JP2020148517A - Three-dimensional coordinate measuring device - Google Patents

Abstract

To smooth the workability of assembling a three-dimensional coordinate measuring device to a reference stand, etc. as a foundation therefor.SOLUTION: A distance measuring optical member (110) for detecting a hand-held probe (200) is provided in a second sub-member (150). The second sub-member (150) is displaceable in the vertical and horizontal directions. The attitude of the second sub-member (150) is detected by an attitude detection sensor (160) provided in a base member (130). A fitting part (132) extending downward from the base member (130) is included. The fitting part (132) tightly fitted to a fixing part (11) of a foundation section (10) by protrusion-to-recess fitting. Tapered faces (133a, 13a) for guiding the protrusion-to-recess fitting with the fixing part (11) of the foundation section are formed at an end of the fixing part (11) of the foundation section and/or the fitting part (132).SELECTED DRAWING: Figure 20

Description

The present invention relates to a three-dimensional coordinate measuring device.

Patent Document 1 has a mechanism for rotating a polarizing mirror by driving a motor in a measurement unit that substantially detects a measurement point of a target using a laser beam, detects the displacement of the received laser beam, and detects this displacement. Discloses a three-dimensional coordinate measuring device that corrects the direction in which the laser beam is directed by a polarizing mirror so that is zero. This type of 3D coordinate measuring device is called a "laser tracker". A three-dimensional coordinate measuring device using a laser beam is disclosed. This three-dimensional coordinate measuring device includes a base member, a support column (first sub-member) that can rotate about the vertical axis with respect to the base member, and a unit (second) that can rotate about the horizontal axis with respect to the support column. It has a sub-member). The unit of the second sub-member can be rotated about the vertical axis together with the support column, and can be tilted up and down about the horizontal axis.

Patent Document 2 uses a light wave distance meter that measures a linear distance to a target point on the surface of an object to be measured and an angle meter that measures the tilt angle of the optical axis of the light wave distance meter. This is a three-dimensional coordinate measuring device that measures the three-dimensional coordinates of the target point from the measurement distance and the measurement angle after the optical axis is aligned with the target point on the surface of the object to be measured.

Patent Document 3 discloses a three-dimensional coordinate measuring device including a camera. This three-dimensional coordinate measuring device captures a plurality of markers provided on the probe with a camera, and the contact position of the probe with respect to the measurement object is detected based on the image data image data.

Japanese Unexamined Patent Publication No. 2010-054429 Japanese Unexamined Patent Publication No. 2001-296124 Japanese Unexamined Patent Publication No. 2015-194452

As described above, the three-dimensional coordinate measuring device is known as a laser beam method (Patent Documents 1 and 2) and a camera method (Patent Document 3). This type of 3D coordinate measuring device is carried by the user to the measurement site and placed on a basic part such as a reference stand or a pedestal, and the installation position of the 3D coordinate measuring device is maintained in an immovable state during measurement. Since the three-dimensional coordinate measuring device requires high detection accuracy, it has a solid frame structure and is relatively heavy.

For this reason, it is desirable that the mounting work be completed smoothly and with as little impact as possible when mounting the three-dimensional coordinate measuring device to the foundation portion. If the mounting work cannot be performed smoothly, an impact or load may be applied to the distance measuring optical system member, which is a main component of the 3D coordinate measuring device, and if this is repeated over a long period of use, the distance measuring optical system member There is a problem that an error may occur in.

An object of the present invention is to provide a three-dimensional coordinate measuring device capable of facilitating the workability of assembling a three-dimensional coordinate measuring device to a reference stand or the like as a basic portion thereof.

According to the present invention, the above technical problems are solved.
With the base member
A first sub-member that is rotatably supported about the first axis with respect to the base member,
A second sub-member that is rotatably supported around a second axis that is orthogonal to the first axis with respect to the first sub-member.
A ranging optical system member provided on the second sub-member for detecting a hand-held probe, and
A posture detection sensor that detects the posture of the second sub-member with respect to the base member, and
A housing that surrounds the base member and the first and second sub-members,
A mounting portion that extends downward from the base member and is closely fitted to the fixing portion of the base portion.
Based on the posture of the first sub-member, the posture of the second sub-member, and the information of the hand-held probe detected via the distance measuring optical system member, the three-dimensional coordinates of the measurement point pointed to by the hand-held probe are obtained. It is provided with a coordinate measuring unit for obtaining a geometric feature related to the geometric shape based on a geometric shape preset as a measurement target and three-dimensional coordinates of the measurement point.
A three-dimensional coordinate measuring device characterized in that a tapered surface is formed at the fixed portion and / or the end portion of the mounting portion of the foundation portion to guide the fixed portion of the foundation portion when it is unevenly fitted. Is achieved by providing.

According to the present invention, when the three-dimensional coordinate measuring device is installed on a basic portion such as a reference stand, it can be installed smoothly and without impact due to the tapered surface. As a result, it is possible to suppress an impact from being applied to the distance measuring optical system member included in the three-dimensional coordinate measuring device. As a result, the measurement accuracy can be maintained even if the three-dimensional coordinate measuring device is used for a long period of time.

The effects and other objectives of the present invention will be apparent from the following description of preferred embodiments of the present invention.

It is a figure for demonstrating the whole structure of the 3D coordinate measuring apparatus of an Example, and the use example thereof. It is a perspective view for demonstrating the outline of the internal structure of the measuring apparatus main body with the housing removed. It is sectional drawing for demonstrating the outline of the internal structure of the measuring apparatus main body in relation to FIG. It is a functional block diagram of a measuring device main body and a processing device (PC). (A) is a schematic vertical sectional view of a reference member included in the main body of the measuring device. (B) is a bottom view of the reference member. It is a figure which shows the image example of a plurality of reference markers obtained by the reference camera included in the measuring apparatus main body image | photographing the reference member. It is a figure for demonstrating the frame structure of the measuring apparatus main body. FIG. 7 is a diagram for explaining a state in which a surrounding member is arranged in the illustrated frame structure. It is an external view of the measuring apparatus main body. It is the external view of the measuring apparatus main body in the state which removed the upper housing. It is the external view of the measuring apparatus main body with the lower housing removed. 9 is a vertical cross-sectional view of the main body of the measuring device shown in FIG. It is sectional drawing for demonstrating the structure around the lens barrel of a movable camera. It is sectional drawing of the measuring apparatus main body cut in the vertical plane different from FIG. It is a partially cutaway perspective view of a part of the harness chamber viewed from diagonally above with the upper housing removed. FIG. 15 is a perspective view of the harness chamber viewed from above with the upper housing removed in the same manner as in FIG. It is a side view of the measuring apparatus main body which cut out a part of the upper housing in order to clarify the existence of a counterweight. It is a figure for demonstrating the design guideline regarding the arrangement of a single counterweight. It is a figure for demonstrating that the field of view of the movable camera included in the measuring apparatus main body is limited. It is a figure for demonstrating the fixed structure between a measuring apparatus main body and a reference stand. It is a vertical cross-sectional view of a fixed structure for demonstrating the state after installing the measuring apparatus main body on a reference stand. It is a figure for demonstrating that the reference stand is provided with an operation lever, and the user can lock or unlock the fixing of the measuring apparatus main body by operating the lever. It is a vertical sectional view of the fixed structure in an unlocked state. It is a vertical sectional view of a fixed structure in a locked state. It is a perspective view of the probe seen from the user side. It is a perspective view of the probe seen from the side opposite to FIG. FIG. 25 is a partial view for explaining that the probe is provided with a communication window for wireless communication with the main body of the measuring device in relation to FIG. 25. It is a functional block diagram of a probe. It is a figure which shows an example of the image displayed on the main body display part of a processing apparatus (PC). It is a figure which shows an example of the object of measurement. FIG. 30 is a diagram for explaining a basic measurement example of the illustrated measurement object. FIG. 30 is a diagram for explaining a basic measurement example of the illustrated measurement object. FIG. 30 is a diagram for explaining a basic measurement example of the illustrated measurement object. FIG. 30 is a diagram for explaining a basic measurement example of the illustrated measurement object. FIG. 30 is a diagram for explaining a basic measurement example of the illustrated measurement object. It is a figure which shows the relationship between the main screen generation data and subscreen generation data stored in the main body memory of a processing apparatus (PC) and the probe memory of a probe, respectively, and the operation of a 3D coordinate measuring apparatus by a user. It is a figure which shows the display example of the 1st main screen and 1st subscreen which are displayed on a processing apparatus (PC) and a probe at the time of a selection operation of a geometric element and a measurement item. It is a figure which shows the display example of the 2nd main screen and the 2nd sub-screen which are displayed on a processing apparatus (PC) and a probe at the time of the instruction operation of a measurement point and the setting operation of a measurement target part. It is a figure which shows the display example of the 3rd main screen and the 3rd sub screen which are displayed on the processing apparatus (PC) and a probe at the time of the selection operation of the measurement target part. It is a figure which shows the display example of the 4th main screen and the 4th sub screen displayed on the processing apparatus (PC) and a probe at the time of the selection operation of a geometrical tolerance. It is a flowchart which shows the flow of the measurement target part setting process by the main body control circuit of a processing apparatus (PC). It is a flowchart which shows the flow of the measurement point coordinate calculation process. It is a flowchart which shows the flow of the measurement value calculation processing by the main body control circuit of a processing apparatus (PC). It is a flowchart which shows the flow of the tracking process by the main body control circuit of a processing apparatus (PC). It is a block diagram which shows the functional structure mainly about a screen display of a 3D coordinate measuring apparatus.

Hereinafter, as a preferred embodiment of the present invention, a three-dimensional coordinate measuring device 1 for performing distance measurement using a camera will be exemplified, and the three-dimensional coordinate measuring device 1 of the embodiment will be described with reference to the accompanying drawings. FIG. 1 shows a three-dimensional coordinate measuring device 1 installed on a reference stand 10 including a tripod 12. The three-dimensional coordinate measuring device 1 is composed of a combination of the measuring device main body 100, the probe 200, and the processing device 300, and is used for measuring physical quantities such as the dimensions of each part of a large measurement object S, for example. Typically, the three-dimensional coordinate measuring device 1 is used to confirm whether the measurement object S is made as designed. FIG. 1 shows a large-sized pipe as an example of the measurement object S. The object S to be measured is placed on the floor surface and is maintained in a stationary state during the measurement.

The probe 200 is carried by the user U. The probe 200 has a contact 201. The user U brings the contactor 201 into contact with a desired portion of the object S to be measured. The contact point of the contactor 201 becomes the "measurement point".

The tripod 12 that forms a part of the reference stand 10 includes a fixing portion 11 for fixing the measuring device main body 100. The reference stand 10 is placed on the floor surface and fixed in position until the measurement of the measurement object S is completed.

The measuring device main body 100 has a movable camera 111 as an example of a distance measuring optical system member 110 for detecting a measurement point, and the movable camera 111 is composed of a constant focus camera. As a modification of the distance measuring optical system member 110, the unit may be a unit using the laser beam described in Patent Document 1 (US 9,366,531 B2) and Patent Document 2 (WO2014 / 067942), and US 9,366,531 B2 and WO2014 / 067942 By reference, the contents of disclosure in these prior arts are incorporated herein by reference. When a laser unit that emits a laser beam is adopted as the distance measuring optical system member 110, a retroreflector is provided on the probe 200, and the retroreflector forms a probe marker described below.

The movable camera 111 captures a plurality of probe markers eq (p) provided on the probe 200. The direction of the movable camera 111 can be changed in the horizontal direction and / or the vertical direction, whereby the field of view of the movable camera 111 can be expanded in the horizontal direction and / or the vertical direction.

FIG. 2 is a perspective view for explaining an outline of the internal structure of the measuring device main body 100. FIG. 3 is a vertical cross-sectional view for explaining the overall outline of the measuring device main body 100. First, referring to FIG. 2, the measuring device main body 100 has a bird's-eye view camera 120. The bird's-eye view camera 120 is composed of a constant focus camera. The bird's-eye view camera 120 has a large field of view and is used to monitor the presence of the probe 200 and its approximate position in a wide field of view. For example, even if the probe 200 is removed from the imaging field of view of the movable camera 111 due to the movement of the probe 200, the probe 200 is roughly based on the image data captured by the bird's-eye view camera 120 (hereinafter, referred to as "overhead image data"). Identify the location. Based on the position specified by the bird's-eye view camera 120, the orientation of the movable camera 111 is adjusted so that the probe 200 is located in the imaging field of view of the movable camera 111.

Returning to FIG. 1, the measuring device main body 100 is connected to the processing device 300 via the cable CA. The processing device 300 typically comprises a personal computer (PC). The processing device 300 is connected to a main body display unit 310 such as a liquid crystal monitor and a well-known main body operation unit 320 such as a keyboard and a mouse by wire or wirelessly. The processing device (PC) 300 receives image data (hereinafter, referred to as “measurement image data”) obtained by the movable camera 111 imaging the probe marker eq (p) from the measuring device main body 100. Then, the processing device (PC) 300 obtains the contact point of the contactor 201, that is, the coordinates of the measurement point, based on the received measurement image data and the reference image data described later. The processing device 300 obtains the physical quantity of the measurement object S based on the coordinates of one or a plurality of measurement points of the measurement object S and displays it on the main body display unit 310.

When the user U moves the gripped probe 200, the orientation of the movable camera 111 changes up and down and / or left and right following the movement of the probe 200, as shown by the white dotted arrow in FIG. .. That is, when the probe 200 moves, the orientation of the movable camera 111 changes so that the probe 200 is located within the imaging field of view of the movable camera 111. As a result, the three-dimensional coordinate measuring device 1 realizes a large measurable area.

With reference to FIGS. 2 and 3, the measuring device main body 100 has a three-divided structure of a base member 130, a first sub-member 140, and a second sub-member 150, each of which has an independent frame. are doing. Specifically, the base member 130 has a base frame F (B). The first sub-member 140 has a first sub-frame F (S1). The second sub-member 150 has a second sub-frame F (S2). These three independent frames F (B), F (S1), and F (S1) are made of metal, preferably made of, for example, an aluminum alloy having excellent heat transfer properties.

The base frame F (B) rotatably supports the first subframe F (S1) about the vertical axis Ax (V). The first subframe F (S1) rotatably supports the second subframe F (S2) about the horizontal axis Ax (L). The horizontal axis Ax (L) is arranged non-parallel to the vertical axis Ax (V), and preferably the horizontal axis Ax (L) is arranged in a plane orthogonal to the vertical axis Ax (V). It may be, and more preferably, the horizontal axis Ax (L) and the vertical axis Ax (V) are orthogonal to each other. The measuring device main body 100 has a posture detection sensor 160 that detects the posture of the movable camera 111 via the posture of the second subframe F (S2). In the embodiment, the reference camera 161 which is an example of the distance measuring optical system member is adopted as the attitude detection sensor 160. The reference camera 161 is composed of a constant focus camera and is fixed to the base frame F (B).

