JP2024011492A - Three-dimensional coordinate measurement apparatus - Google Patents

Abstract

To provide a three-dimensional coordinate measurement apparatus which can easily and properly expand a measurement possible range.SOLUTION: An imaging head 100 generates information about a position and a posture of a probe 200 instructing a measurement point. Coordinates of the measurement point on a coordinate system defined according to an installation state of the imaging head 100 are calculated on the basis of the generated information. When the installation state of the imaging head 100 is changed from a first installation state to a second installation state, processing of matching a first coordinate system corresponding to the first installation state with a second coordinate system corresponding to the second installation state is performed. Measurement over the first and second measurement points is performed on the basis of a result of the matching processing and the coordinates of the first and second measurement points calculated respectively when the installation state of the imaging head 100 is in the first and second installation states. A guidance image based on the relative physical relation between the probe 200 and the imaging head 100 is generated for the matching.SELECTED DRAWING: Figure 1

Description

The present invention relates to a three-dimensional coordinate measuring device that measures the shape of an object to be measured using a probe.

2. Description of the Related Art Conventionally, a three-dimensional coordinate measuring device equipped with a probe has been used to measure the shape of an object to be measured. For example, the three-dimensional coordinate measuring device described in Patent Document 1 includes a probe having a contact portion and an imaging head. The imaging head is fixed on an installation surface such as a floor by a reference stand, and images a plurality of markers provided on the probe.

When measuring the shape of an object to be measured, a contact portion of the probe is brought into contact with a portion of the object to be measured. Image data is generated by capturing images of a plurality of markers provided on the probe using an imaging head. Based on the image data, the coordinates of the contact position between the object to be measured and the contact portion are calculated.

JP 2020-20699 Publication

According to the three-dimensional coordinate measuring device described above, the range in which the object to be measured can be measured with the imaging head installed at one location is the range in which the imaging head can image multiple markers on the probe. limited to.

In order to expand the measurable range of the object to be measured by the three-dimensional coordinate measuring device, it is conceivable to move the imaging head to a plurality of locations. However, in order to match the measurement results (measurement data) obtained before and after the movement of the measurement head while moving the measurement head, complicated setting work is required.

An object of the present invention is to provide a three-dimensional coordinate measuring device that can easily and appropriately expand the measurable range.

A three-dimensional coordinate measuring device according to one aspect of the present invention includes a probe that indicates a measurement point, a main body that generates information regarding the position and orientation of the probe, and a three-dimensional coordinate measuring device that determines the measurement point based on the information generated by the main body. The position and orientation of the probe to be instructed are measured, and the coordinates of the measurement point on a coordinate system defined according to the installation state of the main body are calculated based on the measured position and orientation of the probe. a coordinate calculation section; a storage section that stores the coordinates of a first measurement point calculated by the coordinate calculation section when the installation state of the main body section is a first installation state; When changing from the first installation state to the second installation state, a first coordinate system corresponding to the first installation state and a second coordinate system corresponding to the second installation state. a coordinate matching processing unit that matches the first coordinate system and the second coordinate system that are matched by the coordinate matching processing unit, the coordinates of the first measurement point stored in the storage unit, and , the first measurement point and the second measurement point are determined based on the coordinates of the second measurement point calculated by the coordinate calculation unit when the installation state of the main body is the second installation state. a measurement unit that performs straddling measurement; and a guidance image generation unit that generates a guidance image based on the relative positional relationship between the probe and the main body in order to align the first coordinate system and the second coordinate system. Equipped with.

According to the present invention, it becomes possible to easily and appropriately expand the measurable range by a three-dimensional coordinate measuring device.

FIG. 2 is a schematic diagram showing an example of use of the three-dimensional coordinate measuring device according to the first embodiment. FIG. 2 is a block diagram showing the basic configuration of an imaging head and a processing device. FIG. 2 is a block diagram showing the configuration of a probe. It is an external perspective view of a probe. 3 is a flowchart showing an example of measurement processing by the main body control circuit of FIG. 2. FIG. It is a flowchart which shows an example of measurement point coordinate calculation processing. 3 is a flowchart showing an example of tracking processing by the main body control circuit of FIG. 2. FIG. FIG. 3 is a diagram for explaining a movement setting work and a setting burden reduction function according to the first embodiment. FIG. 3 is a diagram for explaining a movement setting work and a setting burden reduction function according to the first embodiment. FIG. 3 is a diagram for explaining a movement setting work and a setting burden reduction function according to the first embodiment. FIG. 3 is a diagram for explaining a movement setting work and a setting burden reduction function according to the first embodiment. FIG. 3 is a diagram for explaining a movement setting work and a setting burden reduction function according to the first embodiment. FIG. 3 is a diagram for explaining a movement setting work and a setting burden reduction function according to the first embodiment. FIG. 3 is a diagram for explaining a movement setting work and a setting burden reduction function according to the first embodiment. FIG. 3 is a diagram for explaining a movement setting work and a setting burden reduction function according to the first embodiment. FIG. 3 is a diagram for explaining a movement setting work and a setting burden reduction function according to the first embodiment. FIG. 3 is a diagram for explaining a movement setting work and a setting burden reduction function according to the first embodiment. FIG. 3 is a diagram for explaining a movement setting work and a setting burden reduction function according to the first embodiment. 7 is a flowchart illustrating an example of movement setting processing according to the first embodiment. 7 is a flowchart illustrating an example of movement setting processing according to the first embodiment. FIG. 7 is a diagram for explaining a movement setting work and a setting burden reduction function according to the second embodiment. FIG. 7 is a diagram for explaining a movement setting work and a setting burden reduction function according to the second embodiment. FIG. 7 is a diagram for explaining a movement setting work and a setting burden reduction function according to the second embodiment. FIG. 7 is a diagram for explaining a movement setting work and a setting burden reduction function according to the second embodiment. FIG. 7 is a diagram illustrating an example of a functional section of a main body control circuit according to a second embodiment. 7 is a flowchart illustrating an example of movement setting processing according to the second embodiment. 12 is a flowchart illustrating an example of movement setting processing according to the second embodiment.

1. First Embodiment <1> Schematic configuration and usage example of three-dimensional coordinate measuring device FIG. 1 is a schematic diagram showing a usage example of the three-dimensional coordinate measuring device according to the first embodiment. As shown in FIG. 1, the three-dimensional coordinate measuring device 1 according to the present embodiment mainly includes an imaging head 100, a probe 200, and a processing device 300. used for measurement. In the example of FIG. 1, the measurement target S is placed on the floor.

Probe 200 is carried by user U. The probe 200 is provided with a contact portion 211a. The user U brings the contact portion 211a of the probe 200 into contact with a desired portion of the object S to be measured. Thereby, the contact portion of the measurement object S with the contact portion 211a is designated as the measurement point.

The imaging head 100 is fixed by a reference stand 10 on, for example, a floor surface as an installation surface. A movable camera 120 is provided inside the imaging head 100. A plurality of markers eq (FIG. 4), which will be described later, provided on the probe 200 are imaged by the movable camera 120. The reference stand 10 is, for example, a tripod.

Further, the imaging head 100 is connected to a processing device 300 via a cable CA. The processing device 300 is, for example, a personal computer, to which a main body display section 310 and a main body operation section 320 are connected. In the processing device 300, the measurement points on the measurement object S are determined based on image data obtained by imaging the probe 200 by the movable camera 120 (hereinafter referred to as measurement image data) and reference image data to be described later. Coordinates are calculated. By calculating the coordinates of one or more measurement points on the measurement object S, the shape of each part of the measurement object S is measured based on the calculation results.

When user U moves while carrying probe 200, the direction of the imaging field of view of movable camera 120 follows the movement of probe 200 within a certain range. Thereby, the three-dimensional coordinate measuring device 1 has a relatively wide measurable range. However, if the imaging head 100 is fixed to one point on the floor, the movable camera 120 cannot image the probe 200, and the shape of the desired part of the measurement object S cannot be measured. There is.

For example, the measurement object S shown in FIG. 1 has a base portion s1 and a protrusion portion s2. The base portion s1 is formed in a rectangular flat plate shape with a constant thickness, and extends in one direction. The protruding portion s2 is formed to protrude upward from the center portion of the base portion s1 in the lateral direction, and extends in parallel to the longitudinal direction of the base portion s1. The protruding portion s2 has two upper surfaces s21 and s22 that are arranged in the lateral direction of the base portion s1 and have different heights. The base portion s1 has two upper surfaces s11 and s12 that sandwich the protrusion portion s2 in the transverse direction thereof.

In the example of FIG. 1, the imaging head 100 is fixed at a position P1 close to the top surface s12 of the measurement object S and far from the top surface s11 of the measurement object S. In this state, the movable camera 120 can image the probe 200 indicating the measurement point over almost the entire upper surface s12. On the other hand, most of the upper surface s11 becomes a blind spot for the movable camera 120 due to the protrusion s2. Therefore, the movable camera 120 can image the probe 200 only when a limited portion of the upper surface s11 is instructed.

Therefore, as shown by the thick dashed-dotted arrow in FIG. The imaging head 100 is moved to a position where it can be instructed. For example, as shown by the dotted line in FIG. 1, the reference stand 10 is placed at a position P2 close to the top surface s11 of the measurement object S and far from the top surface s12 of the measurement object S. Thereby, the movable camera 120 can image the probe 200 indicating the measurement point over almost the entire upper surface s11. Therefore, the range in which the shape of the measurement target S can be measured is expanded.

As will be described later, in the three-dimensional coordinate measuring device 1, a coordinate system representing measurement points is defined according to the position and orientation of the reference camera 110. Therefore, the coordinate systems of the calculated coordinates are different between the measurement point designated before the imaging head 100 moves and the measurement point designated after the imaging head 100 moves.

Therefore, the coordinate systems are matched with respect to the calculation results of the coordinates of the plurality of measurement points designated before and after the movement of the imaging head 100. This makes it possible to calculate dimensions, etc. between a plurality of designated measurement points before and after the movement of the imaging head 100. In the balloon of FIG. 1, the distance between two measurement points m1 and m2 on the two upper surfaces s11 and s12 sandwiching the protrusion s2 is calculated by moving the imaging head 100 along with a plan view of the measurement target S. An example is shown below.

As described above, in order to align the coordinate systems with respect to the calculation results of the coordinates of a plurality of measurement points on the measurement object S that are instructed before and after the movement of the imaging head 100, the user U performs the predetermined setting work. need to be done. In the following description, the work required of the user to match the measurement results before and after the movement of the imaging head 100 will be referred to as a movement setting work. The three-dimensional coordinate measuring device 1 according to the present embodiment has a function to reduce the burden of the above movement setting work on the user U (setting burden reduction function). Details of this function will be described later.

<2> Basic configuration of imaging head 100 and processing device 300 (a) Imaging head 100
FIG. 2 is a block diagram showing the basic configuration of the imaging head 100 and the processing device 300. First, the configuration of the imaging head 100 will be explained. As shown in FIG. 2, the imaging head 100 has an electrical configuration including a reference camera 110, a movable camera 120, a marker drive circuit 130, a rotation drive circuit 140, a head control circuit 150, a wireless communication circuit 160, a communication circuit 170, and an overhead camera. It includes a camera 180 and a reference member 190. These structures are housed in the casing 90 (FIG. 1) while being supported by any one of the fixed connection part 20, the support member 30, and the movable member 40 shown by the two-dot chain line in FIG. The casing 90 is configured to guide the imaging fields of the movable camera 120 and the overhead camera 180 to the outside of the casing 90 .

