator 71 will be described with reference to FIGS. 6 and 7 . In FIG. 6, (a) is a schematic diagram showing the positional relationship between the imaging target 100 and the probe head 373 when the imaging angle θ is 90°, and (b) is formed on the imaging target 100 at that time. FIG. 4 is a schematic diagram showing a marker MK; In FIG. 7, (a) is a schematic diagram showing the positional relationship between the imaging target 100 and the probe head 373 when the imaging angle θ is not 90°, and (b) is formed on the imaging target 100 at that time. FIG. 4 is a schematic diagram showing a marker MK; 6(a) and 7(a) indicate the optical axis of the light emitting section 374. As shown in FIG.

When the imaging angle θ is 90° as shown in FIGS. 6(a) and 6(b), the marker MK formed on the imaging target 100 has a perfect circular shape. In FIG. 6(b), the horizontal direction in the drawing is defined as "first direction X1", and the direction orthogonal to first direction X1 is defined as second direction X2. At this time, the dimension F1 of the marker MK in the first direction X1 is equal to the dimension F2 of the marker MK in the second direction X2. Here, "the dimension F1 is equal to the dimension F2" means that they are substantially the same, and some error is allowed.

On the other hand, as shown in FIGS. 7A and 7B, when the imaging angle θ is not 90°, the marker MK formed on the imaging target 100 has an elliptical shape. That is, the dimension F1 of the marker MK in the first direction X1 is longer than the dimension F2 of the marker MK in the second direction X2.

Assuming that the ratio of the dimension F2 in the second direction X2 to the dimension F1 in the first direction X1 is the aspect ratio α, the aspect ratio α is 1 when the imaging angle θ is 90°. The aspect ratio α does not become 1 when the imaging angle θ is not 90°. Thus, the more the imaging angle θ deviates from 90°, the greater the degree of deviation of the aspect ratio α from 1.

Therefore, the imaging angle estimation unit 71 estimates the imaging angle θ based on the shape in the image IMG even though the actual shape is known. For example, the imaging angle estimator 71 estimates the imaging angle θ so that the closer the aspect ratio α of the marker MK is to 1, the closer the imaging angle θ is to 90°. In other words, the imaging angle estimator 71 estimates the imaging angle θ such that the imaging angle θ deviates from 90° as the aspect ratio α deviates from 1.

<Estimation of Imaging Distance by Imaging Distance Estimation Unit>
Estimation processing of the imaging distance L by the imaging distance estimating unit 75 will be described with reference to FIG. 8 . FIG. 8 is a diagram showing an image IMG captured by the imaging unit 375 and including the friction material 12 and other members present around it. In the image IMG shown in FIG. 8, a marker MK is displayed on the surface of the disk rotor 13 adjacent to the friction material 12. As shown in FIG.

The light emitted by the light emitting unit 374 is parallel light. Therefore, the dimension of the marker MK displayed on the surface of the disk rotor 13 does not change with the imaging distance L. In other words, the dimensions of the marker MK are substantially the same as the design values of the dimensions of the marker MK in the light emitting portion 374 . In the friction brake 10, although the friction material 12 wears, the disk rotor 13 and the back plate 14 hardly wear. Therefore, the thicknesses of the disk rotor 13 and the back plate 14 hardly change from when they are new. That is, the thicknesses of the disk rotor 13 and the back plate 14 are substantially the same as the design values.

Here, the horizontal dimension (number of pixels) F3 of the marker MK in the image IMG shown in FIG. 8, the horizontal dimension (number of pixels) F41 of the disk rotor 13 in the image IMG, and the back plate 14 in the left-right direction in the drawing (the number of pixels) F42 changes depending on the imaging distance L. FIG. Specifically, the longer the imaging distance L, the smaller the dimensions F3, F41, and F42.

Therefore, the imaging distance estimation unit 75 estimates the imaging distance L based on the relationship between the size (the number of pixels) in the image IMG of the object whose actual shape is known and the known actual size of the object. For example, the imaging distance estimation unit 75, based on the relationship between the dimension F3 of the marker MK in the image IMG, the dimension F41 of the disc rotor 13 in the image IMG, or the dimension F42 of the back plate 14 in the image IMG, and the corresponding design value, The imaging distance L can be estimated. In the present embodiment, when the distance ratio β is the ratio of the dimension F3 of the marker MK in the image IMG to the design value of the dimension of the marker MK in the light emitting unit 374, the imaging distance estimating unit 75 calculates the imaging distance as the distance ratio β decreases. The imaging distance L is estimated so that L becomes longer.