The base frame F (B) has a hollow support shaft 148 arranged coaxially with the vertical axis Ax (V). The hollow support shaft 148 extends straight upward from the base frame F (B), the reference camera 161 is arranged in the hollow support shaft 148, and the reference camera 161 is attached to the base frame F (B). It is fixed. The imaging field of view of the reference camera 161 is directed upward. The optical axis of the reference camera 161 is preferably coaxial with the hollow support shaft 148. That is, it is preferable that the optical axis of the reference camera 161 is coaxial with the vertical axis Ax (V).

FIG. 4 is a block diagram for explaining an outline of the measuring device main body 100 and the processing device (PC) 300. With reference to FIGS. 3 and 4, the base frame F (B) includes a first rotation drive control circuit 141 for controlling the rotation of the first subframe F (S1) and a second subframe F (S2). A second rotation drive control circuit 142 for controlling rotation and various substrates on which the wireless communication circuit 143 is mounted are provided in a state where direct heat conduction is possible with respect to the base frame F (B). Further, the base frame F (B) is provided with a first rotation drive mechanism 145 for rotating the first subframe F (S1) (FIG. 3). The first rotary drive mechanism 145 includes, for example, a stepping motor and a power transmission member related thereto.

With reference to FIGS. 2 and 3, the first sub-member 140 is rotatably arranged on the base member 130. Specifically, the first subframe F (S1) is rotatably attached to the upper end portion of the hollow support shaft 148 via a cross roller bearing CB (FIG. 3). The first subframe F (S1) can rotate relative to the base frame F (B) about the vertical axis Ax (V). The first subframe F (S1) rotates by the first rotation drive mechanism 145 described above. The first subframe F (S1) has a U-shaped side view (FIG. 2), and the second subframe F (S2) is installed on two support column portions 146 facing each other and extending upward. There is. The second subframe F (S2) is rotatable about the horizontal axis Ax (L). As a result, the second subframe F (S2) can rotate relative to the first subframe F (S1) about the horizontal axis Ax (L). A second rotation drive mechanism 151 for rotating the second subframe F (S2) is attached to the second subframe F (S2). The second rotary drive mechanism 151 (FIG. 2) includes, for example, a stepping motor and a power transmission member related thereto.

The bird's-eye view camera 120 is installed in the first subframe F (S1) (FIG. 2). By providing the bird's-eye view camera 120 in the first subframe F (S1), it is possible to suppress monitoring errors over a long period of use. In other words, when the bird's-eye view camera 120 is provided in the second subframe F (S2), the second subframe F (S2) is a movable element and is also a movable element in the first subframe F (S1). Since it is supported, the assembly error of the first subframe F (S1) may appear as a cumulative monitoring error.

The movable camera 111 is installed in the second subframe F (S2). Both the movable camera 111 and the bird's-eye view camera 120 are directed forward. The orientation of the movable camera 111 and the bird's-eye view camera 120 is rotated left and right by rotating the first subframe F (S1) around the vertical axis Ax (V). On the other hand, when the second subframe F (S2) rotates about the horizontal axis Ax (L), the direction of the movable camera 111 tilts up and down.

With reference to FIG. 3, the reference member 162 is arranged in the imaging field of view directed above the reference camera 161. The optical axis of the reference camera 161 is preferably parallel to the vertical axis Ax (V), and preferably the optical axis of the reference camera 161 is coaxial with the vertical axis Ax (V). The reference member 162 is fixed to the second subframe F (S2). That is, the reference member 162 is immovable with respect to the second subframe F (S2). Further, the reference member 162 is attached to the second subframe F (S2) in a state where it can directly conduct heat. 5A and 5B are schematic views for explaining the configuration of the reference member 162, FIG. 5A is a cross-sectional view, FIG. 5B is a bottom view of the reference member 162 as viewed from below, and the lower surface of the reference member 162 is a flat surface. Is. With reference to FIG. 5A, the reference member 162 has a plurality of reference markers ep (ref), and the reference marker ep (ref) is composed of a self-luminous type surface marker. Specifically, the configuration of the reference member 162 will be described. The reference member 162 has a light emitting substrate 163, a diffuser plate 164, and a glass plate 165 arranged in order from top to bottom, and these are peripherals on the sides thereof. Is surrounded by a diffuse reflection sheet 166.

A large number of light emitting elements L are mounted on the lower surface of the light emitting substrate 163 in an aligned state. Each light emitting element L is composed of, for example, an infrared LED (light emitting diode). As the light emitting element L, an LED that emits light of another wavelength may be used instead of the infrared LED, or another light emitting element such as a filament may be used. The light emitting element L is driven by the reference marker drive circuit 152 (FIG. 4). The reference marker drive circuit 152 is mounted on the second subframe F (S2).

The diffuser plate 164 is, for example, a plate member made of resin, and transmits light generated from a plurality of light emitting elements L while diffusing it downward. The diffuse reflection sheet 166 is, for example, a band-shaped sheet member made of resin, and reflects light from a plurality of light emitting elements L toward the side (outward) of the reference member 162 while diffusing it inward. With the above configuration, the light emitted from the diffuser plate 164 can be made uniform over the entire surface.

The glass plate 165 is a plate glass, and is composed of, for example, quartz glass or soda glass. At least the lower surface of the upper and lower surfaces of the glass plate 165 is composed of a highly smoothed surface, and a thin film mask 167 having a plurality of circular openings is provided on the lower surface. The thin film mask 167 is, for example, a chrome mask formed on the lower surface of the glass plate 165 by a sputtering method or a vapor deposition method. Each circular opening of the thin film mask 167 defines the circular contour of the reference marker ep (ref). As a result, no matter from which angle the reference marker ep (ref) is imaged, it is possible to obtain an image having a specified shape without distortion. The contour shape of the reference marker ep (ref), which is a surface emitting marker, is arbitrary, and may be a quadrangle, a star, an ellipse, or the like.

With the above configuration, it is generated from a plurality of light emitting elements L, diffused by a diffuser plate 164 and a diffuse reflection sheet 166, and uniformly emitted over the entire surface. That is, it becomes a surface light source that emits light uniformly over the entire surface. Then, the light emitted from this surface light source is emitted below the reference member 162 through each circular opening of the thin film mask 167. As a result, it becomes a reference marker ep (ref) for surface emission with a clear outline. As can be seen from FIG. 5B, the plurality of reference markers ep (ref) are arranged at equal intervals in a matrix on the lower surface (plane) of the reference member 162. Of the plurality of reference markers ep (ref), the reference marker ep (ref) located at the center is referred to as a "first marker", and a reference numeral (1) is added. One marker ep (ref) separated from the first marker ep (ref) (1) by a predetermined distance is called a "second marker", and a reference numeral (2) is added. The first and second markers ep (ref) (1) and ep (ref) (2) have, for example, the first and second markers ep as identification marks in order to distinguish them from other reference markers ep (ref). An identification mark point P (FIG. 5 (b)) is attached to the center of (ref) (1) and ep (ref) (2). The identification mark point P is generated by the thin film mask 167.

The reference member 162 is positioned so that a plurality of reference markers ep (ref), which are surface emission markers, are located within the imaging field of view of the reference camera 161. Specifically, the second subframe so that the reference member 162 is located on the cross section orthogonal to the vertical axis Ax (V) when the second subframe F (S2) takes a predetermined reference posture. F (S2) is positioned. Preferably, the reference member 162 is positioned so that the identification mark point P located at the center of the first marker ep (ref) (1) that emits light from the lower surface of the reference member 162 is located on the vertical axis Ax (V). To.

The first and second subframes F (S1) and F (S2) rotate together about the vertical axis Ax (V), and / or the second subframe F (S2) is the horizontal axis Ax (L). ), The images of the plurality of reference markers ep (ref) acquired by the reference camera 161 change.

FIG. 6 is a diagram for explaining information obtained by the reference camera 161 imaging the reference member 162. The imaging timing of the reference camera 161 is preferably synchronized with the timing at which the plurality of reference markers ep (ref) of the reference member 162 emit light. As a result, the electrical energy required to cause the plurality of reference markers ep (ref) to emit light and the heat generated by the reference member 162 can be suppressed to the minimum necessary.

When the movable camera 111 is in the reference posture, that is, when both the first subframe F (S1) and the second subframe F (S2) are in the reference posture, the image 161i (1) shown in FIG. ) Is obtained. Here, the reference posture of the movable camera 111 is based on the assumption that the first subframe F (S1) is in a reference rotation position, and the lower surface of the reference member 162 is preferably a vertical axis coaxial with the optical axis of the reference camera 161. It is made by being located on the cross section orthogonal to Ax (V). The optical axis of the reference camera 161 may be arranged parallel to the vertical axis Ax (V). In the image 161i (1) of FIG. 6A, the marker image ieps corresponding to the plurality of reference markers ep (ref) are arranged in a state of matching with the arrangement of the plurality of reference markers ep (ref). That is, the plurality of reference markers ep (ref) of the reference member 162 and the plurality of marker image ieps of the captured image 161i (1) have the same arrangement pattern. Therefore, the first marker image iep1 corresponding to the first marker ep (ref) (1) is located at the center of the image corresponding to the center of the field of view of the reference camera 161. Further, the second marker image iep2 corresponding to the second marker ep (ref) (2) is located at a position separated from the first marker image iep1 by a predetermined distance. The first and second marker images iep1 and iep2 are distinguished from other marker images by the identification mark points P existing in the first marker ep (ref) (1) and the second marker ep (ref) (2). Will be done.

FIG. 6B shows a movable camera 111 when the second subframe F (S2) rotates about the vertical axis Ax (V) from the reference posture with the axis rotation of the first subframe F (S1). The captured image 161i (2) of the reference camera 161 when the direction of is moved to the left and right is shown. Even if the second subframe F (S2) rotates about the vertical axis Ax (V) from the reference posture, the distance between the plurality of reference markers ep (ref) and the reference camera 161 does not change significantly. If the second subframe F (S2) is rotated around the vertical axis Ax (V), the plurality of marker image ieps are similarly rotated around the center of the image. That is, the plurality of reference markers ep (ref) of the reference member 162 and the plurality of marker image ieps of the captured image 161i (1) have the same arrangement pattern, but rotate around the center of the image. This rotation angle θ can be substantially obtained based on the positional relationship between the first and second marker images iep1 and iep2.

FIG. 6 (c) shows an image taken by the reference camera 161 when the second subframe F (S2) rotates about the horizontal axis Ax (L) from the reference posture, that is, when the direction of the movable camera 111 moves up and down. Image 161i (3) is shown. When the second subframe F (S2) rotates about the horizontal axis Ax (L), some of the plurality of reference markers ep (ref) become shorter in distance from the reference camera 161 and the other parts become shorter. The distance from the reference camera 161 becomes longer. That is, there is a difference in the arrangement pattern between the plurality of reference markers ep (ref) of the reference member 162 and the plurality of marker image ieps of the captured image 161i (1). As can be seen from FIG. 6C, the arrangement state of the plurality of marker image ieps is distorted. Based on the arrangement pattern including this distortion, the tilt angle φ of the second subframe F (S2) centered on the horizontal axis Ax (L) can be substantially obtained. Specifically, the tilt angle φ can be substantially obtained based on the positional relationship between the first and second marker images iep1 and iep2. Here, the angle range in which the second subframe F (S2) can rotate about the horizontal axis Ax (L), that is, the tilt of the second subframe F (S2) is sufficient in a limited angle range of, for example, about 30 °. Within this angle range, even if the second subframe F (S2) tilts around the horizontal axis Ax (L), the first and second reference markers ep (ref) (1), ep ( ref) The relative positional relationship between the first and second marker images iep1 and iep2 corresponding to (2), that is, the separation distance does not change significantly.

As described above, the movable camera 111 and the reference member 162 are fixed to the second subframe F (S2). Therefore, the orientation of the movable camera 111 is based on the image data (hereinafter, referred to as “reference image data”) obtained by imaging the plurality of reference markers ep (ref) of the reference member 162 using the reference camera 161. That is, the amount of vertical and / or horizontal displacement (rotation angle θ and / or tilt angle φ) can be substantially detected. That is, the reference camera 161 functions as a posture detection sensor that detects the posture of the movable camera 111 via the posture of the second subframe F (S2).

Further, since the reference camera 161 detects the posture of the movable camera 111 and the posture of the second subframe F (S2), the control of the rotation stop of the first and second rotation drive mechanisms 145 and 147 is controlled by the reference camera 161. This can be done based on the reference image data. According to this, it is possible to omit the installation of a limit sensor such as a proximity switch for stopping the rotation of the first and second rotation drive mechanisms 145 and 147.

As an example of the attitude detection sensor 160 arranged on the base frame F (B), as a first modification of the reference camera 161 which is a specific example of the optical system member, the first modification centered on the vertical axis Ax (V) together with the reference camera 161. A rotary encoder that detects the rotation angle of the subframe F (S1) may be provided in the base frame F (B). Further, as a second modification, a rotary encoder that detects the rotation angle θ of the first subframe F (S1) centered on the vertical axis Ax (V) is installed in the base frame F (B), and this base frame is installed. The F (B) may be provided with a laser parallel ray type non-contact angle detection unit that detects the tilt angle φ of the second subframe F (S2) centered on the horizontal axis Ax (L).

FIG. 7 is an exploded perspective view for clarifying the frame structure divided into three by the measuring device main body 100 as described above. The surrounding member 170 described below is attached to the three-divided frame structure shown in FIG. 7. FIG. 8 shows a state in which the surrounding member 170 is attached.

With reference to FIG. 8 and FIGS. 2 and 3 described above, a surrounding member 170 that blocks the imaging space rs including the field of view of the reference camera 161 from its surroundings is arranged in relation to the reference camera 161. The surrounding member 170 is a member for disconnecting the imaging space rs from the surrounding environment. The surrounding member 170 prevents heat, light, and air from entering the inside of the imaging space rs from the outside, and prevents an air flow from being generated inside the imaging space rs.

The surrounding member 170 has a tubular shape extending in the vertical direction with a square cross section, and the upper end and the lower end are open. The lower end of the surrounding member 170 is fixed so that the entire circumference thereof is in close contact with the lower end of the first subframe F (S1). The upper end of the surrounding member 170 is fixed to the lower surface of the second subframe F (S2) in close contact with the entire circumference thereof. As a result, the imaging space rs of the reference camera 161 becomes a substantially closed space that is not easily affected by the external heat, light, and air flow by the surrounding member 170. That is, the surrounding member 170 can stabilize the internal atmosphere of the imaging space rs. The surrounding member 170 is also designed to have a cross-sectional shape of the surrounding member 170 so that it does not interfere with the imaging field of view of the reference camera 161 when deformed.