The fixed coupling part 20 is fixed on the reference stand 10 of FIG. The fixed connection section 20 is provided with various substrates on which a rotation drive circuit 140, a head control circuit 150, a wireless communication circuit 160, and a communication circuit 170 are mounted. Further, a reference camera 110 is attached to the fixed connection part 20. The reference camera 110 includes a CMOS (complementary metal oxide semiconductor) image sensor capable of detecting infrared rays as an imaging device. Further, the reference camera 110 includes a plurality of lenses (optical systems) not shown.

In the fixed connection part 20, the reference camera 110 is fixed so that the imaging field of the reference camera 110 faces upward. In this example, the optical axis of the optical system of the reference camera 110 extends in the vertical direction.

The support member 30 is rotatably supported by the fixed coupling part 20 around the optical axis of the optical system of the reference camera 110. The movable member 40 is supported by the support member 30 at a position above the reference camera 110 so as to be rotatable (tiltable with respect to a horizontal plane) around an axis perpendicular to the optical axis of the optical system of the reference camera 110. . The fixed connection part 20 is further provided with a horizontal rotation mechanism (not shown) and a tilt rotation mechanism (not shown). The horizontal rotation mechanism is configured to be able to rotate the support member 30 around the optical axis of the optical system of the reference camera 110. Further, the tilt rotation mechanism is configured to be able to tilt the movable member 40 with respect to a horizontal plane.

A movable camera 120, a marker drive circuit 130, and a reference member 190 are integrally attached to the movable member 40. The movable camera 120 includes a CMOS image sensor capable of detecting infrared rays as an image sensor, and also includes a plurality of lenses (optical systems) not shown. The reference member 190 has a plurality of markers ep arranged in a predetermined positional relationship. Each marker ep is a self-luminous marker that emits infrared light. The plurality of markers ep of the reference member 190 are located within the imaging field of view of the reference camera 110 in a state where the movable member 40 is supported by the support member 30. The marker drive circuit 130 drives a plurality of markers ep. As a result, each marker ep emits light. At least some (for example, two) of the plurality of markers ep of the reference member 190 are configured to be distinguishable from other markers ep.

Between the reference camera 110 and the movable member 40, there is a bellows 50 that optically and spatially blocks the space within the imaging field of view of the reference camera 110 from the reference camera 110 to the reference member 190 from the space outside the imaging field of view. is provided.

The rotation drive circuit 140 drives the horizontal rotation mechanism and tilt rotation mechanism described above. As a result, the position and orientation of the movable camera 120 with respect to the reference camera 110 are changed, and the direction of the imaging field of view of the movable camera 120 is changed.

As described above, the movable camera 120 and the reference member 190 are integrally fixed to the movable member 40. Thereby, the position and orientation of the movable camera 120 with respect to the reference camera 110 are determined based on image data (hereinafter referred to as reference image data) obtained by the reference camera 110 capturing images of a plurality of markers ep on the reference member 190. It is possible to calculate.

The bird's-eye view camera 180 is attached to a portion of the support member 30 so that its imaging field of view faces in the same or substantially the same direction as the imaging field of view of the movable camera 120. The bird's-eye camera 180 includes a CMOS image sensor capable of detecting infrared rays as an imaging device, and also includes a plurality of lenses (optical systems) not shown. The angle of view of the overhead camera 180 is larger than the angles of view of the reference camera 110 and the movable camera 120. Therefore, the imaging field of view of the bird's-eye camera 180 is larger than that of the reference camera 110 and the movable camera 120.

In tracking processing, which will be described later, the overhead camera 180 is used to image the probe 200 over a wide range. In this case, even if the probe 200 is removed from the imaging field of view of the movable camera 120 due to movement of the probe 200, for example, the probe 200 is imaged by the bird's-eye camera 180, and image data obtained by imaging (hereinafter, bird's-eye image The approximate position of the probe 200 can be specified based on the data (referred to as data). Based on the identified position, the position and orientation of movable camera 120 are adjusted so that probe 200 is located within the imaging field of view of movable camera 120.

Head control circuit 150 includes a CPU (Central Processing Unit) and a memory, or a microcomputer, and controls reference camera 110, movable camera 120, marker drive circuit 130, rotation drive circuit 140, and overhead camera 180.

Each pixel of the reference camera 110, movable camera 120, and overhead camera 180 outputs an analog electrical signal (hereinafter referred to as a light reception signal) corresponding to the detected amount to the head control circuit 150. The head control circuit 150 is equipped with an A/D converter (analog/digital converter) and a FIFO (First In First Out) memory (not shown). The light reception signals outputted from the reference camera 110, the movable camera 120, and the bird's-eye camera 180 are sampled at a constant sampling period by the A/D converter of the head control circuit 150, and are converted into digital signals. Digital signals output from the A/D converter are sequentially stored in a FIFO memory. The digital signals stored in the FIFO memory are sequentially transferred to the processing device 300 as pixel data.

Further, the head control circuit 150 performs wireless communication with the probe 200 via the wireless communication circuit 160. Further, the head control circuit 150 performs wired communication with the processing device 300 via the communication circuit 170 and the cable CA (FIG. 1).

(b) Processing device 300
As shown in FIG. 2, the processing device 300 includes a communication circuit 301, a main body control circuit 302, and a main body memory 303. Communication circuit 301 and main body memory 303 are connected to main body control circuit 302 . Further, a main body operation section 320 and a main body display section 310 are connected to the main body control circuit 302 .

The main body memory 303 includes a ROM (read only memory), a RAM (random access memory), and a hard disk. The main body memory 303 stores a movement setting program, a measurement processing program, and a tracking processing program, which will be described later, along with the system program. Further, the main body memory 303 is used for processing various data and storing various data such as pixel data provided from the imaging head 100.

Main body control circuit 302 includes a CPU. The main body control circuit 302 and the main body memory 303 are realized by, for example, a personal computer. The main body control circuit 302 generates image data based on pixel data provided from the imaging head 100 via the cable CA (FIG. 1) and the communication circuit 301. Image data is a collection of multiple pixel data.

In this embodiment, reference image data, measurement image data, and overhead image data corresponding to the reference camera 110, movable camera 120, and overhead camera 180 provided in the imaging head 100, respectively, are generated. Further, image data corresponding to a probe camera 208 provided in the probe 200 and described later is generated. The main body control circuit 302 calculates the position of the contact portion 211a (FIG. 1) of the probe 200 based on the reference image data and the measured image data.

Further, in this embodiment, the main body control circuit 302 includes a coordinate calculation section 302a, a guided image generation section 302b, a coordinate matching processing section 302c, and a deviation calculation section 302d as functional sections. The functional units of the main body control circuit 302 are realized by the CPU of the main body control circuit 302 executing the above movement setting program. Some or all of the functional units of the main body control circuit 302 may be realized by hardware such as an electronic circuit. The operation of the functional units of the main body control circuit 302 shown in FIG. 2 will be described later.

The main body display section 310 is configured by, for example, a liquid crystal display panel or an organic EL (electroluminescence) panel. The main body display section 310 displays the coordinates of the measurement point on the object S to be measured, the measurement results of each part of the object S, etc. based on the control by the main body control circuit 302. Further, the main body display section 310 displays a setting screen for making various settings related to measurement.

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

<3> Basic configuration of probe 200 FIG. 3 is a block diagram showing the configuration of probe 200. FIG. 4 is an external perspective view of the probe 200. As shown in FIG. 3, the probe 200 has an electrical configuration including a probe control unit 201, an indicator light 202, a battery 203, a marker drive circuit 204, a probe memory 205, a wireless communication circuit 206, a motion sensor 207, a probe camera 208, It includes a probe operation section 221, a touch panel display 230, and a plurality of (three in this example) target members 290.

Battery 203 supplies power to other components provided in probe 200. Probe control unit 201 includes a CPU and memory, or a microcomputer, and controls indicator light 202, marker drive circuit 204, probe camera 208, and touch panel display 230. Further, the probe control unit 201 performs various processes in response to user U's operations on the probe operation unit 221 and the touch panel display 230.

As shown by the two-dot chain line in FIG. 3, the probe 200 includes a probe casing 210 and a grip portion 220 that house or support each of the above components. A plurality of target members 290 are provided on a later-described upper surface portion 210c (FIG. 4) of the probe casing 210. The probe operation section 221 is a button that can be pressed down, and is provided on the grip section 220 . Touch panel display 230 includes a probe display section 231 and a touch panel 232. The probe display section 231 is composed of, for example, a liquid crystal display panel or an organic EL panel.

The indicator light 202 includes, for example, one or more LEDs, and is provided so that its light emitting part is exposed outside the probe casing 210. The indicator light 202 performs a light emitting operation according to the state of the probe 200 based on the control of the probe control unit 201. Each of the three target members 290 has basically the same configuration as the reference member 190 of FIG. The marker drive circuit 204 is connected to the plurality of target members 290 and drives the plurality of markers eq included in each target member 290 based on the control of the probe control unit 201.

Probe memory 205 includes a recording medium such as a nonvolatile memory or a hard disk. Probe memory 205 is used to process various data and store various data such as image data provided from imaging head 100.

The motion sensor 207 detects the movement of the probe 200, for example, when the user U moves while carrying the probe 200. For example, the motion sensor 207 detects the moving direction, acceleration, posture, etc. of the probe 200 when it moves. The probe camera 208 is, for example, a CCD (charge coupled device) camera.

In addition to the above-described CPU and memory or microcomputer, the probe control unit 201 is equipped with an A/D converter and a FIFO memory (not shown). Thereby, in the probe control unit 201, a signal indicating the movement of the probe 200 detected by the motion sensor 207 is converted into data in a digital signal format (hereinafter referred to as movement data). Further, in the probe control unit 201, the light reception signal output from each pixel of the probe camera 208 is converted into a plurality of pixel data in a digital signal format. The probe control unit 201 transmits digital motion data and a plurality of pixel data to the imaging head 100 in FIG. 2 through the wireless communication circuit 206 by wireless communication. In this case, the motion data and the plurality of pixel data are further transferred from the imaging head 100 to the processing device 300.

As shown in FIG. 4, the probe casing 210 is formed to extend in one direction and has a front end 210a, a rear end 210b, a top surface 210c, and a bottom surface 210d. A grip portion 220 is provided on the bottom surface portion 210d. The grip part 220 is formed to extend parallel to the probe casing 210. The probe operation section 221 is provided in a portion of the grip section 220 that is close to the rear end section 210b of the probe casing 210.

A touch panel display 230 is provided at the rear end 210b of the probe casing 210. A stylus 211 is provided at the front end 210a. The stylus 211 is a rod-shaped member having a contact portion 211a at its tip. The probe camera 208 described above is further provided at the front end portion 210a.

Three target members 290 are provided on the top surface 210c of the probe casing 210 so as to be lined up from the front end 210a to the rear end 210b. Of the three target members 290 in this example, the target member 290 closest to the front end 210a has three markers eq. Each of the remaining two target members 290 has two markers eq. Each marker eq is a self-luminous marker that emits infrared light.

The user U grips the grip part 220 so that the upper surface part 210c of the probe casing 210 faces the imaging head 100. Then, the user U brings the contact portion 211a into contact with a desired portion of the object S to be measured. Further, the user U operates the probe operation section 221 and the touch panel display 230 while viewing the image displayed on the touch panel display 230.