<Measurement of thickness of friction material by measurement unit>
A process of measuring the thickness D of the friction material 12 by the measuring unit 80 will be described with reference to FIG. 9 . FIG. 9 is a diagram showing a measurement image IMG1 including the friction material 12, other members located around the friction material 12, and the markers MK.

By performing a known image analysis on the measurement image IMG1, the measurement unit 80 determines the first boundary B1 between the friction material 12 and the disc rotor 13 and the boundary between the friction material 12 and the back plate 14. A certain second boundary B2 is detected. Subsequently, measurement unit 80 measures an in-image distance F5, which is the distance between first boundary B1 and second boundary B2 in measurement image IMG1, and measures in-image marker distance F5, which is the dimension of marker MK in measurement image IMG1. Measure the dimension F6. The intra-image distance F5 is the dimension of the friction material 12 in the measurement image IMG1 in the horizontal direction in the figure.

Since the measurement unit 80 grasps the actual dimension Gmk of the marker MK, the thickness D of the friction material 12 can be measured based on the in-image distance F5 and the in-image marker dimension F6. For example, the measurement unit 80 can calculate the thickness D using the following relational expression (Formula 1). Thereby, the measuring unit 80 calculates the thickness D of the friction material 12 so that the thickness increases as the ratio of the in-image distance F5 to the in-image marker dimension F6 increases.

<Measurement method>
A method of measuring the thickness D of the friction material 12 by the measuring device 20 will be described with reference to FIGS. 10 and 11. FIG. The measuring method of this embodiment is a method for measuring the thickness D of the friction material 12 using the measuring device 20 . FIG. 10 is a flow chart showing the flow of processing in the measuring device 20. As shown in FIG. FIG. 11 is a schematic diagram showing how the probe head 373 is inserted into the inspection window 11a of the caliper 11. As shown in FIG.

As shown in FIG. 11 , the operator inserts the probe head 373 of the industrial endoscope 30 into the inspection window 11 a of the caliper 11 . Thereby, the imaging unit 375 and the light emitting unit 374 are inserted into the inspection window 11a. This process corresponds to the "insertion step".

Specifically, the operator inserts the probe head 373 toward the friction brake 10 through the gap formed in the wheel of the wheel. In this state, the operator operates the operation wheel 351 of the control unit 35 of the industrial endoscope 30 to change the imaging range of the imaging unit 375 , and the image IMG displayed on the display screen 311 is used as the inspection window. Check the position of 11a. The operator then inserts the probe head 373 into the inspection window 11a while viewing the image IMG displayed on the display screen 311. FIG.

When the worker presses the light emission button 312a of the main body 31, in step S11 of FIG. 10, the execution unit 421 of the calculation device 40 determines that the worker has issued a light emission instruction to cause the light emission unit 374 to emit light (S11: YES). ), the process proceeds to step S13. In step S13, the execution unit 421 causes the light emitting unit 374 to start emitting light. As a result, a marker MK is displayed on the surface of the friction material 12 or the disk rotor 13 as shown in FIG. At this time, a marker MK may be displayed on the surface of the back plate 14 . Step S13 corresponds to a "marker display step" of displaying a marker MK on the surface of the friction material 12, the disk rotor 13, or the back plate . After that, the execution unit 421 proceeds to the process of step S15.

When the execution unit 421 determines in step S11 that there is no light emission instruction by the operator (S11: NO), the current processing ends.
In step S<b>15 , the execution unit 421 estimates the imaging angle θ by functioning as the imaging angle estimation unit 71 . Specifically, the image IMG captured by the imaging unit 375 is transmitted from the industrial endoscope 30 to the computing device 40 . The executing unit 421 estimates the imaging angle θ based on the received image IMG.

In subsequent step S<b>17 , the execution unit 421 estimates the imaging distance L by functioning as the imaging distance estimation unit 75 . Specifically, the execution unit 421 estimates the imaging distance L based on the image IMG transmitted from the industrial endoscope 30 to the computing device 40 .