The surrounding member 170 is preferably made of a easily deformable material such as a dark cloth containing black so that diffused reflection of light does not occur inside the imaging space rs. Further, it is preferable to have a bellows structure in order to facilitate the deformation of the surrounding member 170. More preferably, it is preferable to adopt a bellows structure without a spring. By adopting the bellows structure without a spring, a part of the surrounding member 170 is compressed and deformed by the tilting operation centered on the horizontal axis Ax (L) (FIG. 2) of the second subframe F (S2). Even if the other part is stretched and deformed, it is possible to suppress the generation of reaction force due to these deformations.

When the first subframe F (S1) rotates around the vertical axis Ax (V) (FIG. 3), the second subframe F (S2) also rotates, so that the surrounding member 170 also rotates. To do. That is, the surrounding member 170 is not deformed by the rotation about the vertical axis Ax (V). On the other hand, when the second subframe F (S2) rotates about the horizontal axis Ax (L), the surrounding member 170 is deformed accordingly. By adopting a material and structure (for example, the above-mentioned springless bellows structure) that does not generate a reaction force due to deformation as the material and / or structure of the surrounding member 170, the rotation of the second subframe F (S2) is stopped. It is possible to suppress the generation of the reaction force from the surrounding member 170, which tends to be generated at the moment of the operation. As a result, the positioning accuracy of the second subframe F (S2) when the movable camera 111 is tilted up and down can be maintained for a long period of time.

By surrounding the reference camera 161 with the surrounding member 170, it is possible to prevent light from entering the imaging space rs from the outside. Further, the air flow and heat (typically, heat from the motor and the substrate) existing around the imaging space rs can be blocked by the surrounding member 170. This makes it possible to prevent fluctuations in the internal atmosphere of the imaging space rs. This means that a plurality of reference markers ep (ref) can be imaged with high accuracy. As a result, the detection accuracy of the reference camera 161 which is the posture detection sensor 160 can be improved.

It is preferable that at least the inner surface of the enclosing member 170 is made of a color (dark color including black) or a material capable of reducing the reflectance of light or absorbing light. Specifically, it is preferable that the inner surface of the surrounding member 170 is made of a non-reflective material that does not reflect light, or a coating of a non-reflective material that does not reflect light is applied to prevent diffuse reflection.

The outer frame OF shown in FIGS. 6A to 6C indicates the boundary of the imaging field of view of the reference camera 161. The imaging field of view OF is limited, and is set to the minimum necessary dimensions that are sufficient for capturing all the reference markers ep (ref) included in the reference member 162. This makes it possible to improve the accuracy of finding the relative relationships of all the reference markers ep (ref) from the image. Although a single reference camera 161 is used in this embodiment, a plurality of reference cameras 161 may be arranged side by side. When a plurality of reference cameras 161 are installed, the imaging field of view OF is divided into a plurality of divided imaging fields of view, and each reference camera 161 takes an image, and the images are combined to obtain an image of the entire imaging field of view OF shown in FIG. It may be generated. According to this, since the imaging field of view carried by each of the plurality of reference cameras 161 can be set even smaller, the combined image of the imaging field of view OF has high resolution. Thereby, the reading accuracy of the image of the reference camera 161 can be further improved. That is, by synthesizing each image of the plurality of reference cameras 161 it is possible to further improve the detection accuracy as a sensor for detecting the posture of the movable camera 111.

The appearance of the housing 180 of the measuring device main body 100 is made up of a first lower housing 181 and a second upper housing 182. FIG. 9 is a perspective view showing the appearance of the measuring device main body 100. FIG. 10 is a diagram showing a state in which the upper housing 182 is removed. As can be seen from FIG. 10, the upper housing 182 is a member that surrounds the first and second sub-members 140 and 150. FIG. 11 is a diagram showing a state in which the lower housing 181 is removed. As can be seen from FIG. 11, the lower housing 181 is a member surrounding the base member 130.

The lower housing 181 is fixed to the base frame F (B) (FIG. 3). The lower housing 181 has a pair of handles 183 arranged at positions facing each other (FIGS. 9 and 10), and the measuring device main body 100 which is a heavy object when the user grips the pair of handles 183. Can be carried. By the way, the weight of the measuring device main body 100 is about 13 kg. The pair of handles 183 are arranged at the height level of the center of gravity G of the measuring device main body 100. As a result, the user can stably carry the measuring device main body 100. As a result, it is possible to suppress load fluctuations and impacts that may be applied to interior parts, especially optical system parts, due to carrying the measuring device main body 100, and it is possible to suppress the occurrence of optical system errors due to long-term use. Can be done.

With reference to FIG. 3, the lower housing 181 cooperates with the elements constituting the base member 130 to form a first lower closed space 131 in which the upper end portion, the lower end portion, and the lateral periphery are closed. On the other hand, the lower end of the upper housing 182 is fixed to the first subframe F (S1), and the upper end, the lower end, and the side cooperate with the elements constituting the first and second submembers 140 and 150. It forms a second upper closed space 153 with a closed perimeter.

FIG. 12 is a vertical cross-sectional view of the measuring device main body 100 shown in FIG. With reference to FIG. 12, the lower housing 181 has a lower exhaust port 184 that opens toward the side, and an electric lower exhaust fan 185 is installed in the lower exhaust port 184. Similarly, the second housing 182 has an upper exhaust port 186 that is open toward the side at the upper end portion thereof, and an electric upper exhaust fan 187 is installed in the upper exhaust port 186. The upper exhaust port 186 is preferably arranged at a position away from the optical axis of the movable camera 111, for example, on the side opposite to the optical axis of the movable camera 111 with a vertical axis AX (V).

In the lower closed space 131 defined by the lower housing 181 and the like, heat sources such as various circuit boards 144 and a first rotation drive mechanism 145 (FIG. 3) forming a part of the base member 130 are arranged. This heat is released to the outside by the lower exhaust fan 185. In order to prevent negative pressure from being generated in the lower closed space 131 due to this forced exhaust, the lower closed space 131 is, for example, downward through a place intentionally limited such as a gap between the lower housing 181 and the base member 130. Exhaust air is introduced from the lower end of the housing 181.

On the other hand, a heat source such as a second rotation drive mechanism 151 (FIG. 2) is arranged in the upper closed space 153 defined by the upper housing 182, and this heat is released to the outside by the upper exhaust fan 187. .. Outside air is introduced into the upper closed space 153 through an intentionally limited place such as the lower end of the upper housing 182 so that a negative pressure is not generated in the upper closed space 153 due to this forced exhaust.

As described above, since the upper and lower closed spaces 131 and 153 isolated from each other are forcibly exhausted independently, it is possible to suppress the generation of a temperature gradient inside the measuring device main body 100. In particular, it is possible to suppress the generation of a temperature gradient between the lower closed space 131 and the lower closed space 153. As a result, the detection accuracy of the reference camera 161 and the movable camera 111 can be further improved.

FIG. 13 is a cross-sectional view showing a part of the second sub-member 150 surrounded by the upper housing 182. The structure around the lens barrel 111a of the movable camera 111 will be described with reference to FIG. The tip of the lens barrel 111a is surrounded by a peripheral wall 188. The peripheral wall 188 has a camera window 189 facing the tip of the lens barrel 111a, and the camera window 189 is composed of an empty space.

When the upper exhaust fan 187 operates, air flows inside the upper closed space 153 and through a gap. The fact that this flow occurs around the lens barrel 111a and in the camera window 189 may be an obstacle in improving the detection accuracy by the movable camera 111. In response to this possible problem, in the embodiment, as can be seen from FIG. 13, a configuration is adopted in which the opening edge 141 of the camera window 189 and the tip of the lens barrel 111a are brought into contact with each other in an airtight state. .. By blocking the flow of air between the opening edge 189a of the camera window 189 and the tip of the lens barrel 111a, the surroundings of the lens barrel 111a and the atmosphere of the camera window 189 can be kept stable.

Reference numeral 190 shown in FIG. 12 indicates a harness chamber. In the harness chamber 190, at the boundary portion between the upper and lower housings 181 and 182, the harness chamber 190 is formed of a synthetic resin molded member 191 at the outer peripheral portion thereof. FIG. 14 is a vertical cross-sectional view of the measuring device main body 100 as in FIG. 12, and is a cross section in a vertical plane different from that of FIG. 12 rotated by 90 ° about the vertical axis Ax (V) in comparison with FIG. It is a figure. FIG. 15 is a partially cutaway perspective view of a part of the harness chamber 190 viewed from diagonally above with the upper housing 182 removed. FIG. 16 is a perspective view of the harness chamber 190 as viewed from above with the upper housing 182 removed, as in FIG.

With reference to FIGS. 12, 14, and 16, the harness chamber 190 has a tunnel shape extending in an arc shape in the circumferential direction. A bundle of harnesses (not shown) that electrically connects the base member 130 and the second sub-member 15 is housed in the harness chamber 190. The harness chamber 190 has a limited cross-sectional area capable of stably holding a bundle of harnesses, and the harness chamber forming member 191 constituting the wall surface thereof is smooth without protrusions or irregularities protruding toward the harness chamber 190. Has a nice inner surface. The upper housing 182 fixed to the first subframe F (S1) rotates relative to the lower housing 181 about the vertical axis Ax (V). Then, with this relative rotation, the bundle of harnesses rubs against the wall surface of the harness chamber 190. Since the harness chamber 190 having a limited cross section extends in an arc shape and its inner surface is formed of a smooth surface, the sliding resistance of the bundle of harnesses can be reduced. Further, the value of the sliding resistance and the portion where the bundle of harnesses rub against each other can be kept constant for a long period of time. As a result, the stable rotational operation of the upper housing 182 can be maintained for a long period of time.

With reference to FIGS. 10 and 17, the second sub-member 150 located at the highest height level has a counterweight 192 consisting of a single block. FIG. 17 is a side view of the measuring device main body 100 in which a part of the upper housing 182 is cut out in order to clarify the existence of the counterweight 192.

As described above, the first and second sub-members 140 and 150 rotate around the vertical axis Ax (V). Further, the second sub-member 150 rotates about the horizontal axis Ax (L). Along with these rotations, the position of the center of gravity of the assembly of the first and second sub-members 140 and 150 changes. Measurement position When the position of the center of gravity of the main body 100 changes, the load acting on the reference stand 10 including the pedestal and the tripod 12 fixing the base member 130 changes, and as a result, the posture of the base portion may change. is there. For example, even if the basic portion changes by 1 arcsec, the displacement of the movable camera 111 appears as about 14 μm. By suppressing the change in the position of the center of gravity of the assembly of the first and second sub-members 140 and 150, the above problem can be reduced and the stable rotational operation of the first sub-member 140 and the second sub-member 150 can be performed for a long period of time. Can be maintained. Similarly, the load on the first rotary drive mechanism 145 (FIG. 3) and the second rotary drive mechanism 151 (FIG. 7) can be reduced.

A basic design guideline for the placement position of a single counterweight 192 will be described with reference to FIG. First, the positions on the opposite sides of the second rotation drive mechanism 151 included in the second sub-member 150 and the vertical axis Ax (V) are selected (FIG. 18 (a)). Secondly, the positions on the opposite sides of the movable camera 111 and the horizontal axis AX (L) are selected (FIG. 18 (b)).

As a modification of the single counterweight 192, first, a first counterweight that suppresses a change in the position of the center of gravity due to rotation of the first and second sub-members 140 and 150 centered on the vertical axis Ax (V). Secondly, the second sub-member 150 may be provided with a second counter weight that suppresses a change in the position of the center of gravity due to rotation of the second sub-member 150 about the horizontal axis Ax (L) as a separate member. ..

FIG. 19 is a diagram for explaining the setting of the angle of view of the movable camera 111. When the angle of view of the fixed focus movable camera 111 is large, the probe 200 at a relatively distant position has a small probe on the image, and the detection accuracy of the measurement point is lowered. The purpose of the movable camera 111 is to capture a plurality of probe markers eq (p). Based on this viewpoint, as can be seen from FIG. 19, the movable camera 111 is set with a limited angle of view within a range in which a plurality of probe markers eq (p) can be imaged with a certain margin. Specifically, the angle of view of the movable camera 111 is set so as to cover an area having a diameter of about 15 cm at a position 1.5 m away from the movable camera 111, for example. As a result, the accuracy of identifying the position coordinates of the contact 201 via the plurality of probe markers eq (p) can be improved.

Although the movable camera 111 is composed of a single camera in the embodiment, it may be composed of a plurality of cameras as a modification. That is, the imaging field of view shown in FIG. 19 may be formed by adopting a plurality of movable cameras 111 as the distance measuring device and synthesizing the images of the movable cameras 111. According to this, the accuracy of specifying the position of the contact 201 can be further improved.

Next, the bird's-eye view camera 120 will be described. The angle of view of the bird's-eye view camera 120 is larger than the angle of view of the movable camera 111. Therefore, the imaging field of view of the bird's-eye view camera 120 is larger than the imaging field of view of the movable camera 111. The bird's-eye view camera 120 has a purpose of monitoring the movement of the probe 200. A bird's-eye view camera 120 that meets this purpose may be mounted on the first sub-member 140. As a result, even if the probe 200 deviates from the imaging field of view of the movable camera 111 due to the movement of the probe 200, the probe 200 is based on the image data captured by the bird's-eye view camera 120 (hereinafter, referred to as “overhead image data”). The rough position of the can be specified. Based on the specified position, adjustments are made to vertically and / or rotationally displace the orientation of the movable camera 111 so that the probe 200 is located within the imaging field of view of the movable camera 111.

20 to 24 show a fixed structure of the measuring device main body 100 with respect to the reference stand 10 including a tripod as an example. The reference stand 10 is not limited to a tripod. The reference stand 10 may be, for example, a pedestal that can support the measuring device main body 100 in a state of being stationary with respect to the floor surface. FIG. 20 is a diagram for explaining an outline of the fixed structure. With reference to FIG. 20, the measuring device main body 100 has a mounting portion 132 at the lower end. The mounting portion 132 is fixed to the base frame F (B) and projects downward from the base frame F (B). The mounting portion 132 has an inner peripheral surface 133 having a circular cross section and is open downward. The central axis of the inner peripheral surface 133 of the mounting portion 132 is preferably coaxial with the above-mentioned vertical axis Ax (V). The mounting portion 132 has a bottom surface 134 located on one cross section orthogonal to the vertical axis Ax (V). The lower end of the inner peripheral surface 133 of the mounting portion 132 has a first tapered surface 133a. The diameter of the first tapered surface 133a is reduced toward the upper side. In other words, the first tapered surface 133a has a shape whose diameter is enlarged downward.