<4> Method for calculating coordinates of measurement points In the three-dimensional coordinate measuring device 1 according to the present embodiment, a three-dimensional coordinate system having a predetermined relationship with the position and orientation of the reference camera 110 is defined. . In other words, in the three-dimensional coordinate measuring device 1, a three-dimensional coordinate system (hereinafter referred to as the device coordinate system) having a predetermined relationship depending on the installation state of the imaging head 100 is defined.

The main body memory 303 of the processing device 300 stores in advance the relative positional relationship of the plurality of markers ep on the reference member 190. As described above, the reference camera 110 images the plurality of markers ep on the reference member 190. In this case, the main body control circuit 302 in FIG. Calculate.

Further, the main body control circuit 302 converts information indicating the position and orientation of the movable camera 120 fixed on the reference member 190 in the device coordinate system into first position and orientation information based on the calculated coordinates of the plurality of markers ep. Generate as.

In addition to the device coordinate system described above, the three-dimensional coordinate measuring device 1 according to the present embodiment includes a three-dimensional coordinate system (hereinafter referred to as a movable coordinate system) having a predetermined relationship with respect to the movable camera 120. ) are predefined. Further, the main body memory 303 of the processing device 300 stores in advance the relative positional relationship of the plurality of markers eq on the probe 200.

As described above, the movable camera 120 images the plurality of markers eq on the probe 200. In this case, the main body control circuit 302 of FIG. Calculate coordinates.

Thereafter, the main body control circuit 302 generates information indicating the position and orientation of the probe 200 using a movable coordinate system as second position and orientation information, based on the calculated coordinates of the plurality of markers eq.

A reference camera 110 is fixed to a reference stand 10. Therefore, when the imaging head 100 does not move on the floor surface, the device coordinate system does not change when measuring the object S to be measured. On the other hand, the movable camera 120 is rotatably provided so that its 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 direction of the imaging field of view of the movable camera 120 is changed.

Therefore, the main body control circuit 302 generates third position and orientation information that represents the position and orientation of the probe 200 in the device coordinate system based on the first and second position and orientation information. That is, the main body control circuit 302 calculates the relative relationship of the movable coordinate system to the device coordinate system based on the first position and orientation information, and also converts the second position and orientation information into the device coordinate system based on the calculated relationship. Convert to information according to the system. As a result, third position and orientation information is generated.

Thereafter, the main body control circuit 302 calculates the coordinates of the measurement point designated by the probe 200 based on the generated third position and orientation information and the positional relationship between the plurality of markers eq and the contact portion 211a on the probe 200. do.

<5> Basic Measurement Example The probe operation unit 221 in FIG. 4 is pressed by the user U in order to calculate the coordinates of a measurement point. For example, the user U presses the probe operation section 221 while the contact section 211a is in contact with a desired portion of the object S to be measured. In this case, the coordinates of the contact portion of the measurement object S with the contact portion 211a are calculated as the coordinates of the measurement point. The calculated coordinates of the measurement point are stored in the main body memory 303 as a measurement result, and are also displayed on the probe display section 231 and the main body display section 310.

In the three-dimensional coordinate measuring device 1, the user U can set desired measurement conditions for the measurement object S by operating the main body operation section 320 in FIG. 2 or the touch panel display 230 in FIG. can.

Specifically, the user U selects the geometric elements and measurement items for the measurement object S. The geometric element is a type of geometric shape that indicates the shape of the part of the measurement object S to be measured. Types of geometric shapes include points, straight lines, planes, circles, cylinders, spheres, and the like. Furthermore, the measurement items indicate what should be measured with respect to the measurement object S, and include various physical quantities such as distance, angle, and flatness.

After selecting the geometric element and the measurement item, the user U instructs one or more measurement points using the probe 200 for the selected geometric element. As a result, information indicating the selected geometric element specified by one or more measurement points on the measurement object S in the device coordinate system (hereinafter referred to as element identification information) is generated. Ru. Thereafter, the value of the selected measurement item regarding the generated element identification information is calculated.

For example, when the user U wants to measure the distance between the first surface and the second surface of the measurement object S, which has first and second surfaces parallel and opposite to each other, the user U uses the geometric element Select "Plane 1" and "Plane 2". Further, the user U selects the measurement item "distance".

In this case, the user U uses the probe 200 to locate the first surface of the measurement object S in order to identify the plane (first surface) on the measurement object S that corresponds to the geometric element "plane 1". A plurality of (three or more points in this example) portions are designated as measurement points. As a result, element specifying information corresponding to the geometric element "plane 1" is generated.

Furthermore, the user U uses the probe 200 to identify the plane (second surface) on the measurement object S that corresponds to the geometric element "plane 2". A plurality of parts (three or more points in this example) are designated as measurement points. As a result, element specifying information corresponding to the geometric element "plane 2" is generated.

Then, based on the two element specifying information corresponding to the geometric elements "plane 1" and "plane 2", the relationship between the first surface and the second surface of the measurement object S corresponding to the measurement item "distance" is determined. The distance between them is calculated.

The calculated measurement results are stored in the main body memory 303 and displayed on the probe display section 231 and the main body display section 310.

<6> Measurement Processing FIG. 5 is a flowchart showing an example of measurement processing by the main body control circuit 302 of FIG. 2. The measurement process in FIG. 5 is repeatedly performed at a predetermined period by the CPU of the main body control circuit 302 in FIG. 2 executing the measurement processing program stored in the main body memory 303. Furthermore, at the start of the measurement process, a timer built into the main body control circuit 302 is reset and started.

First, the main body control circuit 302 determines whether or not a geometric element and a measurement item have been selected based on whether or not the user U operates the main body operation unit 320 in FIG. 2 or the touch panel display 230 in FIG. (Step S11).

When the geometric elements and measurement items are selected, the main body control circuit 302 stores the selected geometric elements and measurement items in the main body memory 303 in FIG. 2, thereby setting the geometric elements and measurement items as measurement conditions. (Step S12). Thereafter, the main body control circuit 302 returns to the process of step S11.

If the geometric element and measurement item are not selected in step S11, the main body control circuit 302 determines whether the geometric element and measurement item have been set (step S13). If the geometric elements and measurement items have been set, the main body control circuit 302 determines whether or not it has received a command to start measuring the measurement object S (step S14). This determination is made, for example, based on whether or not the user U operates the main body operation unit 320 or the touch panel display 230.

When receiving a command to start measuring the measurement object S, the main body control circuit 302 (FIG. 2) performs measurement point coordinate calculation processing (step S15). Details of the measurement point coordinate calculation process will be described later. Through this process, the main body control circuit 302 calculates the coordinates of the measurement point for specifying the selected geometric element based on the user's operation of the probe 200.

Further, the main body control circuit 302 stores the coordinates of one or more measurement points calculated by the measurement point coordinate calculation process of step S15 in the main body memory 303 (step S16).

Next, the main body control circuit 302 determines whether or not it has received a command to end the measurement of the measurement object S (step S17). This determination is made, for example, based on whether or not the user U operates the main body operation unit 320 or the touch panel display 230.

If the measurement end command is not received, the main body control circuit 302 returns the process to step S15 described above. On the other hand, upon receiving the instruction to end the measurement, the main body control circuit 302 generates element identification information for the geometric element set from the coordinates of one or more measurement points stored in the main body memory 303 in the process of the immediately preceding step S16. (Step S18).

After that, the main body control circuit 302 calculates the value of the set measurement item based on the element specifying information generated in the process of step S18 (step S19), and ends the measurement process. Note that if a plurality of geometric elements (for example, two planes, etc.) are set at the time of determination in step S13, the processes of steps S14 to S18 described above are performed for each set geometric element.

If the geometric elements and measurement items are not set in step S13, and if the instruction to start measuring the object S is not received in step S14, the main body control circuit 302 performs It is determined whether a predetermined time has elapsed after the measurement process was started (step S20).

If the predetermined time has not elapsed, the main body control circuit 302 returns to the process of step S11. On the other hand, if the predetermined time has elapsed, the main body control circuit 302 performs measurement point coordinate calculation processing, which will be described later, similarly to the processing at step S15 (step S21). After that, the main body control circuit 302 ends the measurement process.

Note that the process of step S21 is performed, for example, in order to determine whether the probe 200 is within the imaging field of view of the movable camera 120 or the bird's-eye camera 180 in the tracking process described later.

FIG. 6 is a flowchart illustrating an example of measurement point coordinate calculation processing. First, the main body control circuit 302 instructs the probe control unit 201 of the probe 200 to emit light of a plurality of markers eq (FIG. 4), and also instructs the head control circuit 150 of the imaging head 100 to instruct a plurality of markers The marker ep (FIG. 2) is instructed to emit light (step S101).

Next, the main body control circuit 302 generates reference image data by causing the head control circuit 150 to image a plurality of markers ep on the reference member 190 using the reference camera 110 (step S102). Furthermore, the main body control circuit 302 generates first position and orientation information indicating the position and orientation of the movable camera 120 in 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 capturing images of the plurality of markers eq of the probe 200 using the movable camera 120 (step S104). Furthermore, the main body control circuit 302 generates second position and orientation information indicating the position and orientation of the probe 200 using a movable coordinate system based on the generated measurement image data (step S105).

After that, the main body control circuit 302 generates third position and orientation information that represents the position and orientation of the probe 200 in the device coordinate system based on the first and second position and orientation information (step S106). Furthermore, the main body control circuit 302 calculates the coordinates of the measurement point designated by the probe 200 based on the generated third position and orientation information.

Note that the processing in steps S102 and S103 and the processing in steps S104 and S105 may be performed in the reverse order.

According to the above measurement process, the user U selects a desired geometric element and a measurement item from a plurality of predetermined geometric elements and a plurality of predetermined measurement items, thereby obtaining a desired value on the measurement target S. physical quantities can be easily measured.

<7> Tracking Process FIG. 7 is a flowchart showing an example of the tracking process by the main body control circuit 302 of FIG. The tracking process in FIG. 7 is repeatedly performed at predetermined intervals by the CPU of the main body control circuit 302 in FIG. 2 executing the tracking process program stored in the main body memory 303.

First, the main body control circuit 302 determines whether the probe 200 is within the imaging field of view of the movable camera 120 (step S31). This determination is made by determining whether or not the measurement image data generated during the processing of steps S15 and S21 in the measurement process includes image data corresponding to a plurality of markers eq.

If the probe 200 is within the imaging field of view of the movable camera 120, the main body control circuit 302 proceeds to the process of step S38, which will be described later. On the other hand, if the probe 200 is not within the imaging field of view of the movable camera 120, the main body control circuit 302 determines whether the probe 200 is within the imaging field of view of the overhead camera 180 (step S32). This determination is made by determining whether or not the overhead image data generated during the processing in steps S15 and S21 in the measurement processing described above includes image data corresponding to a plurality of markers eq.

If the probe 200 is within the field of view of the overhead camera 180, the main body control circuit 302 proceeds to step S37, which will be described later. On the other hand, if the probe 200 is not within the imaging field of view of the movable camera 120, the main body control circuit 302 determines whether it is possible to estimate the coordinates of the probe 200 based on the movement data transferred from the probe 200 ( Step S33). This determination is made based on, for example, whether the motion data indicates an abnormal value or whether the value indicated by the motion data is 0. If the motion data shows an abnormal value or if the motion data is 0, coordinate estimation of the probe 200 is not possible.

If 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 movement data. The main body control circuit 302 also instructs adjustment of the position and attitude of the movable camera 120 so that the probe 200 is located within the imaging field of view of the movable camera 120 (step S34). Thereafter, the main body control circuit 302 returns to the process of step S31.