In step S19, the execution unit 421 determines whether or not the imaging angle θ estimated in step S15 is within a predetermined angle range. If the imaging angle θ is outside the predetermined angle range (S19: NO), the execution unit 421 terminates this process. On the other hand, when the imaging angle θ is within the predetermined angle range (S19: YES), the execution unit 421 proceeds to the process of step S21.

In step S21, the execution unit 421 uses the notification device 53 to notify the operator that the imaging angle θ is within a predetermined angle range. That is, the process of step S21 is executed by the execution unit 421 and the notification device 53 functioning as the angle condition notification unit 72. FIG.

In step S23, the execution unit 421 determines whether or not the imaging distance L estimated in step S17 is within a predetermined distance range. If the imaging distance L is outside the predetermined distance range (S23: NO), the execution unit 421 terminates the current process. On the other hand, if the imaging distance L is within the predetermined distance range (S23: YES), the execution unit 421 proceeds to the process of step S25.

In step S25, the execution unit 421 uses the notification device 53 to notify the operator that the imaging distance L is within a predetermined distance range. That is, the processing of step S25 is executed by the execution unit 421 and the notification device 53 functioning as the distance condition notification unit 76. FIG.

In the present embodiment, when both the imaging angle θ is within a predetermined angle range and the imaging distance L is a value within a predetermined distance range, the measurement image It is determined that the imaging condition for IMG1 is satisfied. When the imaging condition is satisfied in this way, the execution unit 421 proceeds to the process of step S26.

In subsequent step S26, the execution unit 421 determines whether or not the operator has issued an image capturing instruction to cause the image capturing unit 375 to capture the measurement image IMG1. Specifically, the execution unit 421 determines whether or not the operator has operated the imaging button 312b. If the execution unit 421 determines that there is no imaging instruction from the operator (S26: NO), it ends the current process, and if it determines that there is an imaging instruction from the operator (S26: YES), the process proceeds to step S27. do.

In step S27, the execution unit 421 captures the measurement image IMG1 using the imaging unit 375. Step S<b>27 corresponds to the “imaging step” of capturing the measurement image IMG<b>1 including the marker MK and the friction material 12 .

In the following step S29, the executing section 421 measures the thickness D of the friction material 12 by functioning as the measuring section 80. Step S29 corresponds to the "measurement step" of measuring the thickness D of the friction material 12 based on the measurement image IMG1.

Finally, in step S31, the execution unit 421 notifies the operator of the thickness D of the friction material 12 measured in step S29. For example, the execution unit 421 causes the display device 51 to display the thickness D of the friction material 12 . Then, the execution unit 421 ends the current process.

<Effects of this embodiment>
(1-1) In this embodiment, the thickness D of the friction material 12 is measured based on the size of the marker MK in the measurement image IMG1.

The marker MK is a light image displayed on the surface of the friction material 12, the disk rotor 13, or the back plate 14 when the light emitting part 374 irradiates the friction material 12 or the disk rotor 13 with light. In other words, the marker MK is not attached to the friction material 12, the disk rotor 13, or the back plate 14 in advance. Therefore, even if the friction material 12, the disk rotor 13, and the back plate 14 are dirty due to the use of the friction brake 10, the marker MK can be identified in the measurement image IMG1 regardless of the degree of dirt. The thickness D of the friction material 12 can be measured based on the size of the marker MK.

(1-2) In this embodiment, the measurement image IMG1 is captured on condition that the imaging angle θ is within a predetermined angle range. Accordingly, the thickness D of the friction material 12 can be accurately measured using the measurement image IMG1 in which the difference between the imaging angle θ and 90° is not large.

(1-3) In the present embodiment, the measurement image IMG1 is captured on condition that the imaging distance L is within a predetermined distance range. Accordingly, the thickness D of the friction material 12 can be accurately measured using the measurement image IMG1 when the imaging distance L is within the predetermined distance range.

(1-4) In this embodiment, the thickness D, imaging angle θ, and imaging distance L of the friction material 12 are estimated based on the marker MK in the image captured by the imaging unit 375 . Therefore, it is preferable that the process of identifying the marker MK in the image captured by the imaging unit 375 (hereinafter referred to as "marker identification process") be simple.