As can be seen from FIG. 20, the fixing portion 11 located at the upper end of the reference stand 10 has an outer peripheral surface 13 complementary to the inner peripheral surface 133 of the mounting portion 132 of the measuring device main body 100, and is closely attached to the mounting portion 132. Concavo-convex fitting. Specifically, the outer peripheral surface 13 has a circular cross section, and the diameter of the outer peripheral surface 13 is substantially the same as the inner peripheral surface 133 of the mounting portion 132 of the measuring device main body 100. When the fixing portion 11 of the reference stand 10 penetrates into the mounting portion 132 of the measuring device main body 100, the measuring device main body 100 can be fixed in position with respect to the reference stand 10. FIG. 21 shows a state after the measuring device main body 100 is installed on the reference stand 10.

As described above, since the mounting portion 132 of the measuring device main body 100 has the first tapered surface 133a and the first tapered surface 133a has a shape in which the diameter is expanded downward, the measuring device main body 100 Can be guided to the upper end of the fixed portion 11 of the reference stand 10 by the first tapered surface 133a when the reference stand 10 is installed. As a result, the mounting portion 132 of the measuring device main body 100 can smoothly accept the fixing portion 11 of the reference stand 10 in a state where no impact is generated.

In order to further facilitate this insertion, preferably, the outer peripheral surface 13 of the reference stand 10 may be provided with a second tapered surface 13a that is tapered upward at the upper end portion thereof. As a result, when the measuring device main body 100 is installed on the reference stand 10, the ease of assembly can be further improved by the cooperation of the first and second tapered surfaces 133a and 13a. When the second tapered surface 13a is provided on the reference stand 10 side, the first tapered surface 133a on the measuring device main body 100 side may be omitted.

As described above, the measuring device main body 100 is a heavy object. When assembling the measuring device main body 100 to the reference stand 10, it is possible to prevent the measuring device main body 100 from being impacted or tilted due to the assembling work by making the assembling property smooth and preventing an impact from being applied as much as possible. .. As a result, it is possible to prevent an error in the optical system from occurring due to an impact or inclination during the work of assembling the measuring device main body 100 to the reference stand 10.

21 to 24 show specific examples of the reference stand 10. The reference stand 10 has an operation lever 15 (FIGS. 22 and 24), and after the measuring device main body 100 is assembled to the reference stand 10, the user U operates the lever 15 to measure the reference stand 10. The device body 100 can be locked. FIG. 23 shows a state when the operating lever 15 is opened, and FIG. 24 shows a state in which the measuring device main body 100 is fixed by the operating lever 15. The reference stand 10 has an engaging member 16 that is rotated by an operating lever 15, and the operating lever 15 is operated by the user to engage and disengage the engaging member 16 with respect to the inner peripheral surface 133 of the mounting portion of the measuring device main body 100. can do.

With reference to FIGS. 3 and 4, the reference marker drive circuit 152 for causing the reference camera 161 and the movable camera 111 and the reference member 162 to emit light, and the first and second rotational drive mechanisms 145 and 151 for driving the reference marker drive circuit 152 and the reference member 162. The first and second rotary drive circuits 141 and 142, the wireless communication circuit 143, the processing device (PC) 300, and the communication circuit 149 for communicating with the processing device 300 are head control circuits 193 that integrally control the measuring device main body 200. It is connected to the. The head control circuit 193 includes a CPU (Central Processing Unit) and a memory, or a microcomputer, and controls a reference camera 161 and a movable camera 111, a reference marker drive circuit 152, and first and second rotation drive circuits 141 and 142. To do.

An analog electric signal (hereinafter, referred to as a light receiving signal) corresponding to the detected amount is output to the head control circuit 193 from each pixel of the reference camera 161 and the movable camera 111 and the bird's-eye view camera 120.

An A / D converter (analog / digital converter) and a FIFO (First In First Out) memory (not shown) are mounted on the head control circuit 193. The received light signals output from the reference camera 161 and the movable camera 111 and the bird's-eye view camera 120 are sampled at a constant sampling cycle by the A / D converter of the head control circuit 193 and converted into digital signals. The digital signals output from the A / D converter are sequentially stored in the FIFO memory. The digital signals stored in the FIFO memory are sequentially transferred to the processing device (PC) 300 as pixel data.

The reference marker drive circuit 152 drives the light emitting substrate 163 of FIG. 5A based on the control of the head control circuit 193. As a result, the plurality of light emitting elements L on the light emitting substrate 163 emit light, and light is emitted from the plurality of reference markers ep (ref) of the reference member 162. It should be noted that preferably, the light emission timing and the imaging timing of the reference camera 161 are synchronized.

The first rotation drive circuit 141 drives the first rotation drive mechanism 145 of FIG. 4 based on the control of the head control circuit 193. As a result, the first sub-member 140 and the second sub-member 150 rotate together about the vertical axis Ax (V), and the orientation of the movable camera 111 is displaced to the left and right. Further, the second rotation drive circuit 142 drives the second rotation drive mechanism 147 based on the control of the head control circuit 193. As a result, the second sub-member 150 rotates about the horizontal axis Ax (L), and the direction of the movable camera 111 tilts up and down. The vertical and / or horizontal displacement of the direction of the imaging field of view of the movable camera 111 by these first and second rotational drive circuits 141 and 142 is based on the tracking process (described later) of the processing device (PC) 300. Will be done.

The head control circuit 193 performs wireless communication with the probe 200 via the wireless communication circuit 143. This wireless communication is performed by two communication means. One is optical communication using visible light or invisible light (for example, infrared rays) as electromagnetic waves. The other is short-range digital wireless communication using radio waves such as Bluetooth (registered trademark) communication. With reference to FIG. 9, the measuring device main body 100 has a first window 194 for optical communication at a position immediately above the bird's-eye view camera 120, and a first window for radio wave communication is provided at the lower end of the measuring device main body 100. It has two windows 195.

25 to 28 are views related to the probe 200. FIG. 25 is a perspective view of the probe 200 as viewed from the user side. FIG. 26 is a perspective view seen from the back side of the probe 200. With reference to FIGS. 25 and 26, the probe 200 is provided with the above-mentioned contact 201 at the tip of a probe main body 202 having an elongated shape extending in one direction and a stylus 203 extending from one end in the longitudinal direction. The contact 201 is spherical. Further, a probe camera 204 is provided in the vicinity of the stylus 203. The probe main body 202 has a grip portion 205 in the intermediate portion in the longitudinal direction thereof, and the user can operate the probe 200 by gripping the grip portion 205 with one hand.

On the back surface of the probe 200, with reference to FIG. 26, a plurality of probe markers eq (p) are arranged apart from each other, and a communication window 206 is provided. FIG. 27 is an enlarged view of a portion of the communication window 206. Radio wave communication and optical communication are performed with the measuring device main body 100 through the communication window 206.

With reference to FIG. 25, the probe 200 is provided with a touch panel display 210 at the other end in the longitudinal direction, and an operation unit 211 is arranged in the vicinity thereof. The operation unit 211 is composed of a plurality of push-type buttons, and includes a first button for starting measurement, a second button for determining selection of geometric elements, and a third button for completing measurement. FIG. 28 is a block diagram for explaining the configuration of the probe 200. The probe 200 includes a probe control unit 220, an indicator light 221 and a battery 222, a probe marker drive circuit 223, a probe memory 224, a wireless communication circuit 225, and a motion sensor 226 as electrical configurations, as well as the above-mentioned probe camera 204 and probe. It includes an operation unit (push-type button) 211, a touch panel display 210, and a plurality of probe markers eq (p).

The battery 222 powers other components provided on the probe 200. The probe control unit 220 includes a CPU and a memory, or a microcomputer, and controls an indicator lamp 221, a probe marker drive circuit 223, a probe camera 204, and a touch panel display 210. Further, the probe control unit 220 performs various processes in response to the operation of the user U on the push-type button 211 and the touch panel display 210 constituting the operation unit.

Further, the probe control unit 220 generates screen data indicating a screen to be displayed on the touch panel display 210 based on a plurality of types of sub-screen generation data (described later).

The touch panel display 210 includes a probe display unit 231 and a touch panel 232. The probe display unit 231 is composed of, for example, a liquid crystal display panel or an organic EL panel.

The indicator light 221 includes, for example, one or a plurality of LEDs, and is provided so that the light emitting portion thereof is exposed to the outside. The indicator lamp 221 performs a light emitting operation according to the state of the probe 200 based on the control of the probe control unit 220.

The plurality of probe markers eq (p) have the same configuration as the reference member 162 described above with reference to FIG. 5A, and are composed of surface emitting markers. The probe marker drive circuit 223 is connected to a plurality of probe markers eq (p), and on / off of light emission of the plurality of probe markers eq (p) is controlled based on the control of the probe control unit 220. The on / off timing is preferably synchronized with the imaging timing of the movable camera 111.

The probe memory 224 includes a recording medium such as a non-volatile memory or a hard disk. The probe memory 224 stores a program related to the screen display of the touch panel display 210. Further, the probe memory 224 is used for processing various data and storing various data such as image data given from the measuring device main body 100. Further, the probe memory 224 contains a plurality of types of sub-screen generation data for generating screen data indicating a screen to be displayed on the touch panel display 210 in response to an operation of the three-dimensional coordinate measuring device 1 by the user U. It is remembered.

The motion sensor 226 detects the movement of the probe 200, for example, when the user U carries the probe 200 and moves. For example, the motion sensor 226 detects the moving direction, acceleration, posture, and the like when the probe 200 moves. The probe camera 204 is, for example, a CCD (charge coupling element) camera.

In addition to the above CPU and memory or microcomputer, the probe control unit 220 is equipped with an A / D converter and a FIFO memory (not shown). As a result, the probe control unit 220 converts the signal indicating the movement of the probe 200 detected by the motion sensor 226 into digital signal format data (hereinafter, referred to as “motion data”). Further, in the probe control unit 220, the received light signal output from each pixel of the probe camera 204 is converted into a plurality of pixel data in the digital signal format. The probe control unit 220 transmits digital format motion data and a plurality of pixel data to the measuring device main body 100 by wireless communication through the wireless communication circuit 225. The measuring device main body 100 transfers motion data and a plurality of pixel data to the processing device 300.

In the three-dimensional coordinate measuring device 1, a three-dimensional coordinate system (hereinafter, referred to as “device coordinate system”) having a predetermined relationship with the reference camera 161 is defined in advance. With reference to FIG. 4, the main body memory 303 of the processing device (PC) 300 stores in advance the relative positional relationship of the reference markers ep (ref) of the reference member 162.

As described above, the reference camera 161 images a plurality of reference markers ep (ref) of the reference member 162. As shown in FIG. 4, the processing device (PC) 300 includes a communication circuit 301, a main body control circuit 302, and a main body memory 303. The communication circuit 301 and the main body memory 303 are connected to the main body control circuit 302. Further, the main body operation unit 320 and the main body display unit 310 are connected to the main body control circuit 302. The main body control circuit 302 is based on the reference image data obtained by imaging and the positional relationship of a plurality of reference markers ep (ref) stored in the main body memory 303, and each reference marker ep (ref) in the device coordinate system. Calculate each coordinate of. At this time, each of the plurality of reference markers ep (ref) of the reference member 162 is identified based on the first and second markers ep1 and ep2 (FIG. 5B).

After that, the main body control circuit 302 generates information indicating the posture of the movable camera 111 by the device coordinate system as the first position / posture information based on the calculated coordinates of the plurality of reference markers ep (ref).

In the three-dimensional coordinate measuring device 1, in addition to the above-mentioned device coordinate system, a three-dimensional coordinate system (hereinafter, referred to as “movable coordinate system”) having a predetermined relationship with the movable camera 111 is defined in advance. Has been done. Further, the main body memory 303 of the processing device 300 stores in advance the relative positional relationship of the plurality of probe markers eq (p) of the probe 200.

The movable camera 111 captures a plurality of probe markers eq (p). The main body control circuit 302 sets each coordinate of each probe marker eq (p) in the movable coordinate system based on the measurement image data obtained by imaging and the positional relationship of a plurality of marker eq stored in the main body memory 303. calculate.

After that, the main body control circuit 302 generates information indicating the position and orientation of the probe 200 by the movable coordinate system as the second position / orientation information based on the calculated coordinates of the plurality of probe markers eq (p).

As for the orientation of the movable camera 111, the imaging field of view follows the movement of the probe 200. Therefore, the relationship between the device coordinate system and the movable coordinate system changes as the orientation of the movable camera 111 changes.

The main body control circuit 302 of the processing device (PC) 300 generates a third position / orientation information representing the position and orientation of the probe 200 in the device coordinate system based on the first and second position / orientation information. That is, the main body control circuit 302 calculates the relative relationship of the movable coordinate system with respect to the device coordinate system based on the first position / orientation information, and calculates the second position / orientation information based on the calculated relationship. Convert to information that follows the system. As a result, the third position / orientation information is generated.

After that, the main body control circuit 302 sets the coordinates of the "measurement point" indicated by the probe 200 based on the generated third position / orientation information and the positional relationship between the plurality of marker eq and the contactor 201 in the probe 200. calculate. Further, the head control circuit 193 performs wired communication with the processing device 300 via the communication circuit 149 and the cable CA.

The main body memory 303 includes a ROM (read-only memory), a RAM (random access memory), and a hard disk. Along with the system program, the main body memory 303 stores a measurement target partial setting program, a measurement value calculation program, a tracking processing program, and a program related to screen display, which will be described later. Further, the main body memory 303 is used for processing various data and storing various data such as pixel data given from the measuring device main body 100. Further, in the main body memory 303, a plurality of types of main screen generation data for generating screen data indicating a screen to be displayed on the main body display unit 310 in response to an operation of the three-dimensional coordinate measuring device 1 by the user U Is remembered.

The main body control circuit 302 includes a CPU. In the present embodiment, the main body control circuit 302 and the main body memory 303 are realized by a personal computer. The main body control circuit 302 generates image data based on pixel data given from the measuring device main body 100 via the cable CA (FIG. 1) and the communication circuit 301. Image data is a set of a plurality of pixel data.

Reference image data, measurement image data, and bird's-eye view image data corresponding to the reference camera 161, the movable camera 111, and the bird's-eye view camera 120 of the measuring device main body 100 are generated. In addition, image data corresponding to the probe camera 204 provided on the probe 200, which will be described later, is generated. The main body control circuit 302 calculates the position coordinates of the contact 201 (FIG. 1) of the probe 200 based on the reference image data and the measured image data.

Further, the main body control circuit 302 generates screen data indicating a screen to be displayed on the main body display unit 310 based on a plurality of types of main screen generation data stored in the main body memory 303. Details of the screen displayed on the main body display unit 310 will be described later.

The main body display unit 310 is composed of, for example, a liquid crystal display panel or an organic EL (electroluminescence) panel. The main body display unit 310 displays the coordinates of the measurement point on the measurement target object S, the measurement results of each part of the measurement target object S, and the like based on the control by the main body control circuit 302. In addition, the main body display unit 310 displays a setting screen for making various settings related to measurement.