Here, the user U can command the main body control circuit 302 to search for the probe 200 by operating the main body operation section 320 in FIG. 2 or the touch panel display 230 in FIG. 3.

Therefore, in step S33, if it is impossible to estimate the coordinates of the probe 200, the main body control circuit 302 determines whether a search command for the probe 200 has been received (step S35). If the search command for the probe 200 is not received, the main body control circuit 302 returns to the process of step S31. On the other hand, when receiving a search command for the probe 200, the main body control circuit 302 commands the head control circuit 150 to rotate the support member 30 of the imaging head 100. In this way, the main body control circuit 302 searches for the probe 200 using the overhead camera 180 (step S36).

Thereafter, when the probe 200 is located within the imaging field of the bird's-eye view camera 180, the main body control circuit 302 calculates the position of the probe 200 based on the bird's-eye view image data. Furthermore, the main body control circuit 302 instructs the head control circuit 150 to adjust the position and posture of the movable camera 120 so that the probe 200 is located within the imaging field of view of the movable camera 120 (step S37).

Next, when the probe 200 is located within the imaging field of view of the movable camera 120, the main body control circuit 302 moves the probe 200 so that the center of gravity of the plurality of markers eq of the probe 200 is located at the center of the imaging field of view of the movable camera 120. The head control circuit 150 is instructed to adjust the position and orientation of the camera 120 (step S38). Thereafter, the main body control circuit 302 ends the tracking process.

According to the tracking process described above, even when the probe 200 moves, the imaging field of view of the movable camera 120 follows the plurality of markers eq of the probe 200. Thereby, the user U does not need to manually adjust the imaging field of view of the movable camera 120. Therefore, it becomes possible to measure the coordinates of a desired measurement point on the measurement object S over a wide range without requiring complicated adjustment work.

<8> Movement setting work and setting burden reduction function according to the first embodiment As described above, the three-dimensional coordinate measuring device 1 according to the present embodiment can perform three-dimensional coordinate measurement by the movement setting work of the user U. The measurable range of the measurement target S by the measuring device 1 can be expanded. Hereinafter, the contents of the movement setting work related to the three-dimensional coordinate measuring device 1 according to the present embodiment will be explained together with the setting burden reduction function.

The movement setting work generates alignment information that eliminates the relative deviation between the device coordinate system corresponding to the installation state of the imaging head 100 before movement and the device coordinate system corresponding to the installation state after the movement of the imaging head 100. done in order to In the following description, the device coordinate system corresponding to the state before the imaging head 100 moves will be referred to as a first coordinate system. Further, the device coordinate system corresponding to the movement of the imaging head 100 is referred to as a second coordinate system. The matching information is, for example, transformation information (such as a transformation matrix) for transforming the second coordinate system into the first coordinate system.

The alignment information includes coordinates according to a first coordinate system calculated by specifying a measurement point before the imaging head 100 moves, and coordinates calculated by specifying the measurement point after the imaging head 100 moves, for three or more common positions. It can be determined by using the coordinates according to the second coordinate system calculated by

Therefore, in the present embodiment, the user U instructs measurement points at three or more common positions before and after the movement of the imaging head 100 as a movement setting work. The setting burden reduction function according to the present embodiment is a function that facilitates the user U to appropriately designate measurement points at three or more common positions before and after moving the imaging head 100.

In the following description, in order to distinguish measurement points designated for generating matching information from measurement points designated for measuring the shape of the measurement object S, measurements designated for generating matching information will be used. The point is called the set point.

8 to 18 are diagrams for explaining the movement setting work and the setting burden reduction function according to the first embodiment. In this example, in the initial state, it is assumed that at least one measurement point is specified for the measurement object S in FIG. 1, and the coordinates of each measurement point according to the first coordinate system are calculated. Further, the imaging head 100 is installed at a position P1 on the floor surface.

As shown in the upper part of FIG. 8, when the movement setting work is started, the user U images the measurement target S with the probe camera 208 while the probe 200 is imaged by the movable camera 120 of the imaging head 100. do. Thereby, as shown in the lower part of FIG. 8, the image obtained by imaging is displayed on the main body display section 310 as the pre-movement image I10. The pre-movement image I10 in FIG. 8 includes an image iS of the measurement object S. Further, at this time, a message M1 is displayed on the main body display section 310 to prompt the user to specify three or more set points in the space corresponding to the image displayed on the main body display section 310 (image before movement I10). Ru.

Here, the positional relationship between the plurality of markers eq of the probe 200 and the probe camera 208, and the characteristics of the probe camera 208 (angle of view, distortion, etc.) are stored in advance as imaging information in the main body memory 303 in FIG. 2, for example. . Therefore, in a state where a plurality of markers eq are imaged by the movable camera 120, the area imaged by the probe camera 208 is recognized by the main body control circuit 302 in FIG. 2. That is, the three-dimensional space corresponding to the pre-movement image I10 obtained by imaging is recognized by the main body control circuit 302.

Next, the user U instructs the set point in response to the message M1 shown in the lower part of FIG. This setting point designation work is a work of sequentially determining the positions of three or more points for generating matching information. In this example, the user U specifies three set points corresponding to three positions for generating matching information as a first set point, a second set point, and a third set point, respectively. . The states of the user U when indicating the first set point, the second set point, and the third set point are shown in the upper rows of FIGS. 9, 10, and 11.

As described above, the area imaged by the probe camera 208 is recognized by the main body control circuit 302 in FIG. Therefore, when the probe 200 is imaged by the movable camera 120 in the three-dimensional space corresponding to the pre-movement image I10, an image indicating the position and orientation of the probe 200 is superimposed on the pre-movement image I10 as the probe image i200. Is displayed. Note that the probe image i200 is, for example, an image showing the outer surface of the probe 200 when the main body control circuit 302 recognizes the position and orientation of the probe 200 and the probe 200 is viewed from the movable camera 120 (i.e., an image of the probe 200 when the probe 200 is viewed from the movable camera 120). (an image showing the surface of the probe 200 in the field of view). In other words, the probe image i200 can be said to be an image of the outer surface of the probe 200 projected in the viewing direction of the movable camera 120. The display state of the main body display section 310 when the user U indicates the first set point, the second set point, and the third set point is shown in the lower rows of FIGS. 9, 10, and 11.

In the lower diagrams of FIGS. 9, 10, and 11, the probe image i200 when the first set point, second set point, and third set point are specified is displayed superimposed on the pre-movement image I10. ing. Thereby, the user U can sequentially designate the first set point, second set point, and third set point while viewing the probe image i200 displayed on the main body display section 310. At this time, each time each set point is designated, an index indicating the set point is further superimposed on the pre-movement image I10. The indicator indicating the set point includes, for example, a black dot, a leader line, and a character string indicating the position of the indicated set point. The character string included in the index of each set point includes information indicating the number in the setting order of the set point. In this example, each set point is assigned a number indicating the order in which the set point is set. Further, the coordinates of each set point according to the first coordinate system are calculated and stored in the main body memory 303.

When the instructions for the first set point, second set point, and third set point before movement of the imaging head 100 are completed, the first set point, second set point, and third set point are displayed on the pre-movement image I10. An image on which an index indicating the set point of is superimposed is generated as a guidance image and stored in the main body memory 303.

Next, as shown by the thick dashed line in FIG. 12, the user U moves the imaging head 100 from the position P1 to the position P2. As a result, the blind spot of the movable camera 120 in the measurement target S changes.

Thereafter, as shown in the upper part of FIG. 13, the user U images the measurement target S with the probe camera 208 while the probe 200 is imaged by the movable camera 120 of the imaging head 100. Thereby, as shown in the lower part of FIG. 13, the image obtained by imaging is displayed on the main body display section 310 as the moved image I20. The moved image I20 in FIG. 13 includes an image iS of the measurement target S, similar to the example in FIG.

When imaging by the probe camera 208 after the imaging head 100 has been moved is completed, the display state of the main body display section 310 changes. Specifically, as shown in FIG. 14, a left display area 310L and a right display area 310R are set on the screen of the main body display section 310. Further, the guided image stored in the main body memory 303 is displayed in the left display area 310L, and the moved image I20 is displayed in the right display area 310R. Furthermore, a message M2 is displayed in the right display area 310R, prompting the user to specify the first set point, second set point, and third set point that were specified before moving the imaging head 100 in this order. Ru.

Next, the user U instructs the first set point, the second set point, and the third set point in response to the message M2 of FIG. 14. The states of the user U when indicating the first set point, second set point, and third set point are shown in the upper rows of FIGS. 15, 16, and 17.

As described above, the positions of the first set point, second set point, and third set point instructed before movement of the imaging head 100 are three positions for generating alignment information. Therefore, the positions of the first set point, second set point, and third set point that should be instructed after the movement of the imaging head 100 are the same as those of the first set point, the second set point, and the third set point that should be instructed before the movement of the imaging head 100. It is desirable that the positions of the second and third set points coincide.

Therefore, as shown in the lower part of FIGS. 15, 16, and 17, the user U visually recognizes the guidance image displayed on the left display area 310L of the main body display section 310, and also visually recognizes the actual measurement target S. do. Thereby, the user U can easily and accurately recognize the positions of the first set point, second set point, and third set point to be indicated. Therefore, the user U instructs the first set point, the second set point, and the third set point in sequence.

At this time, each time a set point is designated, an index indicating the set point is further superimposed on the moved image I20. Similar to the example of the image displayed in the left display area 310L, the index indicating the set point includes, for example, a black dot, a leader line, and a character string indicating the position of the designated set point. The character string includes information indicating the number in the setting order of the set point. In this example, each set point is assigned a number indicating the order in which the set point is set. Further, the coordinates of each set point according to the second coordinate system are calculated and stored in the main body memory 303. Note that when the probe 200 is imaged by the movable camera 120 in the three-dimensional space corresponding to the post-movement image I20, the post-movement image of the right display area 310R is captured as in the example of the pre-movement image I10 in FIG. A probe image i200 is displayed superimposed on I20. Note that the probe image i200 is, for example, an image showing the outer surface of the probe 200 when the main body control circuit 302 recognizes the position and orientation of the probe 200 and the probe 200 is viewed from the movable camera 120 (i.e., an image of the probe 200 when the probe 200 is viewed from the movable camera 120). (an image showing the surface of the probe 200 in the field of view).

When the instructions for the first set point, second set point, and third set point after the movement of the imaging head 100 are completed, coordinate system conversion information is generated as alignment information. Here, the positions of the first set point, second set point, and third set point instructed after the movement of the imaging head 100, and the positions of the first set point, the third set point instructed before the movement of the imaging head 100, The positions of the second set point and the third set point do not necessarily match completely. Therefore, the conversion information indicates that when the coordinates of each specified set point according to the second coordinate system are converted to the coordinates according to the first coordinate system after the movement of the imaging head 100, the coordinates of the set point after conversion are The coordinates are generated to match or be as close as possible to the coordinates according to the first coordinate system of the corresponding set point indicated before the movement of the head 100.

In generating the transformation information, a least squares method that minimizes errors such as the Levenberg-Marquardt method may be used, or a best-fit method using one or more elements such as planes, axes, and points may be used. A matching method may also be used.

The positions of the first set point, second set point, and third set point instructed after the imaging head 100 moves, and the first set point and second setting instructed before the imaging head 100 moves. If the deviation between the point and the position of the third set point is large, appropriate conversion information cannot be obtained. Therefore, in this embodiment, when the conversion information is generated, a set point deviation list iE is displayed in the right display area 310R, as shown in FIG. 18.