In this regard, in the present embodiment, both the light emitting unit 374 and the imaging unit 375 are provided in the probe head 373 so that the relationship between the light irradiation direction of the light emitting unit 374 and the imaging direction of the imaging unit 375 is maintained. Therefore, the marker MK is displayed in a predetermined area of the image captured by the imaging unit 375 . As a result, it is possible to set the target range of the marker identification processing in the image captured by the imaging unit 375, thereby reducing the processing amount of the marker identification processing.

Also, in this embodiment, the shape of the marker MK is a perfect circle. In this manner, by designing the shape of the marker MK in the light emitting unit 374 to be easily recognizable in the measurement image IMG1, it is possible to simplify the processing content of the marker identification processing.

(Second embodiment)
A second embodiment of the measuring device 20 and the measuring method will be described with reference to FIG. In the second embodiment, the parts that are different from the first embodiment will be mainly described, and the same reference numerals will be given to substantially the same configurations and functions as in the first embodiment, and redundant description will be omitted. shall be

<Industrial endoscope>
In this embodiment, the imaging unit 375 of the industrial endoscope 30 starts capturing a moving image when the imaging button 312b of the main body 31 is operated. Frames forming the moving image are then sequentially transmitted to the computing device 40 .

<Measurement method>
The measurement method of this embodiment will be described with reference to FIG. FIG. 12 is a flow chart showing the flow of processing in the measuring device 20. As shown in FIG.

As in the first embodiment, the operator inserts the probe head 373 of the industrial endoscope 30 into the inspection window 11a of the caliper 11 (see FIG. 11). This process corresponds to the "insertion step".

When the operator presses the light emission button 312a of the main body 31, in step S51 of FIG. 12, the execution unit 421 of the calculation device 40 determines that the operator has issued a light emission instruction (S51: YES), and performs the process of step S53. transition to In step S53, the execution unit 421 causes the light emitting unit 374 to start emitting light. In this embodiment, step S53 corresponds to the "marker display step". After that, the execution unit 421 shifts the process to step S54.

When the execution unit 421 determines in step S51 that there is no light emission instruction by the operator (S51: NO), the current processing ends.
In step S54, the execution unit 421 determines whether or not the operator has instructed the imaging unit 375 to capture the measurement image IMG1. Specifically, the execution unit 421 determines whether or not the operator has operated the imaging button 312b. If the execution unit 421 determines that there is no imaging instruction from the operator (S54: NO), it ends the current process, and if it determines that there is an imaging instruction from the operator (S54: YES), the process proceeds to step S55. do.

In step S55, the execution unit 421 causes the imaging unit 375 to start capturing a moving image.
Then, in step S57, the execution unit 421 estimates the imaging angle θ by functioning as the imaging angle estimating unit 71, as in step S15 of the first embodiment. In step S59, the execution unit 421 estimates the imaging distance L by functioning as the imaging distance estimation unit 75, as in step S17 of the first embodiment.

In step S61, the execution unit 421 determines whether or not the imaging angle θ estimated in step S57 is within a predetermined angle range, as in step S19 of the first embodiment. If the imaging angle θ is outside the predetermined angle range (S61: NO), the execution unit 421 ends the current process. On the other hand, when the imaging angle θ is within the predetermined angle range (S61: YES), the execution unit 421 proceeds to the process of step S63.

In step S63, the execution unit 421 determines whether or not the imaging distance L estimated in step S59 is within a predetermined distance range, as in step S23 of the first embodiment. If the imaging distance L is outside the predetermined distance range (S63: NO), the execution unit 421 ends the current process. On the other hand, when the imaging distance L is within the predetermined distance range (S63: YES), the execution unit 421 proceeds to the process of step S65.

In step S65, the execution unit 421 acquires the frame of the moving image captured by the imaging unit 375 as the measurement image IMG1. As a result, a frame in which the imaging angle θ is a value within a predetermined angle range and the imaging distance L is a value within a predetermined distance range is obtained as the measurement image IMG1.

In step S67, the execution unit 421 causes the notification device 53 to notify the operator that the measurement image IMG1 has been captured. The processing of step S67 is executed by the execution unit 421 and the notification device 53 functioning as the angle condition notification unit 72 and the distance condition notification unit 76, respectively.