The main body operation unit 320 includes a keyboard and a pointing device. Pointing devices include a mouse or joystick and the like. The main body operation unit 320 is operated by the user U.

A basic measurement example of the dimensions of the object S to be measured by the three-dimensional coordinate measuring device 1 will be described. FIG. 29 is a diagram showing an example of an image displayed on the main body display unit 310 (FIG. 1) of the processing device (PC) 300. FIG. 30 is a diagram showing an example of the measurement object S.

With reference to FIG. 29, the main body display unit 310 of the processing device (PC) 300 is an image that virtually represents an area in which the dimensions of the measurement object S can be measured by the three-dimensional coordinate measuring device 1 (hereinafter, “measurement”). The VI (called "area virtual image") is displayed. In the image VI, the x-axis and y-axis of the device coordinate system are set so as to be parallel to the flat and horizontal virtual floor FL and orthogonal to each other, and the z of the device coordinate system is perpendicular to the floor FL. The axis is set.

Further, the position of the floor surface having a predetermined relationship with the imaging field of view of the movable camera 111 is set at the origin O of the device coordinate system. The measurement area virtual image VI of FIG. 29 includes the origin O, x-axis, y-axis, and z-axis of the device coordinate system, and the floor image FLi corresponding to the virtual floor FL (dotted line portion of FIG. 29). ) Is included.

The measurement object S in FIG. 30 has a rectangular parallelepiped shape. In this example, the distance between one side surface Sa of the object to be measured S and the side surface Sb on the opposite side is measured. The side surfaces Sa and Sb of the measurement object S are perpendicular to the x-axis, respectively.

31 to 35 are diagrams for explaining a basic measurement example of the measurement object S illustrated in FIG. 30. 31 (a) and 33 (a) are diagrams showing the positional relationship between the movable camera 111, the probe 200, and the measurement object S, and FIGS. 31 (b) and 33 (b) show the probe 200 and the measurement. It is an external perspective view of the object S. 32, 34, and 35 show an example of the measurement area virtual image VI displayed on the main body display unit 310 of the processing device (PC) 300.

At the time of this measurement, the user U needs to specify the position and shape of the portion to be measured (measurement target portion) of the measurement object S. Therefore, the user U operates the main body operation unit (mouse or the like) 320 (FIG. 1) of the processing device 300 or the touch panel display 210 (FIG. 25) of the probe 200 to measure the portion of the object S to be measured. Select the type of geometric shape (hereinafter referred to as geometric element) that indicates the shape of. Geometric elements include geometric elements found in industrial products such as points, straight lines, planes, circles, cylinders and spheres.

For example, the user U selects a "plane" as a geometric element indicating the shape of one side surface Sa of the measurement object S (geometric element selection operation). After that, the user U instructs a plurality of measurement points of three or more points on the side surface Sa of the measurement object S in order to specify the side surface Sa (measurement point instruction operation).

Specifically, as shown in FIGS. 31 (a) and 31 (b), the user U sets the contact 201 so that the plurality of probe markers eq (p) of the probe 200 face the movable camera 111. It is brought into contact with the side surface Sa of the measurement object S. In that state, the user U indicates the contact position between the measurement object S and the contact 201a as the measurement point M1a by pressing the probe operation unit (push type button) 211 (FIG. 25). In this case, the coordinates of the measurement point M1a are calculated in the main body control circuit 302 (FIG. 4) of the processing device 300, and the calculation result is stored in the main body memory 303 (FIG. 4).

Similarly, the user U designates three different parts on the side surface Sa of the measurement object S as measurement points M2a, M3a, and M4a. As a result, the coordinates of the measurement points M2a, M3a, and M4a are calculated in the main body control circuit 302. The calculation result is stored in the main body memory 303.

Subsequently, the user U operates the main body operation unit (mouse or the like) 320 (FIG. 4) of the processing device 300 or the touch panel display 210 (FIG. 25) of the probe 200 to pass through the planes (FIG. 4) passing through the measurement points M1a to M4a. Hereinafter, the measurement plane ML1) is set as the measurement target portion corresponding to the side surface Sa of the measurement object S (measurement target portion setting operation). As a result, the position of the measurement plane ML1 in the device coordinate system is calculated, and the calculation result is stored in the main body memory 303 as element identification information. In this case, as shown in FIG. 32, the image ML1i showing the set measurement plane ML1 is superimposed and displayed on the measurement area virtual image VI.

Here, in the present embodiment, the element identification information is a measurement target portion on the measurement object S specified based on the geometric element selected by the user U and the measurement point instructed by the user U. This is the information shown in the device coordinate system.

Subsequently, the user U selects "plane" as a geometric element indicating the shape of the other side surface Sb (FIGS. 30 and 31) of the measurement object S (geometric element selection operation). After that, the user U instructs a plurality of measurement points of three or more points on the side surface Sb of the measurement object S in order to specify the side surface Sb (measurement point instruction operation).

Specifically, as shown in FIGS. 33 (a) and 33 (b), the user U sets the contact 201 so that the plurality of probe markers eq (p) of the probe 200 face the movable camera 111. It is brought into contact with the side surface Sb of the measurement object S. In this state, the user U indicates the contact position between the measurement object S and the contact 201 as the measurement point M1b by pressing the probe operation unit (push type button) 211 (FIG. 25). In this case, the coordinates of the measurement point M1b are calculated in the main body control circuit 302 (FIG. 4), and the calculation result is stored in the main body memory 303.

Similarly, the user U designates three different parts on the side surface Sb of the measurement object S as measurement points M2b, M3b, and M4b. As a result, the coordinates of the measurement points M2b, M3b, and M4b are calculated in the main body control circuit 302. The calculation result is stored in the main body memory 303.

Subsequently, the user U operates a main body operation unit (mouse or the like) 320 of the processing device (PC) 300 or a touch panel display 210 (FIG. 25) of the probe 200 to pass through the measurement points M1b to M4b (hereinafter referred to as a plane). , Called the measurement plane ML2) is set as the measurement target portion corresponding to the side surface Sb of the measurement target S (setting operation of the measurement target portion). As a result, the position of the measurement plane ML2 in the device coordinate system is calculated, and the calculation result is stored in the main body memory 303 as element identification information. In this case, as shown in FIG. 34, the image ML2i showing the measurement plane ML2 is superimposed and displayed on the measurement area virtual image VI in addition to the image ML1i showing the measurement plane ML1.

As described above, the user U identifies the measurement target portion of the measurement target S, and then operates the main body operation unit 320 (mouse or the like) (FIG. 4) or the touch panel display 210 (FIG. 25). It is necessary to set what should be measured for which measurement target part. Therefore, the user U operates the main body operation unit (mouse or the like) 320 of the processing device (PC) 300 or the touch panel display 210 (FIG. 25) of the probe 200 to select the type of measurement item for the measurement object S. At the same time as selecting (selection operation of measurement item), one of the measurement target parts required to obtain the value of the measurement item is selected (selection operation of measurement target part). The types of measurement items include various physical quantities such as angles in addition to distances.

Next, the user U selects the distance as the type of measurement item. Further, the user U selects two measurement planes ML1 and ML2 as measurement target portions for defining which distance the distance is.

By selecting the measurement item and the measurement target portion, the measurement item is calculated using the element identification information stored in the main body memory 303. In this example, the distance between the two selected measurement target portions (measurement planes ML1 and ML2) is calculated. The calculation result is stored in the main body memory 303 (FIG. 4) as the measurement result.

At this time, as shown in FIG. 35, the measurement result is displayed on the measurement area virtual image VI. The measurement result may be displayed on the main body display unit 310 (FIG. 4) separately from the measurement area virtual image VI. Further, the method of calculating the distance between the two measurement planes ML1 and ML2 may be appropriately set by the user U.

In the above example, one plane is set as the measurement target portion based on four measurement points, but one plane can be set as the measurement target portion based on at least three measurement points. On the other hand, when four or more measurement points are specified to set one plane, the flatness of the plane set as the measurement target portion can be obtained.

Further, in the above example, after the two measurement planes ML1 and ML2 are set as the measurement target portions, the distance is selected as the type of measurement item, but the angle is selected instead of the distance as the type of measurement item. May be good. In this case, the angle formed by the measurement planes ML1 and ML2 is measured instead of the distance between the measurement planes ML1 and ML2.

Next, a screen display example of the main body display unit 310 (FIG. 4) of the processing device 300 and the touch panel display 210 of the probe 200 will be described. As described above, when measuring the measurement object S, the user U selects a geometric element, indicates a measurement point, sets a geometric element and a measurement target portion based on the measurement point, and selects a measurement item. And select the measurement target part.

Further, according to the three-dimensional coordinate measuring device 1, the user U can also measure a desired geometrical tolerance with respect to a desired portion of the measurement object S. In this case, the user U selects a desired geometric tolerance from a plurality of types of geometric tolerances. Thereby, the geometric tolerance of the selected type is calculated for the measurement target portion specified from the plurality of measurement points instructed by the user. The geometrical tolerance represents how much the shape of the measurement target portion specified by one or more measurement points on the measurement target S deviates from the geometrically correct shape. That is, the geometrical tolerance represents the degree of deviation of the shape of the measurement target portion with respect to the correct geometric shape. In this way, the user U performs a geometrical tolerance selection operation when measuring the geometrical tolerance.

FIG. 36 shows the main screen generation data and the sub screen generation data stored in the main body memory 303 (FIG. 4) of the processing device (PC) 300 and the probe memory 224 (FIG. 28) of the probe 200, respectively, and the user U. It is a figure which shows the relationship with the operation of 3D coordinate measuring apparatus 1.

As shown in FIG. 36, the main body memory 303 of the processing device (PC) 300 stores the first to fourth main screen generation data as a plurality of types of main screen generation data. Further, the probe memory 224 stores the first to fourth sub-screen generation data as a plurality of types of sub-screen generation data. Each of the first to fourth main screen generation data and the first to fourth sub screen generation data is a background image showing a screen background to be displayed on the main body display unit 310 or the touch panel display 210 of the probe 200. Data, data for displaying a predetermined icon in a part of the background image, data indicating the processing to be performed by manipulating a part of the background image, and other data on the background image. The area includes data for displaying various measurement results calculated by the main body control circuit 302 (FIG. 4).

The first main screen generation data and the first sub screen generation data of the processing device (PC) 300 are associated with the geometric element selection operation and the measurement item selection operation. As a result, the main body control circuit 302 (FIG. 4) is displayed on the main body display unit 310 based on the first main screen generation data during the standby for accepting the selection operation of the geometric element and the selection operation of the measurement item. Generate the first main screen data indicating the screen to be output. Further, the probe control unit 220 (FIG. 28) is displayed on the touch panel display 210 of the probe 200 based on the first sub-screen generation data in synchronization with the generation of the first main screen data of the main body control circuit 302. Generates first sub-screen data indicating the screen to be screened. In the following description, the screen displayed on the main body display unit 310 by the first main screen data is referred to as "first main screen", and is displayed on the touch panel display 210 of the probe 200 by the first sub screen data. The screen is called the "first sub screen".

The second main screen generation data and the second sub screen generation data of the probe 200 are associated with a measurement point instruction operation and a measurement target portion setting operation. As a result, the main body control circuit 302 (FIG. 4) is displayed on the main body display unit 310 based on the second main screen generation data during the standby for receiving the measurement point instruction operation and the measurement target portion setting operation. Generate a second main screen data indicating the screen to be. Further, the probe control unit 220 (FIG. 28) synchronizes with the generation of the second main screen data of the main body control circuit 302, and the screen to be displayed on the touch panel display 210 based on the second sub screen generation data. The second sub-screen data indicating is generated. In the following description, the screen displayed on the main body display unit 310 by the second main screen data is referred to as the "second main screen", and is displayed on the touch panel display 210 of the probe 200 by the second sub screen data. The screen is called the "second sub screen".

The third main screen generation data and the third sub screen generation data are associated with the selection operation of the measurement target portion. As a result, the main body control circuit 302 (FIG. 4) shows a screen to be displayed on the main body display unit 310 based on the third main screen generation data during standby for accepting the selection operation of the measurement target portion. Generate the main screen data of 3. Further, the probe control unit 220 (FIG. 28) synchronizes with the generation of the third main screen data of the main body control circuit 302, and the screen to be displayed on the touch panel display 210 based on the third sub screen generation data. A third sub-screen data indicating the above is generated. In the following description, the screen displayed on the main body display unit 310 by the third main screen data is referred to as a "third main screen", and is displayed on the touch panel display 210 of the probe 200 by the third sub screen data. The screen is called the "third sub screen".

The fourth main screen generation data and the fourth sub screen generation data are associated with the geometric tolerance selection operation. As a result, the main body control circuit 302 (FIG. 4) shows a screen to be displayed on the main body display unit 310 based on the fourth main screen generation data during standby for accepting the geometric tolerance selection operation. Generate the main screen data of. Further, the probe control unit 220 (FIG. 28) synchronizes with the generation of the fourth main screen data of the main body control circuit 302, and the touch panel display 210 (FIGS. 25 and 28) is based on the fourth sub screen generation data. ), A fourth sub-screen data indicating the screen to be displayed is generated. In the following description, the screen displayed on the main body display unit 310 by the fourth main screen data is referred to as the "fourth main screen", and is displayed on the touch panel display 210 of the probe 200 by the fourth sub screen data. The screen is called the "fourth sub screen".

In the three-dimensional coordinate measuring device 1, the user U uses the main body operation unit (mouse or the like) 320 (FIG. 4) of the processing device (PC) 300 or the touch panel display 210 (FIG. 25) of the probe 200 to perform geometric elements. Select operation, set measurement target part, select measurement item, select measurement target part, and select geometric tolerance. In addition, the user U uses the probe operation unit (push type button) 211 of the probe 200 to perform an operation of instructing a measurement point.

FIG. 37 is a diagram showing a display example of the first main screen and the first sub screen displayed on the touch panel display 210 of the main body display unit 310 (FIG. 4) and the probe 200 when the geometric element and the measurement item are selected. is there. With reference to FIG. 37, in the first main screen sc01 and the second to fourth main screens sc02 to sc04 (FIGS. 38 to 40) described later, the display area of the main body display unit 310 is the measurement state display area. It is divided into 311, a result display area 312, and an operation display area 313.

The measurement state display area 311 is an area for displaying the above-mentioned measurement area virtual image VI. The position and orientation of the probe 200 calculated by imaging the probe 200 using the movable camera 111 are virtually superimposed and displayed on the measurement area virtual image VI. The result display area 312 is mainly an area for displaying the measurement result. Therefore, in the first main screen sc01 of FIG. 37 (a), the information is not displayed in the result display area 312. The operation display area 313 is an area for displaying at least one of an icon, a button, and an input field to be operated by the user.