The set point deviation list iE indicates how much the position of the corresponding set point instructed after the movement of the imaging head 100 deviates from the position of each set point instructed before the movement of the imaging head 100. . As a result, the user can appropriately specify the first set point, second set point, and third set point before and after moving the imaging head 100 by visually checking the set point deviation list iE. It is easy to recognize whether the By completing the above series of tasks, the movement setting task is completed.

In this embodiment, when the set point deviation list iE is displayed, a delete button bd corresponding to each set point is displayed on the side of the set point deviation list iE. Each delete button bd is used to cancel the corresponding set point designation. For example, when the degree of deviation regarding one set point is large in the set point deviation list iE, the user U operates the delete button bd corresponding to the one set point. As a result, the coordinate information regarding the one set point is reset, and the user U can specify the one set point again.

When conversion information is generated by the movement setting work described above, the coordinates of the measurement point calculated by the measurement point coordinate calculation process described above are converted into coordinates according to the apparatus coordinate system before the imaging head 100 is moved. This makes it possible to accurately grasp the positional relationship between the plurality of measurement points specified before and after the movement of the imaging head 100.

<9> Movement setting processing according to the first embodiment FIGS. 19 and 20 are flowcharts illustrating an example of movement setting processing according to the first embodiment. When performing the movement setting work described above, the user U inputs the start of the movement setting work by operating the main body operation section 320 in FIG. 2 or the touch panel display 230 in FIG. 3. The movement setting process shown in FIGS. 19 and 20 is performed by the CPU of the main body control circuit 302 shown in FIG. 2 executing the movement setting program in response to the input to start the movement setting work. The movement setting process provides a function to reduce the setting burden on the three-dimensional coordinate measuring device 1. Note that before the movement setting process in FIG. 19 is started, it is assumed that the measurement process as described using FIGS. 5 and 6 has been performed before moving the imaging head 100. That is, when the installation state of the imaging head 100 is the first installation state before movement, the user U selects a desired geometric element and a plurality of predetermined measurement items from a plurality of predetermined geometric elements and a plurality of predetermined measurement items. A measurement item is selected and a desired physical quantity (point, surface, etc.) on the measurement target is measured (the coordinates of the measurement point are calculated). The coordinates of the measurement point calculated in this way are stored in the main body memory 303 as the coordinates of the first measurement point.

When the movement setting process is started, the main body control circuit 302 in FIG. 2 causes the main body display unit 310 to display an image (such as a message) prompting the probe camera 208 to take an image before moving the imaging head 100 (step S111).

Next, the main body control circuit 302 determines whether image data of the pre-movement image I10 has been generated by imaging by the probe camera 208 (step S112).

If the image data of the pre-movement image I10 is not generated, the main body control circuit 302 repeats the process of step S112. On the other hand, when the image data of the pre-movement image I10 is generated, the main body control circuit 302 displays the pre-movement image I10 on the main body display section 310 (step S113). Furthermore, the main body control circuit 302 causes the main body display unit 310 to display an image (message, etc.) prompting to specify three or more set points in the space corresponding to the pre-movement image I10 (step S114). Here, the set point instruction requested to the user U is a set point instruction for determining the positions of three or more points for generating matching information. The display mode of the main body display section 310 during the processing of steps S113 and S114 above corresponds to the screen display example shown in the lower part of FIG.

Next, the main body control circuit 302 determines whether or not the user U has given a setting point instruction using the probe 200 (step S115). If there is no set point instruction, the main body control circuit 302 repeats the process of step S115. On the other hand, when there is a setting point instruction, the coordinate calculation unit 302a calculates the coordinates of the specified setting point according to the measurement point coordinate calculation process of FIG. 6, and stores the calculation result in the main body memory 303 (step S116). .

Note that, if the coordinates of one or more set points have already been stored in the main body memory 303 through the process of step S118, which will be described later, the coordinate calculation unit 302a uses the newly calculated coordinates of the set point to other set points. The coordinates are stored in the main body memory 303 in a manner distinguishable from the coordinates. In this case, when a plurality of setting points are stored in the main body memory 303, it becomes possible to grasp the setting order. Therefore, in the present embodiment, the coordinate calculation unit 302a also includes information indicating which set point the currently designated set point is the designated set point before the movement of the imaging head 100 at the time of processing in step S116. It is stored in the main body memory 303.

Next, the main body control circuit 302 superimposes and displays an index indicating the position of the designated set point on the pre-movement image I10 displayed on the main body display section 310 (step S117). After that, the main body control circuit 302 determines whether or not the setting point instruction is completed (step S118). The determination as to whether the set point instructions have been completed is made, for example, based on whether or not a predetermined number (for example, three) of set point instructions have been given consecutively. Alternatively, the determination as to whether or not the set point instruction is completed is made based on whether or not the user U inputs the end of the set point instruction by operating the main body operation unit 320 or the touch panel display 230. . The display mode of the main body display section 310 during the processing of steps S115 to S118 above corresponds to the screen display examples shown in the lower rows of FIGS. 9 to 11.

In step S118, if the setting point instruction is not completed, the main body control circuit 302 returns the process to step S115. On the other hand, when the setting point instruction is completed, the guidance image generation unit 302b of FIG. 2 generates a guidance image (step S119). Here, the guidance image according to the present embodiment is an image in which an index indicating the set point instructed in step S116 is displayed superimposed on the pre-movement image I10.

Thereafter, the main body control circuit 302 causes the main body display unit 310 to display an image (such as a message) prompting the movement of the imaging head 100 and the movement of the imaging head 100 to perform imaging with the probe camera 208 (step S120).

Next, the main body control circuit 302 determines whether image data of the moved image I20 has been generated by imaging by the probe camera 208 (step S121).

If the image data of the moved image I20 is not generated, the main body control circuit 302 repeats the process of step S121. On the other hand, when the image data of the moved image I20 is generated, the main body control circuit 302 causes the main body display unit 310 to display the moved image I20 together with the guide image (step S122). The main body control circuit 302 also displays an image (such as a message) prompting the user to instruct the plurality of setting points corresponding to the plurality of setting points instructed in the processing of steps S115 to S117 in the order of the instruction of the plurality of setting points. ) is displayed on the main body display section 310 (step S123). The display mode of the main body display section 310 during the processing of steps S122 and S123 above corresponds to the screen display example shown in FIG. 14.

Next, the main body control circuit 302 determines whether or not the user U has given a setting point instruction using the probe 200 (step S124). If there is no set point instruction, the main body control circuit 302 repeats the process of step S124. On the other hand, when there is a setting point instruction, the coordinate calculation unit 302a calculates the coordinates of the specified setting point by the measurement point coordinate calculation process of FIG. 6, and stores the calculation result in the main body memory 303 (step S125). .

Here, similarly to the process of step S116 described above, the coordinate calculation unit 302a calculates new coordinates if the coordinates of one or more set points have already been stored in the main body memory 303 by the process of step S127, which will be described later. The coordinates of the set point are stored in the body memory 303 in a manner distinguishable from the coordinates of other set points. The coordinate calculation unit 302a also stores information indicating which set point the currently designated set point is after the movement of the imaging head 100 in the main body memory 303.

Next, the main body control circuit 302 superimposes and displays an index indicating the position of the designated set point on the moved image I20 displayed on the main body display section 310 (step S126). After that, the main body control circuit 302 determines whether or not the setting point instruction is completed (step S127). The determination as to whether or not the instruction of the set points has been completed is made, for example, in the process of step S116, when the number of set points corresponding to the plurality of set points stored in the main body memory 303 before the movement of the imaging head 100 is instructed. It is based on whether or not the The display mode of the main body display section 310 during the processing of steps S124 to S127 above corresponds to the screen display examples shown in the lower part of FIGS. 15 to 17. Note that during these processes, the guide image is continuously displayed on the main body display section 310 together with the post-movement image I20.

In step S127, if the setting point instruction is not completed, the main body control circuit 302 returns the process to step S124. On the other hand, when the setting point instruction is completed, the coordinate matching processing unit 302c in FIG. A matching process is performed to ensure the same (step S128). Specifically, the coordinate matching processing unit 302c determines the device coordinate system (the above-mentioned first coordinate system) before the imaging head 100 moves, and the device coordinate system (the above-mentioned second coordinate system) after the imaging head 100 moves. (coordinate system)). This matching process includes generating conversion information for converting the first coordinate system to the second coordinate system, and storing the generated conversion information in the main body memory 303.

Thereafter, the deviation calculation unit 302d in FIG. 2 calculates the position of each set point instructed after the movement of the imaging head 100, based on the conversion information generated in the matching process. A deviation indicating how much the position of the corresponding set point deviates is calculated (step S129). Furthermore, the main body control circuit 302 causes the main body display unit 310 to display the calculation result of the deviation between the two corresponding set points before and after the movement (step S130). The display mode of the main body display section 310 during the process of step S130 above corresponds to the screen display example shown in FIG. 18.

Finally, the main body control circuit 302 determines whether the user U has given a command to re-instruct the set point (step S131). Whether or not the user U has instructed to re-instruct the set point can be determined by, for example, selecting one of the plurality of delete buttons bd in FIG. It is based on whether or not the Alternatively, whether or not the user U has commanded to re-instruct the set point depends on whether or not the user U has input a command to re-instruct the set point by operating the main body operation section 320 or the touch panel display 230. It is done on the basis of If there is a re-indication of the set point, the main body control circuit 302 returns the process to step S124. On the other hand, if there is no re-indication of the set point, the main body control circuit 302 ends the movement setting process.

When the above movement setting process is performed, the main body control circuit 302 calculates the coordinates according to the second coordinate system for the measurement point specified after the movement of the imaging head 100, and then converts the calculated coordinates into Using the conversion information obtained in step S128, the coordinates are converted into coordinates according to the first coordinate system. Thereby, the coordinates of a plurality of measurement points designated before and after the movement of the imaging head 100 can be grasped using a common coordinate system (in this example, the first coordinate system). Note that although not shown in FIG. 20, after the imaging head 100 is moved, the measurement process as described using FIGS. 5 and 6 is performed. That is, when the installation state of the imaging head 100 is the second installation state after movement, the user U selects a desired geometric element and a plurality of predetermined measurement items from a plurality of predetermined geometric elements and a plurality of predetermined measurement items. Select a measurement item and measure a desired physical quantity (point, surface, etc.) on the object to be measured (the coordinates of the measurement point are calculated). The main body control circuit 302 then uses the matched first coordinate system and second coordinate system (which may also be referred to as the above-mentioned common coordinate system), and the coordinates of the first measurement point stored in the main body memory 303. , and the measurement across the first measurement point and the second measurement point is performed based on the coordinates of the second measurement point calculated when the installation state of the imaging head 100 is the second installation state.

<10> Effects of the first embodiment (a) The three-dimensional coordinate measuring device 1 according to the present embodiment has a setting burden reduction function. Thereby, the user U can adjust the probe 200 to match the first coordinate system and the second coordinate system based on the guidance image displayed on the main body display section 310 during the movement setting work. Operation can be performed easily and appropriately. Thereby, the work burden on the user U to align the coordinate systems of the measurement points before and after the movement of the imaging head 100 is reduced. As a result, it becomes possible to easily and appropriately expand the measurable range by the three-dimensional coordinate measuring device 1.