In step S69, the execution unit 421 measures the thickness D of the friction material 12 based on the measurement image IMG1 acquired in step S65 by functioning as the measurement unit 80, as in step S29 of the first embodiment. . In this embodiment, step S69 corresponds to the "measurement step".

Finally, in step S71, the execution unit 421 notifies the operator of the thickness D of the friction material 12 measured in step S69 in the same manner as in step S31 of the first embodiment. Then, the execution unit 421 ends the current process.

<Effects of this embodiment>
According to this embodiment, in addition to the effects (1-1) to (1-4) in the first embodiment, the following effects can be obtained.

(2-1) In the present embodiment, when the imaging unit 375 starts capturing a moving image, frames of the moving image are sequentially transmitted to the computing device 40 . Therefore, the computing device 40 can individually analyze a plurality of frames forming a moving image. That is, in the calculation device 40, the imaging angle θ must be a value within a predetermined angle range (hereinafter referred to as “imaging angle condition”), and the imaging distance L must be a value within a predetermined distance range (hereinafter “ It is possible to determine whether or not the moving image includes a frame that satisfies both conditions (referred to as "imaging distance condition"). Then, when it is determined that such a frame is included in the moving image, the frame is acquired as the measurement image IMG1, and the thickness D of the friction material 12 is measured based on the measurement image IMG1. That is, the measurement image IMG1 is acquired after both the imaging angle θ is within a predetermined angle range and the imaging distance L is within a predetermined distance range. Therefore, it is possible to save the labor of the operator who operates the imaging button 312b.

(Change example)
The multiple embodiments described above can be implemented with the following modifications. The multiple embodiments described above and the following modified examples can be implemented in combination with each other within a technically consistent range.

In the above embodiments, the imaging distance L is estimated based on the size of the marker MK in the measurement image IMG1. The imaging distance L may be estimated based on the magnitude at . For example, the imaging distance L may be estimated based on the size of the disk rotor 13 or the size of the back plate 14 .

- In 1st Embodiment, when each imaging angle condition and imaging distance condition are satisfied, the operator was notified that each condition was satisfied.
However, when both the imaging angle condition and the imaging distance condition are satisfied, the operator may be notified that the imaging condition for the measurement image IMG1 is satisfied.

Moreover, it is not necessary to provide either one of the imaging angle condition and the imaging distance condition.
Moreover, it is not necessary to provide both the imaging angle condition and the imaging distance condition.
- In 2nd Embodiment, when both conditions of imaging angle conditions and imaging distance conditions are satisfied, the operator was notified that image IMG1 for a measurement was imaged.

However, when the measurement image IMG1 is captured, the thickness D of the friction material 12 is measured based on the measurement image IMG1. Therefore, the operator may be notified that the thickness D of the friction material 12 has been measured. For example, the measured thickness D of the friction material 12 may be displayed on the display device 51 . In this case, when the thickness D is displayed on the display device 51, the operator can recognize that the measurement of the thickness has been completed.

Moreover, it is not necessary to provide either one of the imaging angle condition and the imaging distance condition.
For example, if there is a frame that satisfies the imaging angle condition among a plurality of frames forming a moving image captured by the imaging unit 375, the frame is captured even if the frame does not satisfy the imaging distance condition. You may make it acquire as image IMG1 for a measurement. Specifically, in the flow of processing shown in FIG. 12, the processing of step S63 may be omitted.

In addition, if there is a frame that satisfies the imaging distance condition among the plurality of frames forming the moving image captured by the imaging unit 375, the frame is measured even if the frame does not satisfy the imaging angle condition. Alternatively, the image IMG1 may be acquired as the target image IMG1. Specifically, in the flow of processing shown in FIG. 12, the processing of step S61 may be omitted.

Moreover, it is not necessary to provide both the imaging angle condition and the imaging distance condition.
In the measurement image IMG1 when the imaging angle condition is not satisfied, the shape of the marker MK may be distorted. Therefore, if the imaging conditions for the measurement image IMG1 do not include the imaging angle condition, the in-image marker dimension F6, which is the dimension of the marker MK in the measurement image IMG1, should be corrected according to the imaging angle θ. For example, the product of the in-image marker dimension F6 and the aspect ratio α can be used as the corrected in-image marker dimension F6.