In FIG. 37 (a), an enlarged view of the operation display area 313 on the first main screen sc01 is shown together with an overall display example of the first main screen sc01. In the operation display area 313 of the first main screen sc01, as shown in the frame of the thick dotted line, a plurality of (two in this example) item icons i01 corresponding to a plurality of predetermined measurement items are formed. Is displayed. The two item icons i01 in this example correspond to the measurement items "distance" and "angle", respectively.

Further, in the operation display area 313 of the first main screen sc01, as shown in the frame of the thick alternate long and short dash line, a plurality of (19 in this example) corresponding to a plurality of predetermined geometric elements are formed. The element icon i02 is displayed. The plurality of element icons i02 include seven element icons i02 corresponding to each of the geometric elements "plane", "straight line", "circle", "point", "cylinder", "cone" and "sphere". .. In the following description, each of these seven element icons i02 will be referred to as a "basic element icon".

In addition, the multiple element icons i02 have geometric elements "rounded rectangle", "ellipse", "quadrangle", "step cylinder", "torus", "midpoint", "intersection", "tangent", and "middle". Includes 12 element icons i02 corresponding to "line", "intersection line", "intersection circle" and "midpoint" respectively. In the following description, all the element icons i02 except the basic element icon are referred to as "special element icons".

As shown in the above example, the special element icon includes a geometric element identified from the positional relationship of a plurality of geometric elements such as "intersection line", "intersection circle" and "middle surface".

As a geometric element selection operation, the user U can select a desired element icon i02 from a plurality of element icons i02 by the main body operation unit 320 (FIG. 4) of the processing device (PC) 300. Further, the user U can select a desired item icon i01 from a plurality of item icons i01 by the main body operation unit 320 as a measurement item selection operation.

The geometric tolerance button b01 is further displayed in the operation display area 313 of the first main screen sc01. The geometrical tolerance button b01 is a button for changing the state of the three-dimensional coordinate measuring device 1 so as to accept the selection operation of the geometrical tolerance. When the user U wants to perform the geometric tolerance selection operation while the first main screen sc01 is displayed on the main body display unit 310, the user U can operate the geometric tolerance button b01 by the main body operation unit 320.

As shown in FIG. 37 (b), the first sub-screen sc11 of the touch panel display 210 of the probe 200 corresponds to a plurality of measurement items, respectively, as shown in the frame of the thick dotted line in FIG. 37 (b). Multiple (two in this example) item icons i11 are displayed. The two item icons i11 in this example correspond to the measurement items "distance" and "angle", respectively, like the two item icons i01 displayed on the first main screen sc01.

Further, on the first sub-screen sc11 of the probe 200, as shown in the frame of the thick alternate long and short dash line in FIG. 37 (b), a plurality of (7 in this example) corresponding to a plurality of geometric elements are displayed. The element icon i12 is displayed. The seven element icons i12 in this example are geometric elements "plane", "straight line", "circle", "point", and "similar to the seven basic element icons displayed on the first main screen sc01. Corresponds to "cylinder", "cone" and "sphere" respectively. However, the element icons corresponding to the 12 special element icons displayed on the first main screen sc01 are not displayed on the first sub screen sc11.

As a geometric element selection operation, the user U can select a desired element icon i12 from a plurality of element icons i12 by the touch panel display 210 (FIG. 25) of the probe 200. Further, the user U can select a desired item icon i11 from a plurality of item icons i11 on the touch panel display 210 as a measurement item selection operation.

The geometric tolerance button b11 is further displayed on the first sub screen sc11. Similar to the example of the first main screen sc01 on the processing device 300 side, the user U wants to perform the geometric tolerance selection operation while the first sub screen sc11 is displayed on the touch panel display 210. The geometric tolerance button b11 can be operated on the touch panel display 210.

When any of the plurality of element icons i02 and i12 displayed on the first main screen sc01 and the first sub screen sc11 is selected, the three-dimensional coordinate measuring device 1 performs the measurement point instruction operation and the measurement target portion. It becomes a standby state for accepting the setting operation of. As a result, the first main screen sc01 displayed on the main body display unit 310 is switched to the second main screen, and the first sub screen sc11 displayed on the touch panel display 210 is switched to the second sub screen.

FIG. 38 shows a second main screen and a second main screen displayed on the main body display unit 310 (FIG. 4) and the touch panel display 210 (FIG. 25) of the probe 200 when the measurement point is instructed and the measurement target portion is set. It is a figure which shows the display example of a sub screen. In this example, it is assumed that "plane" is selected as the geometric element for setting the measurement target portion.

In FIG. 38 (a), an enlarged view of the operation display area 313 on the second main screen sc02 is shown together with an overall display example of the second main screen sc02 of the processing device (PC) 300. In the operation display area 313 of the second main screen sc02, a name input field f01 for inputting the name of the measurement target portion to be set is displayed. At the time of switching from the first main screen sc01 to the second main screen sc02, the name of the measurement target portion tentatively determined according to a predetermined method is displayed in the name input field f01. Here, the user U can maintain the name displayed in the name input field f01, or can change it to a desired name by the main body operation unit 320. In this example, "plane 1" is input in the name input field f01.

Further, the image pickup button b09 is displayed in the operation display area 313 of the second main screen sc02. By operating the imaging button b09, the user U can perform imaging with the probe cameras 204 (FIGS. 26 and 28) provided on the probe 200. The image data generated by this imaging is stored in the main body memory 303 (FIG. 4) together with the measurement result.

Further, the measurement point coordinate display field f02 is displayed in the operation display area 313 of the second main screen sc02. The measurement point coordinate display column f02 is a display column for sequentially displaying the coordinates of the measurement points acquired by the instruction operation of the measurement points. In this example, four measurement points are designated in order to set a specific plane on the measurement object S as the measurement target portion. As a result, the coordinates of the four measurement points are displayed in the measurement point coordinate display column f02.

Further, in the operation display area 313 of the second main screen sc02, the three-dimensional coordinates of the plurality of designated measurement points and the information obtained based on the plurality of measurement points are three-dimensional. The flatness calculated from the coordinates is displayed.

In the operation display area 313 of the second main screen sc02, a back button b02, an OK button b03, and a cancel button b04 are further displayed. The back button b02 is a button for returning the state of the three-dimensional coordinate measuring device 1 so as to accept the selection operation of the geometric element and the measurement item without setting the measurement target portion. The OK button b03 is a button for instructing the three-dimensional coordinate measuring device 1 that the designation of all the measuring points for setting the specific target portion is completed. By operating the OK button b03, the specific target portion is set based on the geometric element selected immediately before and one or a plurality of measurement points acquired by the instruction operation of the measurement points. The cancel button b04 is a button for deleting the information of the measurement point acquired by the instruction operation of the immediately preceding measurement point.

As shown in FIG. 38B, the second sub screen sc12 of the touch panel display 210 of the probe 200 has an image pickup button b09, a back button b02, an OK button b03, and a cancel button displayed on the second main screen sc02. The imaging button b19, the back button b12, the OK button b13, and the cancel button b14 corresponding to b04 are displayed.

The name input field f01 for inputting the name of the measurement target portion is not displayed on the second sub screen sc12 of the probe 200. Therefore, when the measurement target portion is set in the probe 200, the name of the measurement target portion is determined according to a predetermined method for each setting.

Further, on the second sub screen sc12, in addition to the various buttons described above, the number of measurement points instructed from the start of the measurement point instruction operation to the present is displayed in order to set the specific target portion. Is displayed. In this example, it is shown that the fourth measurement point has been designated. Further, on the second sub screen sc12, the coordinates of the specified plurality of measurement points and the flatness calculated from the coordinates of the plurality of measurement points are displayed as information obtained based on the plurality of measurement points. Will be done.

When the specific target portion is set by either the second main screen sc02 or the second sub screen sc12, the second main screen sc02 displayed on the main body display unit 310 is switched to the first main screen sc01. , The second sub screen sc12 displayed on the touch panel display 210 of the probe 200 is switched to the first sub screen sc11.

After one or a plurality of specific target parts are set, when any of the plurality of item icons i01 and i11 displayed on the first main screen sc01 and the first sub screen sc11 in FIG. 37 is selected, the tertiary The original coordinate measuring device 1 is in a standby state for accepting a selection operation of a measurement target portion. As a result, the first main screen sc01 displayed on the main body display unit 310 is switched to the third main screen, and the first sub screen sc11 displayed on the touch panel display 210 is switched to the third sub screen.

FIG. 39 is a table of a third main screen and a third sub screen displayed on the main body display unit 310 (FIG. 4) of the processing device (PC) 300 and the touch panel display 210 of the probe 200 during the selection operation of the measurement target portion. It is a figure which shows an example. In this example, it is assumed that "distance" is selected as the measurement item. Further, in this example, it is assumed that "plane 1" and "plane 2" are set in advance as measurement target portions.

In FIG. 39A, an enlarged view of the operation display area 313 on the third main screen sc03 is shown together with an overall display example of the third main screen sc03 of the processing device (PC) 300. In addition, a partially enlarged view of the result display area 312 on the main measurement screen sc03 is shown.

In the operation display area 313 of the third main measurement screen sc03, pull-down menus m01 and m02, a design value input field f03, an upper limit value input field f04, and a lower limit value input field f05 are displayed.

The pull-down menus m01 and m02 are operated by the user to select the measurement target portion required to obtain the "distance" selected as the measurement item. In this example, "plane 1" and "plane 2" are selected as the two measurement target portions for calculating the distance.

Here, the user U can input a predetermined design value for the distance between the "plane 1" and the "plane 2" in the design value input field f03. Further, the user U can input the upper limit value and the lower limit value of the tolerance (hereinafter, referred to as the design tolerance) with respect to the design value in the upper limit value input field f04 and the lower limit value input field f05, respectively. This sets the design tolerance.

A back button b05 and a save button b06 are further displayed in the operation display area 313 of the third main screen sc03 of the processing device (PC) 300. The back button b05 is a button for returning the state of the three-dimensional coordinate measuring device 1 so as to accept the selection operation of the geometric element and the measurement item. The save button b06 is a button for storing the value (distance in this example) of the measurement item calculated by selecting the measurement target portion in the main body memory 303.

As described above, the measurement target portion is selected on the operation display area 313 of the processing device (PC) 300, so that the selected measurement item and the measurement target are displayed in the result display area 312 of the third main screen sc03. Various information calculated based on the part is displayed as a measurement result.

In the result display area 312 of the third main screen sc03 of the processing device (PC) 300 of FIG. 39 (a), the “plane 1” selected by the pull-down menus m01 and m02 is shown in the frame of the thick dotted line. And the measured value of the measurement object S corresponding to the distance between the “plane 2” is displayed. Further, as shown in the thick solid line frame of FIG. 39 (a), the measured values were set using the design value input field f03, the upper limit value input field f04, and the lower limit value input field f05 of the operation display area 313. The judgment result of whether or not it is within the design tolerance is displayed. Further, as shown in the frame of the thick alternate long and short dash line in FIG. 39 (a), the components (lengths) corresponding to the three directions of the device coordinate system with respect to the measured distance are displayed.

Further, in the result display area 312, as information related to the measurement result, as shown in the frame of the thick alternate long and short dash line in FIG. 39 (a), the "plane 1" and the "plane 2" of the selected measurement target portion are displayed. The flatness of "" is displayed.

As shown in FIG. 39B, the third sub screen sc13 of the touch panel display 210 of the probe 200 has pull-down menus m01, m02, a back button b05, and a save button b06 displayed on the third main screen sc03. The corresponding pull-down menus m11 and m12, back button b15 and save button b16 are displayed respectively.

On the third sub screen sc13 of the probe 200, the measurement value of the measurement target S calculated from the selected measurement target portion is displayed by selecting the measurement target portion by the pull-down menus m11 and m12. ..

When the measured value of the measurement object S is stored in the main body memory 303 (FIG. 4) by either the third main screen sc03 or the third sub screen sc13 of the processing device (PC) 300, the main body display unit 310. The displayed third main screen sc03 is switched to the first main screen sc01, and the third main screen sc03 displayed on the touch panel display 210 is switched to the first sub screen sc11.

When any of the geometrical tolerance buttons b01 and b11 displayed on the first main screen sc01 and the first subscreen sc11 of FIG. 37 is operated, the three-dimensional coordinate measuring device 1 accepts the geometric tolerance selection operation. It becomes a standby state for. As a result, the first main screen sc01 displayed on the main body display unit 310 is switched to the fourth main screen, and the first sub screen sc11 displayed on the touch panel display 210 is switched to the fourth sub screen.

FIG. 40 is a diagram showing a display example of the fourth main screen and the fourth sub screen displayed on the main body display unit 310 (FIG. 4) and the touch panel display 210 (FIGS. 25 and 28) during the geometric tolerance selection operation. Is.

In FIG. 40A, an enlarged view of the operation display area 313 on the fourth main screen sc04 is shown together with an overall display example of the fourth main screen sc04 of the processing device (PC) 300. As shown in FIG. 40 (a), at the time of the geometric tolerance selection operation, a plurality of (11 in this example) geometric tolerance icons corresponding to the plurality of geometric tolerances are displayed in the operation display area 313 of the fourth main screen sc04. i03 is displayed. The 11 geometric tolerance icons i03 in this example have geometric tolerances of "flatness", "roundness", "straightness", "cylindricalness", "parallelism", "verticality", "inclination", Corresponds to "position", "concentricity", "coaxiality" and "symmetry" respectively. The user U can select a desired geometrical tolerance icon i03 from a plurality of geometrical tolerance icons i03 by operating the main body operation unit 320 (FIG. 4).

The back button b07 is further displayed in the operation display area 313 of the fourth main screen sc04. The back button b07 is a button for returning the state of the three-dimensional coordinate measuring device 1 so as to accept the selection operation of the geometric element and the measurement item.

As shown in FIG. 40B, a plurality of (4 in this example) geometrical tolerance icons i13 corresponding to a plurality of geometrical tolerances are displayed on the fourth sub-screen sc14 of the touch panel display 210 of the probe 200. And the back button b17 is displayed. The four geometrical tolerance icons i13 in this example correspond to four geometrical tolerance icons i03 out of the 11 geometrical tolerance icons i03 displayed on the fourth main screen sc04. Further, the back button b17 in this example corresponds to the back button b07 displayed on the fourth main screen sc04.

The user U can select a desired geometrical tolerance icon i13 from a plurality of geometrical tolerance icons i13 by operating the touch panel display 210 (FIGS. 25 and 28) of the probe 200.

When the user U selects the geometrical tolerance, the user U needs to set the measurement target portion of the geometric element corresponding to the selected geometrical tolerance. Therefore, when any of the plurality of geometrical tolerance icons i03 and i13 displayed on the fourth main screen sc04 and the fourth subscreen sc14 is selected, the three-dimensional coordinate measuring device 1 performs the selection operation of the measurement target portion. It will be in a standby state for acceptance.