(b) The guidance image according to the present embodiment is an image in which indicators indicating the first set point, the second set point, and the third set point are displayed superimposed on the pre-movement image I10. Therefore, the user U can more accurately grasp the positions of the first set point, second set point, and third set point by visually recognizing the image of the measurement target S obtained by imaging. Can be done.

(c) The pre-movement image I10 used as the guidance image is obtained by imaging using the probe camera 208. Here, the probe camera 208 is integrally fixed to the probe 200. Thereby, the imaging field of view of the probe camera 208 is uniquely determined by the position and orientation of the probe 200. Therefore, in the pre-movement image I10, it is possible to accurately indicate the positions of the first set point, second set point, and third set point whose coordinates according to the first coordinate system have been calculated. Therefore, the user U can easily and accurately grasp the positions of the first set point, second set point, and third set point based on the guided image. As a result, the setting points corresponding to the first setting point, the second setting point, and the third setting point are more appropriately specified, and the matching process between the first coordinate system and the second coordinate system is performed. accuracy is improved.

2. Second Embodiment Similar to the three-dimensional coordinate measuring device 1 according to the first embodiment, the three-dimensional coordinate measuring device 1 according to the second embodiment can perform three-dimensional coordinate measuring device 1 by the movement setting work of the user U. The measurable range of the measurement target S by the original coordinate measuring device 1 can be expanded. Furthermore, the three-dimensional coordinate measuring device 1 according to the present embodiment has a setting burden reduction function that reduces the burden of movement setting work. However, the contents of the movement setting work and the setting burden reduction function according to the present embodiment are different from the contents of the movement setting work and the setting burden reduction function according to the first embodiment.

The three-dimensional coordinate measuring device 1 according to the second embodiment is different from the three-dimensional coordinate measuring device 1 according to the first embodiment, except for the configuration and operation regarding movement setting work and setting burden reduction function. They have basically the same configuration and operation. The movement setting work and setting burden reduction function according to this embodiment will be explained below.

<1> Movement setting work and setting burden reduction function according to second embodiment As described in the first embodiment, the probe 200 has a plurality of markers eq. In the probe 200, the relative positional relationship of the plurality of markers eq is fixed. Further, the positional relationship is stored in the main body memory 303. Therefore, in the present embodiment, the plurality of markers eq of the probe 200 are set at three or more positions for generating alignment information, that is, positions that serve as a common reference before and after the movement of the imaging head 100 (hereinafter referred to as a common reference). (referred to as position).

Therefore, in this embodiment, the probe 200 is first installed at a predetermined position by the user U. In this state, the plurality of markers eq of the probe 200 are imaged by the movable camera 120 of the imaging head 100 before movement, and the coordinates of the plurality of markers eq according to the first coordinate system are calculated. Furthermore, the imaging head 100 is moved while the installed state of the probe 200 is maintained. Thereafter, the plurality of markers eq of the probe 200 are imaged by the movable camera 120 of the imaging head 100 after the movement, and the coordinates of the plurality of markers eq according to the second coordinate system are calculated. Matching information is generated based on the calculation results of the coordinates of the plurality of markers calculated before and after the movement of the imaging head 100.

Therefore, as the movement setting work according to the present embodiment, the user U needs to fix the probe 200 at a position where the movable camera 120 can image the plurality of markers eq before moving the imaging head 100. Further, as a movement setting work according to the present embodiment, the user U needs to move the imaging head 100 to a position where the movable camera 120 can image a plurality of markers eq after fixing the probe 200.

However, the user U cannot visually recognize the infrared light generated from the plurality of markers ep. Further, the imaging range of the movable camera 120 in the imaging head 100 is not visible to the user U. Therefore, the setting burden reduction function according to the present embodiment includes displaying an image showing the range that can be imaged by the movable camera 120 of the imaging head 100 on the main body display section 310 when the user U performs movement setting work. Further, the setting burden reduction function according to the present embodiment is generated from an image showing the relative positional relationship between the imaging head 100 and the probe 200 and a plurality of markers eq of the probe 200 when the user U performs movement setting work. This includes displaying an image showing the irradiation range of the light on the main body display section 310.

FIGS. 21 to 24 are diagrams for explaining the movement setting work and the setting burden reduction function according to the second embodiment. In this example, in the initial state, it is assumed that at least one measurement point is specified for the measurement object S in FIG. 1, and the coordinates of each measurement point according to the first coordinate system are calculated.

As shown in the upper part of FIG. 21, when the movement setting work is started, the user U holds the probe 200 and considers a suitable location as the common reference position. At this time, as shown in the lower part of FIG. 21, a head image i101 showing the position of the imaging head 100 in a plan view is displayed on the main body display section 310. Further, the main body display section 310 displays a viewing range image i102 that shows the range that can be imaged by the movable camera 120 in a plan view. Furthermore, a message M11 prompting the installation of the probe 200 is displayed on the main body display section 310. Furthermore, a scale indicating the scale of the viewing range image i102 is displayed on the main body display unit 310. In the following description, an image in which the head image i101 and the viewing range image i102 are combined will be referred to as a head overhead image i100.

Here, the range that can be imaged by the movable camera 120 is a range in which a predetermined imaging accuracy is guaranteed, and in addition to the position of the imaging head 100, the angle of view of the movable camera 120, the depth of focus of the movable camera 120, and the reference stand It is determined by the orientation of the movable camera 120 that can be changed on the camera 10 . This information regarding the movable camera 120 is stored in advance in the main body memory 303 as imaging information. The image data of the viewing range image i102 is generated based on the above imaging information stored in the main body memory 303.

Next, in response to the message M11 shown in the lower part of FIG. 21, the user U places the probe 200 at a position that he deems appropriate as the common standard position, as shown in the upper part of FIG. 22. At this time, when the plurality of markers eq of the probe 200 are imaged by the movable camera 120, the coordinates of the plurality of markers eq according to the first coordinate system are calculated. As a result, as shown in the lower part of FIG. 22, a probe position image i211 indicating the relative position of the probe 200 with respect to the current position of the imaging head 100 is displayed on the main body display section 310 in a superimposed manner on the head overhead image i100. Ru. Further, on the main body display section 310, an irradiation range image i212 indicating the irradiation range of light generated from the plurality of markers eq of the probe 200 is displayed in a superimposed manner on the head overhead image i100. In the following description, the combined image of the probe position image i211 and the irradiation range image i212 will be referred to as a probe overhead image i210.

Thereby, the user U can easily grasp whether the probe 200 is within the range that can be imaged by the movable camera 120 of the imaging head 100 by visually recognizing the head overhead image i100 and the probe overhead image i210. can. Further, the user U can easily grasp whether the light generated from the plurality of markers eq of the probe 200 is incident on the movable camera 120 of the imaging head 100.

Note that the irradiation range of the light generated from the plurality of markers eq of the probe 200 is the range where a predetermined amount of light or more can reach from the probe 200, and is used for the configuration of the target member 290 in FIG. 3 and the light emission of the markers eq. Determined by energy etc. This information regarding the plurality of markers eq is stored in advance in the main body memory 303 as imaging information. The image data of the irradiation range image i212 is generated based on the above imaging information stored in the main body memory 303 and the attitude of the probe 200 calculated from the positions of the plurality of markers eq.

When the installation of the probe 200 is completed, the coordinates of the plurality of markers eq according to the first coordinate system are calculated with the probe 200 fixed, and the calculation results are stored in the main body memory 303 as the coordinates of the common reference position.

Thereafter, the user U moves the imaging head 100 relative to the fixed probe 200, as shown in the upper part of FIG. At this time, the position and orientation of the probe 200 with respect to the imaging head 100 are calculated at minute intervals by the movable camera 120 capturing images of the plurality of markers eq. Based on the calculation results, as shown in the lower part of FIG. 23, the positional relationship between the head overhead image i100 and the probe overhead image i210 is adjusted in real time to follow changes in the relative position of the imaging head 100 with respect to the probe 200. is adjusted.

In the example in the lower part of FIG. 23, the probe position image i211 is out of the visual field range image i102. Thereby, the user U can easily recognize that the current position of the imaging head 100 is inappropriate as the position to which the imaging head 100 is to be moved. At this time, a message M12 may be displayed on the main body display section 310 to notify that the probe 200 is out of the range that can be imaged by the movable camera 120. Note that the main body display section 310 shown in FIG. 23 and the lower part of FIG. An initial state image i190 showing the state of the imaging head 100 is indicated by a dotted line.

The user U moves the imaging head 100 while visually recognizing the head overhead image i100 and the probe overhead image i210. Thereby, as shown in the upper and lower rows of FIG. 24, the imaging head 100 can be moved to an appropriate position in order to align the coordinate systems before and after the movement of the imaging head 100.

When the movement of the imaging head 100 is completed, the coordinates of the plurality of markers eq according to the second coordinate system are calculated, and the calculation results are stored in the main body memory 303 as the coordinates of the common reference position. Matching information is generated based on the coordinates of the plurality of markers eq according to the first coordinate system and the coordinates of the plurality of markers eq according to the second coordinate system, which are stored in the main body memory 303.

<2> Movement setting processing according to the second embodiment FIG. 25 is a diagram illustrating an example of a functional section of the main body control circuit 302 according to the second embodiment. As shown in FIG. 25, the functional units of the main body control circuit 302 according to this embodiment include a coordinate calculation unit 302a, a guidance image generation unit 302b, and a coordinate matching processing unit 302c. The functional units of the main body control circuit 302 are realized by the CPU of the main body control circuit 302 executing a movement setting program stored in the main body memory 303. Some or all of the functional units of the main body control circuit 302 may be realized by hardware such as an electronic circuit. The movement setting process according to the second embodiment will be described below along with the operation of each functional unit in FIG. 25.

26 and 27 are flowcharts illustrating an example of movement setting processing according to the second embodiment. In the present embodiment, as in the first embodiment, when performing the movement setting work described above, the user U starts the movement setting work by operating the main body operation section 320 in FIG. input. The movement setting process shown in FIGS. 26 and 27 is performed by the CPU of the main body control circuit 302 shown in FIG. 25 executing the movement setting program in response to the input to start the movement setting work. The movement setting process provides a function to reduce the setting burden on the three-dimensional coordinate measuring device 1.

When the movement setting process is started, the guide image generation unit 302b in FIG. 25 displays the head overhead image i100 on the main body display unit 310 (step S141). Furthermore, the main body control circuit 302 in FIG. 25 causes the main body display unit 310 to display an image (message, etc.) urging the user to install the probe 200 before moving the imaging head 100 (step S142). The display mode of the main body display section 310 during the processing of steps S141 and S142 above corresponds to the screen display example shown in the lower part of FIG. 21.

Next, the main body control circuit 302 determines whether a plurality of markers eq of the probe 200 are detected by imaging the plurality of markers eq with the movable camera 120 (step S143). If a plurality of markers eq are not detected, the main body control circuit 302 repeats the process of step S143. On the other hand, when a plurality of markers eq are detected, the guidance image generation unit 302b calculates the coordinates of the plurality of markers eq according to the first coordinate system, and generates image data of the probe overhead image i210 based on the calculation result. do. Thereby, the guidance image generation unit 302b displays the probe overhead image i210 superimposed on the head overhead image i100 displayed on the main body display unit 310 (step S144).

The generation and superimposed display of the probe overhead image i210 are updated at minute intervals. Thereby, the user U can grasp the positional relationship between the imaging head 100 and the probe 200 in real time based on the head overhead image i100 and the probe overhead image i210 displayed on the main body display section 310. The display mode of the main body display section 310 during the process of step S144 above corresponds to the screen display example shown in the lower part of FIG. 22.