· The light-emitting part 374 does not have to be a semiconductor laser as long as it can emit parallel light and display the marker MK on the surface of the friction material 12 or on the surface of another member located around the friction material 12 .

- In the above embodiments, the imaging unit 375 and the light emitting unit 374 are unitized, but the light emitting unit 374 and the imaging unit 375 may not be unitized. For example, the light emitting unit 374 and the imaging unit 375 may be provided separately in the probe head 373, the light emitting unit 374 may be provided in a separate part from the probe head 373, or a separate part from the probe head 373 may be provided. may be provided with the imaging unit 375 .

In the above embodiments, the imaging distance L is estimated based on the dimensions in the image IMG of the marker MK whose actual dimensions are known, but the imaging distance L may be estimated using the principle of triangulation. Then, the imaging distance L may be estimated based on the time until the reflected light of the laser measurement object is detected, or based on the time until the reflected wave of the ultrasonic wave is detected from the measurement object. The imaging distance L may be estimated.

- In the first embodiment, the operator is notified that the imaging angle condition and the imaging distance condition are satisfied using the notification device 53 provided separately from the industrial endoscope 30. However, notification means other than the notification device 53 may be used to notify the operator.

For example, the display screen 311 provided on the main body 31 of the industrial endoscope 30 may display that the imaging angle condition and the imaging distance condition are satisfied.
Further, a device for vibrating the main body 31 may be provided in the main body 31 so that the operator can be notified by vibrating the main body 31 that the imaging angle condition and the imaging distance condition are satisfied.

- In the second embodiment, the operator is notified that the measurement image IMG1 has been acquired by using the notification device 53 provided separately from the industrial endoscope 30. Alternatively, another notification means may be used to notify the operator.

For example, the acquisition of the measurement image IMG1 may be displayed on the display screen 311 provided on the main body 31 of the industrial endoscope 30. Alternatively, a device for vibrating the main body 31 may be provided in the main body 31 so that the operator can be notified by vibrating the main body 31 that the measurement image IMG1 has been obtained.

- In the above embodiments, the thickness D of the friction material 12 is displayed on the display device 51 provided separately from the industrial endoscope 30. You may make it alert|report to a worker. For example, the thickness D of the friction material 12 may be displayed on the display screen 311 provided on the main body 31 of the industrial endoscope 30 . Further, a device for generating sound may be provided on the main body 31 or separately from the main body 31 so that the thickness D of the friction material 12 is notified to the operator by sound.

- In the above-described embodiments, the measurement device 20 including the industrial endoscope 30, the calculation device 40, the display device 51, and the notification device 53 is illustrated, but the calculation device 40, the display device 51, and the notification device 53 may be integrated into the industrial endoscope 30 . For example, the thickness D of the friction material 12 may be displayed on the display screen 311 . In addition, the content of notification to the worker may be displayed on the display screen 311, a speaker may be provided in the industrial endoscope 30, and the content of notification to the worker may be indicated by voice. A lamp may be provided on the mirror 30 to indicate the information to be notified to the operator. Further, a circuit corresponding to the processing circuit 42 may be provided in the industrial endoscope 30 and the thickness D of the friction material 12 may be measured by the circuit. In this case, the control program and the thickness D of the friction material 12 may be stored in a wirelessly connected storage device.

- In the above embodiments, the measurement image IMG1 is obtained by inserting the imaging unit 375 into the inspection window 11a of the caliper 11 . That is, in the above embodiments, the thickness D of the portion of the friction material 12 exposed through the inspection window 11a is measured. However, the measurement image IMG1 may be acquired in a state in which the imaging unit 375 is brought close to the friction material 12 from a location other than the inspection window 11a. For example, the measurement image IMG1 may be captured in a state in which the imaging unit 375 is brought closer to the lateral or lower end of the friction material 12 from the side or lower side of the caliper 11 . Thereby, the thickness D of the friction material 12 provided in the caliper without the inspection window can be measured.