As a result, the screen displayed on the main body display unit 310 of the processing device (PC) 300 is switched from the first main screen sc01 to the second main screen sc02, and the screen displayed on the touch panel display 210 of the probe 200 is the second. The first sub-screen sc11 is switched to the second sub-screen sc12. In this case, the geometrical tolerance for the set measurement target portion is calculated by setting the measurement target portion corresponding to the selected geometric tolerance. The calculated geometrical tolerances are displayed on the second main screen sc02 and the second sub screen sc12, respectively.

For example, when "flatness" is selected as the geometrical tolerance, the flatness of the set measurement target portion is calculated by setting the flat portion in the measurement object S as the measurement target portion.

As described above, according to the first main screen sc01 of the processing device (PC) 300, the user U has a desired measurement item from all the measurement items and geometric elements predetermined in the three-dimensional coordinate measurement device 1. And it is possible to select geometric elements. On the other hand, according to the first sub-screen sc11, the user U measures a part of a plurality of predetermined measurement items and geometric elements at positions separated from the processing device (PC) 300 and the main body display unit 310. It is possible to select the desired measurement item and geometric element from the items and geometric elements.

Further, according to the second main screen sc02, the user U can perform a measurement point instruction operation while confirming detailed information about the measurement point designated by himself / herself. On the other hand, according to the second sub-screen sc12, the user U can perform a measurement point instruction operation using the probe 200 at a position separated from the processing device 300 and the main body display unit 310. Here, it is preferable that the second sub-screen sc12 displays the physical quantity that can be calculated for one or a plurality of measurement points instructed by the user U as representative information. In the above example, the flatness calculated by a plurality of measurement points is displayed as representative information. In this case, the user U can easily confirm whether or not there is a large error in the instruction operation of the measurement point based on the representative information displayed on the second sub screen sc12.

Further, according to the third main screen sc03, the user U can grasp a large amount of information calculated by the measurement together with the measurement result regarding the measurement of the measurement object S. On the other hand, according to the third sub-screen sc13, the user U can grasp the measurement result at a position away from the processing device 300 (PC). Therefore, the user U can properly use the display units (main unit display unit 310 and touch panel display 210) to be visually recognized during the measurement according to the information to be preferentially grasped regarding the measurement of the measurement object S.

Further, according to the fourth main screen sc04, the user U can select a desired geometrical tolerance from all the geometrical tolerances predetermined in the three-dimensional coordinate measuring device 1. On the other hand, according to the fourth sub-screen sc14, the user U has a desired geometrical tolerance from a part of a plurality of predetermined geometrical tolerances at positions separated from the processing device 300 and the main body display unit 310. It is possible to select.

In consideration of these points, the user U uses, for example, a three-dimensional coordinate measuring device as shown below when measuring the dimensions of each part of the measurement object S provided at a position greatly separated from the processing device 300. 1 can be used.

For example, the user U operates the desired element icon i02 on the first sub screen sc11 displayed on the touch panel display 210 of the probe 200 at a position near the measurement object S. Further, the user U gives an instruction of one or a plurality of measurement points while visually recognizing the second sub screen sc12. Thereby, a plurality of measurement target parts considered to be useful for measuring the dimensions of each part of the measurement target S are set.

After that, the user U moves from the position near the measurement object S to the installation position of the processing device (PC) 300. Then, the user U operates the desired item icon i01 on the first main screen sc01 displayed on the main body display unit 310. Further, the user U performs the selection operation of the measurement target portion and the setting of the design tolerance while visually recognizing the second main screen sc02. As a result, the user U can sequentially measure the dimensions of each part of the measurement object S based on the plurality of set measurement target parts in the state where the probe 200 is released.

According to the above usage, the user U can use the measurement object S and the processing device 300 only when the element icon i12 corresponding to the desired geometric element is not displayed on the touch panel display 210 of the probe 200 when the geometric element is selected. Will move to and from. Therefore, the user U visually recognizes the first main screen sc01 and the second main screen sc02 displayed on the main body display unit 310 only when performing a relatively complicated dimensional measurement corresponding to the special element icon. The main body operation unit 320 may be operated.

Next, the measurement target partial setting process and the measured value calculation process will be described. FIG. 41 is a flowchart showing the flow of the measurement target portion setting process by the main body control circuit 302 (FIG. 4) of the processing device (PC) 300. The measurement target partial setting process is repeated at a predetermined cycle by the CPU of the main body control circuit 302 (FIG. 4) executing the measurement target partial setting program stored in the main body memory 303. Further, at the start of the measurement target portion setting process, the timer built in the main body control circuit 302 is reset and started.

First, the main body control circuit 302 of the processing device (PC) 300 determines whether or not the user U operates the main body operation unit (mouse or the like) 320 (FIG. 4) or the touch panel display 210 (FIG. 25, 28) of the probe 200. Based on this, it is determined whether or not the geometric element has been selected (step S11).

When the geometric element is selected, the main body control circuit 302 performs the measurement point coordinate calculation process (step S12). The details of the measurement point coordinate calculation process will be described later. By this process, the main body control circuit 302 calculates the coordinates of the measurement point for identifying the selected geometric element based on the operation of the probe 200 by the user.

Further, the main body control circuit 302 stores the coordinates of the measurement point calculated by the measurement point coordinate calculation process in step S12 in the main body memory 303 (step S13).

Next, the main body control circuit 302 determines whether or not it has received a command to complete the setting of the measurement target portion (step S14). This determination is made based on, for example, whether or not the user U operates the main body operation unit 320 or the touch panel display 210. In the above example, when any of the OK buttons b03 and b13 in FIG. 38 is operated, it is determined that a command to complete the setting of the measurement target portion has been received.

When not receiving the command to complete the setting of the measurement target portion, the main body control circuit 302 returns to the process of step S12 described above. On the other hand, when receiving a command to complete the setting of the measurement target portion, the main body control circuit 302 identifies the measurement target portion from the selected geometric element and the coordinates of one or more measurement points, and the element of the measurement target portion. Generate specific information (step S15). The generated element identification information is stored in the main body memory 303. After that, the measurement target partial setting process ends.

When the geometric element is not selected in step S11 above, the main body control circuit 302 has elapsed a predetermined time after the measurement target partial setting process is started based on the measurement time by the built-in timer. Whether or not it is determined (step S16).

If the predetermined time has not elapsed, the main body control circuit 302 returns to the process of step S11. On the other hand, when a predetermined time has elapsed, the main body control circuit 302 performs the measurement point coordinate calculation process described later in the same manner as the process in step S12 (step S17). After that, the main body control circuit 302 ends the measurement target portion setting process.

The process of step S17 is performed to determine whether or not the probe 200 is within the imaging field of view of the movable camera 11 or the bird's-eye view camera 120, for example, in the tracking process described later.

FIG. 42 is a flowchart showing the flow of the measurement point coordinate calculation process. First, the main body control circuit 302 (FIG. 4) commands the probe control unit 220 of the probe 200 to emit light of a plurality of probe markers eq (p) (FIG. 26), and the head control circuit 193 of the measuring device main body 100. (FIG. 4) is instructed to emit light of a plurality of reference markers ep (ref) (FIG. 5 (b)) of the reference member 162 (step S101).

Next, the main body control circuit 302 generates reference image data by having the head control circuit 193 image a plurality of reference markers ep (ref) of the reference member 162 using the reference camera 161 (step S102). Further, the main body control circuit 302 generates first position / orientation information indicating the position and orientation of the movable camera 111 by the device coordinate system based on the generated reference image data (step S103).

Next, the main body control circuit 302 generates measurement image data by imaging a plurality of probe markers eq (p) of the probe 200 using the movable camera 111 (step S104). Further, the main body control circuit 302 generates a second position / orientation information indicating the position and orientation of the probe 200 by the movable coordinate system based on the generated measurement image data (step S105).

After that, the main body control circuit 302 (FIG. 4) generates a third position / orientation information representing the position and orientation of the probe 200 in the device coordinate system based on the first and second position / attitude information (step S106). .. Further, the main body control circuit 302 calculates the coordinates of the measurement point instructed by the probe 200 based on the generated third position / orientation information.

The processing of steps S102 and S103 and the processing of steps S104 and S105 may be performed in the reverse order.

FIG. 43 is a flowchart showing the flow of the measured value calculation process by the main body control circuit 302. The measurement value calculation process is repeated at a predetermined cycle by the CPU of the main body control circuit 302 executing the measurement value calculation program stored in the main body memory 303 with reference to FIG.

First, the main body control circuit 302 determines whether or not the measurement item is selected based on whether or not the user U operates the main body operation unit (mouse or the like) 320 (FIG. 4) or the touch panel display 210 of the probe 200. Determine (step S21).

If the measurement item is not selected, the main body control circuit 302 repeats the process of step S21. On the other hand, when the measurement item is selected, the main body control circuit 302 determines whether or not the measurement target portion set at the present time is stored in the main body memory 303 (step S22).

The main body control circuit 302 (FIG. 4) returns to the process of step S21 when the set measurement target portion does not exist in the main body memory 303. On the other hand, the main body control circuit 302 determines whether or not any of the set measurement target parts has been selected by the user U when the set measurement target part exists in the main body memory 303 (step S23). ..

The main body control circuit 302 repeats the process of step S23 when the measurement target portion is not selected. On the other hand, when the measurement target portion is selected, the main body control circuit 302 calculates the measured value based on the selected measurement item and the element identification information of the selected measurement target portion (step S24), and the measured value. End the calculation process.

According to the above-mentioned measurement target partial setting process and measurement value calculation process, the user U selects a desired geometric element and measurement item from a plurality of predetermined geometric elements and a plurality of predetermined measurement items. Therefore, the dimensions and the like of a desired portion of the object to be measured S can be easily measured.

Next, the tracking process of the probe 200 will be described. FIG. 44 is a flowchart showing the flow of tracking processing by the main body control circuit 302 (FIG. 4) of the processing device (PC) 300. The tracking process is repeated at a predetermined cycle by the CPU of the main body control circuit 302 (FIG. 4) executing the tracking processing program stored in the main body memory 303.

First, the main body control circuit 302 of the processing device (PC) 300 determines whether or not the probe 200 is within the imaging field of view of the movable camera 111 (step S31). In this determination, whether or not the measurement image data generated during the processing of steps S12 and S17 in the measurement target partial setting process includes the image data corresponding to the plurality of probe markers eq (p) (FIG. 26). Is performed by determining.

When the probe 200 is within the imaging field of view of the movable camera 111, the main body control circuit 302 proceeds to the process of step S38 described later. On the other hand, when the probe 200 is not in the imaging field of view of the movable camera 111, the main body control circuit 302 determines whether or not the probe 200 is in the imaging field of view of the bird's-eye view camera 120 (step S32). This determination determines whether or not the bird's-eye view image data generated during the processes of steps S12 and S17 in the above-mentioned measurement target partial setting process includes image data corresponding to a plurality of probe markers eq (p). It is done by doing.

When the probe 200 is within the imaging field of view of the bird's-eye view camera 120, the main body control circuit 302 (FIG. 4) proceeds to the process of step S37 described later. On the other hand, when the probe 200 is not within the imaging field of view of the movable camera 111, the main body control circuit 302 determines whether or not it is possible to estimate the coordinates of the probe 200 based on the motion data transferred from the probe 200 ( Step S33). This determination is made based on, for example, whether or not the motion data indicates an abnormal value, or whether or not the value indicated by the motion data is "0". If the motion data shows an abnormal value, or if the motion data is "0", the coordinate estimation of the probe 200 is impossible.

When the coordinates of the probe 200 can be estimated, the main body control circuit 302 estimates the position of the probe 200 based on the motion data. Further, the main body control circuit 302 commands adjustment of the position and orientation of the movable camera 111 so that the probe 200 is located within the imaging field of view of the movable camera 111 (step S34). After that, the main body control circuit 302 returns to the process of step S31.

Here, the user U operates the main body operation unit (mouse or the like) 320 (FIG. 4) of the processing device (PC) 300 or the touch panel display 210 (FIG. 25, 28) of the probe 200 to control the main body control circuit. The 302 can be instructed to search for the probe 200.

Therefore, when the coordinates of the probe 200 cannot be estimated in step S33, the main body control circuit 302 (FIG. 4) determines whether or not the search command for the probe 200 has been received (step S35). If the search command of the probe 200 is not received, the main body control circuit 302 returns to the process of step S31. On the other hand, when the search command of the probe 200 is received, the main body control circuit 302 commands the head control circuit 193 to rotate the rotation support member 102 as the first sub-member of the measuring device main body 100. In this way, the main body control circuit 302 searches for the probe 200 by the bird's-eye view camera 120 (step S36).

After that, when the probe 200 is located in the imaging field of view of the bird's-eye view camera 120, the main body control circuit 302 of the processing device (PC) 300 calculates the position of the probe 200 based on the bird's-eye view image data. Further, the main body control circuit 302 instructs the head control circuit 193 to adjust the position and orientation of the movable camera 111 so that the probe 200 is located in the imaging field of view of the movable camera 111 (step S37).

Next, when the probe 200 is located within the imaging field of view of the movable camera 111, the main body control circuit 302 is movable so that the centers of gravity of the plurality of markers eq of the probe 200 are located at the center of the imaging field of view of the movable camera 111. The head control circuit 193 is instructed to adjust the position and orientation of the camera 111 (step S38). After that, the main body control circuit 302 ends the tracking process.

According to the above tracking process, even when the probe 200 moves, the imaging field of view of the movable camera 111 follows the plurality of markers eq of the probe 200. As a result, the user U does not need to manually adjust the imaging field of view of the movable camera 111. Therefore, it is possible to measure the coordinates of a desired measurement point of the measurement object S in a wide range without requiring complicated adjustment work.

Next, a usage example of the probe camera 204 (FIGS. 26 and 28) will be described. The probe camera 204 provided on the tip surface of the probe 200 on which the contact 201 is located displays the image of the measurement object S on the main body display unit 310 (FIG. 4) by imaging the measurement object S. be able to. Hereinafter, the image obtained by the probe camera 204 is referred to as an captured image.

The positional relationship between the plurality of probe markers eq (p) of the probe 200 and the probe camera 204 of the probe 200, and the characteristics (angle of view, distortion, etc.) of the probe camera 204 are, for example, as imaging information in the main memory 303 (FIG. 4). It is stored in advance. Therefore, when a plurality of probe markers eq (p) are within the imaging field of view of the movable camera 111, the region imaged by the probe camera 204 is recognized by the main body control circuit 302 (FIG. 4). That is, the three-dimensional space corresponding to the captured image is recognized by the main body control circuit 302. In this case, while displaying the captured image on the main body display unit 310, the geometric elements and the measurement items set at the time of measurement of the measurement object S can be superimposed and displayed.