Next, the main body control circuit 302 determines whether the installation of the probe 200 is completed (step S145). Whether or not the installation of the probe 200 is completed is determined based on, for example, whether or not the user U inputs the completion of the installation of the probe 200 by operating the main body operation section 320 or the touch panel display 230.

In step S145, if the installation of the probe 200 is not completed, the main body control circuit 302 returns the process to step S143. On the other hand, when the installation of the probe 200 is completed, the coordinate calculation unit 302a in FIG. It is stored in the main body memory 303 as (step S146). Thereafter, the main body control circuit 302 causes the main body display unit 310 to display an image (such as a message) urging movement of the imaging head 100 (step S147).

Next, the main body control circuit 302 determines whether or not a plurality of markers eq of the probe 200 are detected by imaging the plurality of markers eq of the probe 200 with the movable camera 120, similarly to the process of step S143 (step S148).

If a plurality of markers eq are not detected, the main body control circuit 302 repeats the process of step S148. On the other hand, when a plurality of markers eq are detected, the guidance image generation unit 302b generates a plurality of probes 200 based on coordinates indicating the positions of the plurality of markers eq calculated according to the current state of the imaging head 100. The position and orientation of the imaging head 100 with respect to the marker eq are calculated (step S149). Further, the guidance image generation unit 302b adjusts the positional relationship between the head overhead image i100 and the probe image i200 displayed on the main body display unit 310 based on the calculation result (step S150). The display mode of the main body display section 310 during the processing of steps S148 to S150 above corresponds to the screen display examples shown in FIGS. 23 and 24.

After that, the main body control circuit 302 determines whether the movement of the imaging head 100 is completed (step S151). Whether the movement of the imaging head 100 is completed is determined based on, for example, whether the user U inputs the completion of movement of the imaging head 100 by operating the main body operation unit 320 or the touch panel display 230. .

In step S151, if the movement of the imaging head 100 is not completed, the main body control circuit 302 returns the process to step S148. On the other hand, when the movement of the imaging head 100 is completed, the coordinate calculation unit 302a in FIG. 25 calculates the coordinates of the plurality of markers eq according to the second coordinate system, and uses the calculation results according to the second coordinate system of the common reference position. The coordinates are stored in the main body memory 303 (step S152).

Next, the coordinate matching processing unit 302c in FIG. 25 moves the imaging head 100 back and forth based on the coordinates according to the first coordinate system and the coordinates according to the second coordinate system of the common reference position stored in the main body memory 303. A matching process is performed to match the coordinate systems of (step S128). Specifically, the coordinate matching processing unit 302c determines the device coordinate system (the above-mentioned first coordinate system) before the imaging head 100 moves, and the device coordinate system (the above-mentioned second coordinate system) after the imaging head 100 moves. (coordinate system)). This matching process includes generating conversion information for converting the first coordinate system to the second coordinate system, and storing the generated conversion information in the main body memory 303. Thereafter, the main body control circuit 302 ends the movement setting process.

<3> Effects of the second embodiment The three-dimensional coordinate measuring device 1 according to the present embodiment has a setting burden reduction function. Thereby, during movement setting work, the user U aligns the first coordinate system and the second coordinate system based on the positional relationship between the head overhead image i100 and the probe image i200 displayed on the main body display section 310. It is possible to easily understand the positional relationship between the imaging head 100 and the probe 200 that can be used. Thereby, the work burden on the user U to align the coordinate systems of the measurement points before and after the movement of the imaging head 100 is reduced. As a result, it becomes possible to easily and appropriately expand the measurable range by the three-dimensional coordinate measuring device 1.

3. Other Embodiments (a) As described above, the setting burden reduction function according to the first embodiment and the setting burden reduction function according to the second embodiment are the contents of the movement setting work of the user U. However, the three-dimensional coordinate measuring device 1 may be configured to be able to selectively use the setting burden reduction function according to the first embodiment and the setting burden reduction function according to the second embodiment. . In this case, the user U can perform the movement setting work in a more appropriate manner depending on the type and shape of the object S to be measured, and the like.

(b) In the first embodiment, when the user U specifies three set points during movement setting work, matching information is generated based on the measurement results of the coordinates of those three set points. However, the present invention is not limited thereto. During the movement setting work, the user U may instruct four set points, or may instruct five or more set points. In this case, if the accuracy of the set point instructions does not drop significantly before and after the movement of the imaging head 100, the larger the number of set points, the more appropriate matching information can be obtained.

(c) In the first embodiment, a plurality of set points are specified for a part of the measurement target S, but the present invention is not limited thereto. The setting point may be specified within the space corresponding to the pre-movement image I10 displayed on the main body display section 310 during the movement setting work. Therefore, the set point may be specified on a part of a member different from the measurement object S (for example, a stage on which the measurement object S is placed).

(d) In the first embodiment, after the imaging head 100 is moved by the movement setting work and after a plurality of set points are specified, a set point deviation list iE and a plurality of delete buttons bd are displayed on the main body display section 310. However, at least one of the set point deviation list iE and the delete button bd may not be displayed.

In this case, the main body control circuit 302 determines whether the indicated state of each set point is good or bad based on the deviation for each set point calculated by the deviation calculation unit 302d and a predetermined threshold value, and makes a judgment. A message (such as a message that requires re-instruction) depending on the result or determination result may be displayed on the main body display section 310.

(e) The three-dimensional coordinate measuring device 1 according to the first embodiment may include a jig configured to be able to position the contact portion 211a at a desired position. For example, the contact portion 211a of the probe 200 described above has a spherical shape. Therefore, the jig may include a mortar-shaped contact portion and a fixing mechanism that can fix the contact portion at an arbitrary position using, for example, a magnet or an adhesive member. According to the mortar-shaped contacted portion, by pressing the spherical contact portion 211a against it, it becomes possible to position the contact portion 211a at a unique point within the non-contacted portion.

When using the above-described jigs, a plurality of jigs are provided at positions corresponding to the plurality of setting points, respectively, at the start of the movement setting work. Thereby, the user U presses the contact portion 211a of the probe 200 against the non-contact portion of each jig before and after moving the imaging head 100. Thereby, the user U can appropriately indicate a plurality of set points.

Note that if a circular opening (for example, a screw hole) having a diameter smaller than the diameter of the contact portion 211a exists in the measurement target S or a member located around it, the position of the opening can be set. It may also be a point. In this case, the user U can relatively easily and appropriately specify the set point without using the above-mentioned jig or the like.

(f) In the three-dimensional coordinate measuring device 1 according to the first embodiment, alignment information is generated by specifying three or more measurement points before and after the movement of the imaging head 100. When using the three-dimensional coordinate measuring device 1 to perform shape measurement that involves movement setting work on a common part of a plurality of measurement objects S having the same shape, the user U performs the same movement setting for each measurement object S. It is necessary to repeat the work.

Therefore, the main body memory 303 of the three-dimensional coordinate measuring device 1 may store a file of information regarding the movement setting work for each type of object S to be measured or for each measurement content of the object S to be measured. In this case, the information regarding the movement setting work may include information indicating the positions of a plurality of setting points to be instructed during the movement setting work of the measuring object S having one shape. Further, the information regarding the movement setting work may include the relative position of the imaging head 100 before the movement with respect to the measurement object S, the relative position of the imaging head 100 after the movement with respect to the measurement object S, and the like. By presenting this information on the main body display section 310, the user U can perform the movement setting work more efficiently.

(g) In the three-dimensional coordinate measuring device 1 according to the second embodiment, the viewing range image i102 of the head overhead image i100 shows the imaging range of the movable camera 120 in the imaging head 100 in a plan view. In addition, in the three-dimensional coordinate measuring device 1 according to the second embodiment, the irradiation range of light generated from the plurality of markers eq of the probe 200 is shown in a plan view by the irradiation range image i212 of the probe overhead image i210. It will be done. However, the present invention is not limited thereto.

During the movement setting work according to the second embodiment, the main body display section 310 displays a side view of the imageable range of the movable camera 120 in addition to or in place of the above-mentioned viewing range image i102. A diagram may be displayed. Furthermore, the main body display unit 310 displays a plurality of markers eq of the probe 200 in addition to or in place of the probe overhead image i210 during the movement setting work according to the second embodiment. A side view of the irradiation range of light emitted from the screen may be displayed. In this case, the measurable range of the measurement target S can be expanded while moving the imaging head 100 in the vertical direction.

(h) The three-dimensional coordinate measuring device 1 according to the second embodiment may include a fixture for fixing the probe 200 before and after the movement of the imaging head 100. The fixture may include a support part that removably supports a part of the probe 200, and a fixing mechanism that can fix the support part in any position using, for example, a magnet or an adhesive member. In this case, by using the above fixture, the movement setting work according to the second embodiment can be performed more appropriately.

(i) In the three-dimensional coordinate measuring device 1 according to the first and second embodiments, conversion information for converting the first coordinate system into the second coordinate system is generated as the matching information. The invention is not limited to this. As matching information, conversion information for converting the second coordinate system into the first coordinate system may be generated, or conversion information for converting the first coordinate system and the second coordinate system into the first coordinate system and the second coordinate system may be generated. Conversion information for converting to a third coordinate system different from the coordinate system may be generated. Even in these cases, by using the generated conversion information, the coordinates of a plurality of measurement points designated before and after the movement of the imaging head 100 can be converted into coordinates according to a common coordinate system.

(j) The first and second embodiments apply the present invention to a contact type probe 200 and a three-dimensional coordinate measuring device that calculates the coordinates of a measurement point indicated by the probe 200 by capturing an image of the probe 200. However, the applicable scope of the present invention is not limited to the above example.

The present invention can also be applied to other three-dimensional coordinate measuring devices that can calculate the coordinates of a measurement point indicated by a probe or the like by optical, electrical, or mechanical means. Specifically, the present invention provides a three-dimensional coordinate measuring device (so-called It can also be applied to laser trackers).

In addition, the present invention provides a method for specifying a measurement point using a probe specified by a multi-joint arm, thereby making it possible to position the specified measurement point based on the output of an encoder built into a plurality of joints of the multi-joint arm. It can also be applied to a three-dimensional coordinate measuring device that calculates.

The present invention also provides a non-contact type probe capable of non-contactly obtaining the shape of at least a portion of the object S to be measured or the position of a measurement point using a camera or the like, and by imaging the probe. The present invention can also be applied to a three-dimensional coordinate measuring device that calculates the coordinates of at least a portion of the measured object S. Examples of such three-dimensional coordinate measuring devices include camera type CMMs (Coordinate Measuring Machines) and marker detection type CMMs.

4. Correspondence between each component of the claims and each part of the embodiments Examples of correspondences between each component of the claims and each part of the embodiments will be described below, but the present invention is not limited to the following examples. Various other elements having the configuration or function described in the claims can be used as each component in the claims.

In the embodiment described above, the three-dimensional coordinate measuring device 1 is an example of a three-dimensional coordinate measuring device, the installation state before the imaging head 100 is moved is an example of the first installation state, and the installation state after the imaging head 100 is moved is an example of the first installation state. The installation state is an example of the second installation state, the probe 200 is an example of the probe, the imaging head 100 is an example of the main body part, the main body memory 303 is an example of the storage part, and the main body control circuit 302 is an example of the second installation state. This is an example of the measurement unit, the main body control circuit 302 and the coordinate calculation unit 302a are examples of the coordinate calculation unit, the coordinate matching processing unit 302c is an example of the coordinate matching processing unit, and the guided image generation unit 302b is an example of the guided image generation unit. This is an example.