Also, a measurement image (first measurement image) including the first end of the friction material 12 is taken, and a measurement image (second measurement image) including a second end different from the first end is captured. You can take an image. Accordingly, the degree of uneven wear of the friction material 12 can be estimated by comparing the thickness measured based on the first image for measurement and the thickness measured based on the second image for measurement.

- The processing circuit 42 includes one or more processors that operate according to a computer program, one or more dedicated hardware circuits such as dedicated hardware that executes at least part of various processes, or a combination thereof. It can be configured as a circuit. Dedicated hardware may include, for example, an ASIC, which is an application specific integrated circuit.

· The measuring device may be embodied as a measuring device for measuring members other than the friction material 12 . The object to be measured other than the friction material 12 is preferably a member whose size changes as it is used.

Next, technical ideas that can be grasped from the above-described multiple embodiments and modified examples will be described.
(b) The measuring device, wherein the light emitting unit emits laser light. Since laser light has high directivity, it is possible to accurately measure the size of the object to be measured.

(b) A measuring device, wherein the beam shape of the laser light emitted by the light emitting unit is circular. By making the beam shape such that the marker MK can be easily recognized in the image captured by the imaging unit 375 in this way, the processing content of the marker identification processing can be simplified.

(c) The measuring device, wherein the imaging section captures the measurement image when the imaging angle estimated by the imaging angle estimating section is a value within the angle range.
(d) the imaging unit captures a moving image;
The measuring unit converts the frames of the moving image captured by the imaging unit when the imaging angle estimated by the imaging angle estimating unit is a value within the angle range into the measurement image. A measuring device, obtained as

(e) notifying that the measurement image can be captured or that the measurement image has been captured when the imaging angle estimated by the imaging angle estimating unit is a value within the angle range; A measuring device comprising an angle condition reporting unit.

(f) The measuring device, wherein the imaging unit captures the measurement image when the imaging distance estimated by the imaging distance estimating unit is within the distance range.
(g) the imaging unit captures a moving image;
The measuring unit converts the frames of the moving image captured by the imaging unit when the imaging distance estimated by the imaging distance estimating unit is a value within the distance range into the measurement image. A measuring device, obtained as

(h) Notifying that the measurement image can be captured or that the measurement image has been captured when the imaging distance estimated by the imaging distance estimating unit is within the distance range; A measuring device comprising a distance condition reporting unit.

(i) the imaging unit is provided in an industrial endoscope,
The measuring device, wherein the light emitting unit is provided at a distal end portion of a probe of the industrial endoscope.
(J) A measuring method for measuring the size of an object to be measured using the measuring device,
a marker display step of displaying the marker, which is a light image, on the surface of the object to be measured or an object other than the object to be measured by the light emitting unit;
an imaging step of imaging the measurement image including the marker and the measurement object displayed on the surface in the marker display step by the imaging unit;
a measuring step of measuring the size of the object to be measured by the measuring unit based on the measurement image captured in the imaging step.

(k) the object to be measured is a disc brake friction material,
A measuring method comprising an insertion step of inserting the imaging unit and the light emitting unit into an inspection window formed in a caliper of the disc brake.

Claims

In a measuring device for measuring the size of an object to be measured,
a light emitting unit that emits light;
An imaging unit that captures a measurement image that includes a marker, which is an image of light displayed on the surface of the object to be measured or an object other than the object to be measured, and the object to be measured when the light emitting unit irradiates the object with light. and,
a measurement unit that measures the size of the measurement object based on the measurement image captured by the imaging unit;
A measuring device comprising:
The measurement unit measures the size of the measurement target based on the size of the marker in the measurement image.
The measuring device according to claim 1.
an imaging angle estimating unit that estimates an imaging angle of the measurement object by the imaging unit based on the shape of the marker;
The measuring unit measures the size of the measurement object based on the measurement image when the imaging angle estimated by the imaging angle estimating unit is a value within a predetermined angle range.
The measuring device according to claim 1 or 2.
The imaging unit captures the measurement image including an object other than the measurement target,
an imaging distance estimating unit that estimates an imaging distance between the imaging unit and the measurement object based on the size of the object other than the measurement object or the size of the marker in the measurement image;
The measuring unit measures the size of the measurement target based on the measurement image when the imaging distance estimated by the imaging distance estimating unit is a value within a predetermined distance range.
The measuring device according to any one of claims 1 to 3.