The captured image may be displayed on the touch panel display 210 of the probe 200. For example, the touch panel display 210 displays an captured image obtained by preliminarily capturing a portion to be measured with a probe camera 204 of a certain measurement object S. In this case, the user U can easily identify the portion to be measured of the other measurement object S by operating the probe 200 while visually recognizing the captured image.

The main body control circuit 302 of the processing device (PC) 300 whose functional configuration related to the screen display is described in the block diagram shown in FIG. 45 displays the screens displayed on the main body display unit 310 (FIG. 4) and the probe display unit 231. As a functional configuration for control, the main setting screen generation unit 351, the main geometric tolerance screen generation unit 352, the main measurement screen generation unit 353, the coordinate calculation unit 354, the main reception unit 355, the measurement unit 356, and the synchronous display control unit. Includes 357. When the CPU of the main body control circuit 302 executes, for example, a program related to screen display stored in the main body memory 303 (FIG. 4), the above-mentioned configuration of each functional unit is realized. In addition, a part or all of the above-mentioned configurations may be realized by hardware such as an electronic circuit.

The main setting screen generation unit 351 is a first main screen sc01 (FIG. 37 (a)) including a plurality of predetermined measurement items and a plurality of predetermined geometric elements based on the first main screen generation data. ) Is generated, and the first main screen sc01 is displayed on the main body display unit 310. Further, the main setting screen generation unit 351 generates the screen data of the second main screen sc02 (FIG. 38 (a)) based on the second main screen generation data, and the main body display unit 310 displays the second main screen. Display the screen sc02.

The main geometric tolerance screen generation unit 352 generates screen data of the fourth main screen sc04 (FIG. 40) including a plurality of predetermined geometric tolerances based on the fourth main screen generation data, and the main body display unit. Display the fourth main screen sc04 on 310.

The coordinate calculation unit 354 calculates the coordinates of the measurement point on the measurement object S instructed based on the operation of the probe 200 by the user. This process corresponds to the measurement point coordinate calculation process in steps S12 and S17 of FIG.

The main reception unit 355 of the processing device (PC) 300 receives the geometric elements and measurement items selected on the first main screen sc01 based on the operation of the main body operation unit 320 by the user, and the second main screen sc02. Accepts the measurement target part selected in. The main reception unit 355 sets the geometric element, the measurement item, and the measurement target portion by storing the received geometric element, the measurement item, and the measurement target portion in the main body memory 303 (FIG. 4).

Further, the main reception unit 355 receives the geometric tolerance selected on the fourth main screen sc04 based on the operation of the main body operation unit 320 by the user. The main reception unit 355 sets the geometrical tolerance by storing the received geometrical tolerance in the main body memory 303.

The measurement unit 356 was calculated by the geometric element, measurement item, and coordinate calculation unit 354 set in the main body memory 303 (FIG. 4) or the probe memory 224 of the probe 200 when the geometric element and the measurement item were selected. Calculate the value of the selected measurement item based on the coordinates of one or more measurement points. More specifically, the measuring unit 356 sets one or a plurality of measurement target portions based on the selected geometric element and the coordinates of the measurement point. After that, the measurement unit 356 calculates the value of the selected measurement item based on the selected measurement item and the selected set measurement target portion. This process corresponds to the above-mentioned measurement value calculation process. When a geometrical tolerance is selected, the measuring unit 356 calculates the geometrical tolerance based on the coordinates of one or a plurality of measurement points calculated by the coordinate calculation unit 354 after selecting the geometrical tolerance.

Here, the measurement unit 356 may calculate predetermined information when selecting a geometric element and when selecting a measurement item. For example, when "distance" is selected as the measurement item, the measurement unit 356 may further calculate a component (length) corresponding to each of the three directions of the device coordinate system with respect to the measured distance. Further, when "plane" is selected as the geometric element, the measurement unit 356 calculates the flatness of the plane on the measurement object S specified by the plurality of measurement points, and also calculates the normality vector of the plane and the like. May be calculated.

The main measurement screen generation unit 353 has a third main screen sc03 (FIG. 39 (a)) including the measurement result for the measurement object S calculated by the measurement unit 356 based on the third main screen generation data. The screen data of is generated, and the third main screen sc03 is displayed on the main body display unit 310. The function of the synchronous display control unit 357 will be described later.

The probe control unit 220 of the probe 200 has a sub-setting screen generation unit 251 and a sub-geometric tolerance screen generation unit 252, as a functional configuration for controlling the screen displayed on the main body display unit 310 and the probe display unit 231. The measurement screen generation unit 253 and the sub-reception unit 254 are included. When the CPU of the probe control unit 220 executes, for example, a program related to screen display stored in the probe memory 224, the configuration of each of the above functional units is realized. In addition, a part or all of the above-mentioned configurations may be realized by hardware such as an electronic circuit.

The sub-setting screen generation unit 251 includes a plurality of measurement items and a part of a plurality of geometric elements displayed on the first main screen sc01 based on the data for generating the first sub-screen. The screen data of (FIG. 37 (b)) is generated. Further, the sub-setting screen generation unit 251 causes the probe display unit 231 to display the first sub-screen sc11 based on the generated screen data. Further, the sub-setting screen generation unit 251 generates screen data of the second sub-screen sc12 (FIG. 38 (b)) based on the second sub-screen generation data, and the main body display unit 310 displays the second sub-screen. Display the screen sc12.

The sub-geometric tolerance screen generation unit 252 generates screen data of the fourth sub-screen sc14 (FIG. 40 (b)) including a part of the plurality of geometrical tolerances displayed on the fourth main screen sc04. Further, the sub-geometric tolerance screen generation unit 252 causes the probe display unit 231 to display the fourth sub-screen sc14 based on the generated screen data.

The sub-measurement screen generation unit 253 generates screen data of the third sub-screen sc13 (FIG. 39 (b)) including at least a part of one or a plurality of measurement results displayed on the third main screen sc03. .. Further, the sub-measurement screen generation unit 253 causes the probe display unit 231 to display the third sub-screen sc13 based on the generated screen data.

The sub-reception unit 254 receives the geometric elements and measurement items selected on the first sub-screen sc11 based on the operation of the touch panel 232 by the user, and also receives the measurement target portion selected on the second sub-screen sc12. .. The sub-reception unit 254 sets the geometric element, the measurement item, and the measurement target portion by storing the received geometric element, the measurement item, and the measurement target portion in the probe memory 224.

Further, the sub-reception unit 254 receives the geometric tolerance selected on the fourth sub-screen sc14 based on the operation of the touch panel 232 by the user. The sub-reception unit 254 sets the geometrical tolerance by storing the received geometrical tolerance in the probe memory 224.

Here, the main reception unit 355 of the processing device (PC) 300 receives the geometric element, the measurement item, and the measurement target portion at the sub reception unit 254 of the probe 200, and the geometric element received at the sub reception unit 254. , Accepts measurement items and measurement target parts. Further, the sub-reception unit 254 receives geometric elements, measurement items, and measurement items received by the main reception unit 355 when the sub-reception unit 254 accepts the geometric elements, measurement items, and measurement target parts. And accept the measurement target part. As a result, it is possible to reduce the difference in the accepted settings between the main reception unit 355 and the sub reception unit 254.

The synchronous display control unit 357 has the main setting screen generation unit 351 and the main setting screen generation unit 351 so that the first main screen sc01 is displayed on the main body display unit 310 and the first sub screen sc11 is displayed on the probe display unit 231. Synchronous control is performed between the sub-setting screen generation units 251 (see FIGS. 37 (a) and 37 (b)).

Further, the synchronous display control unit 357 has the main setting screen generation unit 351 and the main setting screen generation unit 351 so that the second main screen sc02 is displayed on the main body display unit 310 and the second sub screen sc12 is displayed on the probe display unit 231. Synchronous control is performed between the sub-setting screen generation units 251 (see FIGS. 38 (a) and 38 (b)).

Further, the synchronous display control unit 357 has the main measurement screen generation unit 353 and the main measurement screen generation unit 357 so that the third main screen sc03 is displayed on the main body display unit 310 and the third sub screen sc13 is displayed on the probe display unit 231. Synchronous control is performed between the sub-measurement screen generation units 253 (see FIGS. 39 (a) and 39 (b)).

Further, the synchronous display control unit 357 has a main geometric tolerance screen generation unit 352 so that the fourth main screen sc04 is displayed on the main body display unit 310 and the fourth sub screen sc14 is displayed on the probe display unit 231. Synchronous control is performed between the sub-geometric tolerance screen generation unit 252 (see FIGS. 40 (a) and 40 (b)).

In this case, the user U visually recognizes one of the screen displayed on the main body display unit 310 of the processing device (PC) 300 and the screen displayed on the touch panel display 210 to set measurement conditions and perform measurement work. It is possible to appropriately grasp the information corresponding to each.

In the three-dimensional coordinate measuring device 1, the first main screen sc01 is displayed on the main body display unit 310 of the processing device (PC) 300. The first main screen sc01 includes a plurality of predetermined measurement items and icons (item icon i01 and element icon i02) representing a plurality of predetermined geometric elements, respectively. The geometric element and the measurement item corresponding to the icon selected on the first main screen sc01 are accepted by the main reception unit 355.

Further, the first sub screen sc11 is displayed on the touch panel display 210. The first sub screen sc11 includes icons (item icon i11 and element icon i12) representing a part of a plurality of measurement items and a plurality of geometric elements included in the first main screen sc01. The geometric element and the measurement item corresponding to the icon selected on the first sub screen sc11 are accepted by the sub reception unit 254.

Geometry selected based on the geometric elements and measurement items received by at least one of the main reception unit 355 and the sub reception unit 254 and the coordinates of one or more measurement points indicated and calculated by the probe 200. The value of the selected measurement item for the element is calculated.

According to the above configuration, the user can select a desired geometric element and measurement item from a plurality of predetermined geometric elements and measurement items on the first main screen sc01.

On the other hand, the user can select a desired geometric element and measurement item from a part of a plurality of predetermined geometric elements and measurement items on the first sub screen sc11. Here, the touch panel display 210 is configured to be portable by the user U via the probe 200. As a result, when the user U selects the geometric element and the measurement item displayed on the first sub screen sc11, the task of designating the measurement point by the probe 200 and the task of selecting the geometric element and the measurement item are different. No need to do it in position. Therefore, the setting work related to the measurement can be easily performed in a short time.

In this way, the user U sets the screen used for setting the measurement of the measurement object S between the first main screen sc01 and the first sub screen sc11 according to the measurement item and the geometric element to be set. Can be used properly with. Therefore, the three-dimensional coordinate measuring device 1 having high convenience in setting the measuring conditions is realized.

The preferred embodiment of the present invention has been described above. In the above embodiment, the camera 111 is adopted as the distance measuring optical system member 110, but as described above, it may be composed of a unit that emits a laser beam disclosed in Patent Document 1. Further, as described above, the present invention may be applied to the laser tracer disclosed in Patent Document 2. Other modifications included in the present invention will be described below.

(1) In the three-dimensional coordinate measuring device 1 of the embodiment, the number of item icons i01 displayed on the first main screen sc01 and the number of item icons i11 displayed on the first sub screen sc11 match. However, the item icon i11 and the element icon i12 displayed on the first sub screen sc11 on the probe 200 side are the item icon i01 and the element displayed on the first main screen sc01 on the processing device (PC) 300 side. It may be less than the number of icons i02. It may be limited to the item icon i11 and the element icon i12, which are indispensable for the minimum setting work in the probe 200.

(2) In the probe 200 included in the three-dimensional coordinate measuring device 1 of the embodiment, the touch panel display 210 is integrally provided with the probe casing 240, but the touch panel display 210 can be attached to and detached from the probe casing 240. May be good.

(3) Although the touch panel 232 is used as the display of the probe 200, instead of the touch panel 232, another pointing device (trackball or joystick) for performing various operations on the screen displayed on the probe display unit 231 is used. Etc.) may be adopted.

1 Three-dimensional coordinate measuring device
eq (p) probe marker
eq (ref) reference marker
Ax (V) vertical axis (first axis)
Ax (L) Horizontal axis (second axis)
rs Imaging space of reference camera F (B) Base frame F (S1) First subframe F (S2) Second subframe 100 Measuring device main body 110 Distance measuring optical system member 111 Movable camera 130 constituting the distance measuring optical system member Base member 132 Mounting part of measuring device main body 133 Inner peripheral surface of mounting part 133a Tapered surface 140 First sub-member of measuring device main body 150 Second sub-member of measuring device main body 160 Attitude detection sensor 161 Optical system constituting the attitude detection sensor Reference camera 162 as an example of a distance measuring member Reference member 170 imaged by a reference camera Surrounding member for surrounding the reference camera 200 Probe 201 Probe contactor 300 Processing device (PC)

Claims (8)

With the base member
A first sub-member that is rotatably supported about the first axis with respect to the base member,
A second sub-member that is rotatably supported around a second axis that is orthogonal to the first axis with respect to the first sub-member.
A ranging optical system member provided on the second sub-member for detecting a hand-held probe, and
A posture detection sensor that detects the posture of the second sub-member with respect to the base member, and
A housing that surrounds the base member and the first and second sub-members,
A mounting portion that extends downward from the base member and is closely fitted to the fixing portion of the base portion.
Based on the posture of the first sub-member, the posture of the second sub-member, and the information of the hand-held probe detected via the distance measuring optical system member, the three-dimensional coordinates of the measurement point pointed to by the hand-held probe are obtained. It is provided with a coordinate measuring unit for obtaining a geometric feature related to the geometric shape based on a geometric shape preset as a measurement target and three-dimensional coordinates of the measurement point.
A three-dimensional coordinate measuring device characterized in that a tapered surface is formed at the fixed portion and / or the end portion of the mounting portion of the foundation portion to guide the fixed portion of the foundation portion when it is unevenly fitted. .. The three-dimensional coordinate measuring device according to claim 1, wherein the mounting portion extending downward from the base member has a circular cross section coaxial with the first axis. The three-dimensional coordinate measuring device according to claim 1 or 2, wherein the ranging optical system member is composed of a movable camera or a laser ranging member. The three-dimensional coordinate measuring device according to any one of claims 1 to 3, wherein the posture detection sensor is provided on the base member. The attitude detection sensor includes a reference camera provided on the base member.
The three-dimensional coordinate measuring device according to claim 4, wherein the reference camera images a plurality of surface emission markers provided on the second sub-member. Further having a surrounding member provided around the reference camera,
The three-dimensional coordinate measuring device according to claim 5, wherein the imaging space of the reference camera is defined by the surrounding member. The surrounding member has a springless bellows structure.
The three-dimensional coordinate measuring device according to claim 6, wherein the lower end of the surrounding member is fixed to the first sub-member and the upper end is fixed to the second sub-member. The three-dimensional coordinate measuring device according to claim 1 or 2, wherein the posture detection sensor includes a rotary encoder that detects a rotation angle of the first sub-member about the first axis.