Further, the probe camera 208 is an example of a probe imaging section, the movable camera 120 is an example of a main body imaging section, the plurality of markers eq of the probe 200 are an example of a plurality of measurement markers, and the indicators indicating a plurality of set points. The guided image (FIG. 14, etc.) in which is displayed superimposed on the pre-movement image I10 is an example of the first guided image, and the head overhead image i100 and the probe image i200 are examples of the second guided image.

5. Summary of Embodiments (Section 1) The three-dimensional coordinate measuring device according to Section 1 is
a probe that indicates the measurement point;
a main body that generates information regarding the position and orientation of the probe;
Measure the position and orientation of the probe that indicates the measurement point based on information generated by the main body, and define according to the installation state of the main body based on the measured position and orientation of the probe. a coordinate calculation unit that calculates the coordinates of the measurement point on the coordinate system to be measured;
a storage unit that stores coordinates of a first measurement point calculated by the coordinate calculation unit when the main body unit is in a first installation state;
When the installation state of the main body is changed from the first installation state to the second installation state, a first coordinate system corresponding to the first installation state and a first coordinate system corresponding to the second installation state. a coordinate matching processing unit that matches the second coordinate system with the second coordinate system;
The first coordinate system and the second coordinate system aligned by the coordinate matching processing section, the coordinates of the first measurement point stored in the storage section, and the installation state of the main body section are a measurement unit that performs a measurement across the first measurement point and the second measurement point based on the coordinates of the second measurement point calculated by the coordinate calculation unit when the measurement unit is in an installed state;
The apparatus further includes a guidance image generation section that generates a guidance image based on the relative positional relationship between the probe and the main body in order to align the first coordinate system and the second coordinate system.

According to the above three-dimensional coordinate measuring device, the user can easily and appropriately operate the probe based on the above-mentioned guidance image when aligning the first coordinate system and the second coordinate system. In addition, it is possible to easily grasp a predetermined range in which the installation state of the main body can be changed. Thereby, the installation state of the main body can be easily and appropriately changed.

Therefore, the work burden on the user for aligning the coordinate systems of the measurement points before and after changing the installation state of the main body is reduced. As a result, it becomes possible to easily and appropriately expand the measurable range by the three-dimensional coordinate measuring device.

(Section 2) In the three-dimensional coordinate measuring device according to Section 1,
The coordinate matching processing section may generate matching information for converting at least one of the first coordinate system and the second coordinate system into a common coordinate system.

In this case, based on the alignment information, it becomes possible to express the coordinates of a plurality of measurement points designated before and after changing the installation state of the main body according to a common coordinate system.

(Section 3) In the three-dimensional coordinate measuring device according to Item 1 or 2,
The probe is further configured to indicate a set point for aligning the first coordinate system and the second coordinate system;
The guidance image generation unit generates, as the guidance image, an image showing an operation procedure of the probe to be operated to align the first coordinate system and the second coordinate system,
The operation procedure of the probe to be operated to align the first coordinate system and the second coordinate system is instructed by the probe when the main body is in the first installed state. indicating with the probe a set point corresponding to a first set point, a second set point, and a third set point, respectively, when the body portion is in the second installed state;
The guidance image may be an image showing the first set point, the second set point, and the third set point.

In this case, when the main body is in the second installation state, the user sets the set points corresponding to the first set point, the second set point, and the third set point, respectively, based on the guidance image. It can be easily and appropriately indicated by a probe.

(Section 4) In the three-dimensional coordinate measuring device according to Section 3,
The coordinate matching processing unit determines the coordinates of the first set point, the second set point, and the third set point according to the first coordinate system when the main body is in the first installed state. and according to the second coordinate system of set points corresponding to the first set point, the second set point, and the third set point, respectively, when the main body is in the second installed state. The first coordinate system and the second coordinate system may be matched based on the coordinates.

In this case, an indication of a first set point, a second set point, and a third set point when the main body is in the first installed state, and an indication of the first set point when the main body is in the second installed state are provided. The first coordinate system and the second coordinate system are aligned by designating set points corresponding to the set point, the second set point, and the third set point, respectively.

(Section 5) In the three-dimensional coordinate measuring device according to Section 3 or 4,
The three-dimensional coordinate measuring device includes:
a probe integrally fixed to the probe for generating an image indicative of the region of interest by imaging the region of interest including the first set point, the second set point, and the third set point; further including an imaging unit;
The probe imaging unit is integrally fixed to the probe,
The guided image includes the first set point, the second set point, and It may also include an image in which an image indicating the third set point is displayed in a superimposed manner.

In this case, since the probe imaging section is integrally fixed to the probe, the imaging field of the probe imaging section is uniquely determined by the position and orientation of the probe. As a result, in the image generated by the probe imaging unit when the main body is in the first installation state, the first set point, the second set point, and the second set point whose coordinates according to the first coordinate system are calculated are The location of the 3 set points can be precisely indicated. Therefore, the user can easily and accurately grasp the positions of the first set point, second set point, and third set point based on the guided image.

As a result, the setting points corresponding to the first setting point, the second setting point, and the third setting point are more appropriately specified, and the matching process between the first coordinate system and the second coordinate system is performed. accuracy is improved.

(Section 6) In the three-dimensional coordinate measuring device according to any one of Items 3 to 5,
The three-dimensional coordinate measuring device includes:
a relative first position between the first set point, the second set point, and the third set point indicated by the probe when the body portion is in the first installed state; and the set points corresponding to the first set point, the second set point, and the third set point indicated by the probe when the main body is in the second installed state. The device may further include a deviation generation unit that generates deviation information between the second positional relationship and the relative second positional relationship.

In this case, the user sets the settings corresponding to the first set point, the second set point, and the third set point, respectively, based on the deviation information between the first positional relationship and the second positional relationship. It is possible to easily recognize whether the point indication is good or bad.

(Section 7) In the three-dimensional coordinate measuring device according to Item 1 or 2,
The guidance image generation unit generates, as the guidance image, an image showing a predetermined changeable range of the installation state of the main body in order to match the first coordinate system and the second coordinate system. ,
The main body includes a main body imaging unit for generating an image of the probe as information regarding the position and orientation of the probe by imaging the probe,
The guidance image may be an image showing a range in which the probe can be imaged by the main body imaging unit as a range in which the predetermined installation state of the main body can be changed.

In this case, the user can easily grasp the range in which the probe can be imaged by the main body imaging section based on the guided image. Thereby, the installation state of the main body can be easily and appropriately changed.

(Section 8) In the three-dimensional coordinate measuring device according to Section 7,
The probe has a plurality of measurement markers,
An image showing the plurality of measurement markers is generated by the main body imaging unit capturing the plurality of measurement markers,
The coordinate calculation unit calculates the plurality of measurement markers on a coordinate system defined according to the installation state of the main body based on the images of the plurality of measurement markers when measuring the position and orientation of the probe. Further calculate the coordinates of
The alignment information generation unit is configured to generate coordinates of the plurality of measurement markers according to the first coordinate system, which are calculated when the main body is in the first installation state with the probe fixed; the first coordinate system and the second coordinate system based on the coordinates of the plurality of measurement markers according to the second coordinate system calculated when the main body is in the second installation state; They may be matched.

In this case, with the probe fixed, the main body is placed in the first installation state and the main body imaging section images a plurality of measurement markers, and the main body is placed in the second installation state and the main body imaging section images a plurality of measurement markers. By capturing an image of the measurement marker, the first coordinate system and the second coordinate system are aligned.

(Section 9) In the three-dimensional coordinate measuring device according to Section 8,
The image indicating the range in which the probe can be imaged by the main body imaging section may include at least one of an imaging field of view of the main body imaging section and an irradiation range of light generated from the measurement marker.

In this case, the user can more easily and appropriately change the installation state of the main body based on the guidance image.

(Section 10) In the three-dimensional coordinate measuring device according to Section 1,
The guided image generation unit generates at least one of a first guided image and a second guided image as the guided image,
The first guidance image is an image showing a procedure for operating the probe to align the first coordinate system and the second coordinate system,
The second guidance image may be an image showing a predetermined range in which the installation state of the main body can be changed in order to match the first coordinate system and the second coordinate system.

In this case, the user can easily and appropriately operate the probe to align the first coordinate system and the second coordinate system based on the first guidance image. Alternatively, the user can easily grasp the changeable range of the installation state of the main body section, which is predetermined in order to match the first coordinate system and the second coordinate system, based on the second guidance image. be able to. Thereby, the installation state of the main body can be easily and appropriately changed.

DESCRIPTION OF SYMBOLS 1... Three-dimensional coordinate measuring device, 2... Plane, 10... Reference stand, 20... Fixed connection part, 30... Support member, 40... Movable member, 50... Bellows, 90... Casing, 100... Imaging head, 110... Reference camera , 120...Movable camera, 130...Marker drive circuit, 140...Rotation drive circuit, 150...Head control circuit, 160...Wireless communication circuit, 170...Communication circuit, 180...Overhead camera, 190...Reference member, 200...Probe, 201 ...Probe control unit, 202...Indicator light, 203...Battery, 204...Marker drive circuit, 205...Probe memory, 206...Wireless communication circuit, 207...Motion sensor, 208...Probe camera, 210...Probe casing, 210a...Front end part , 210b...rear end part, 210c...top part, 210d...bottom part, 211...stylus, 211a...contact part, 220...grip part, 221...probe operating part, 230...touch panel display, 231...probe display part, 232... Touch panel, 290...Target member, 300...Processing device, 301...Communication circuit, 302...Main body control circuit, 302a...Coordinate calculation section, 302b...Guidance image generation section, 302c...Coordinate matching processing section, 302d...Difference calculation section, 303 ...Body memory, 310...Body display section, 310L...Left display area, 310R...Right display area, 320...Body operation section, CA...Cable, I10...Image before movement, I20...Image after movement, M1, M2, M11, M12...Message, S...Measurement object, U...User, bd...Delete button, ep, eq...Marker, i100...Head overhead image, i101...Head image, i102...Viewing range image, i190...Initial state image, i200 ...Probe image, i210...Probe overhead image, i211...Probe position image, i212...Irradiation range image, iE...Set point deviation list, iS...Image, m1, m2...Measurement point, s1...Base part, s2...Protrusion part, s11...Top surface, s12, s21, s22...Top surface

Claims (10)

a probe that indicates the measurement point;
a main body that generates information regarding the position and orientation of the probe;
Measure the position and orientation of the probe that indicates the measurement point based on information generated by the main body, and define according to the installation state of the main body based on the measured position and orientation of the probe. a coordinate calculation unit that calculates the coordinates of the measurement point on the coordinate system to be measured;
a storage unit that stores coordinates of a first measurement point calculated by the coordinate calculation unit when the main body unit is in a first installation state;
When the installation state of the main body is changed from the first installation state to the second installation state, a first coordinate system corresponding to the first installation state and a first coordinate system corresponding to the second installation state. a coordinate matching processing unit that matches the second coordinate system with the second coordinate system;
The first coordinate system and the second coordinate system aligned by the coordinate matching processing section, the coordinates of the first measurement point stored in the storage section, and the installation state of the main body section are a measurement unit that performs a measurement across the first measurement point and the second measurement point based on the coordinates of the second measurement point calculated by the coordinate calculation unit when the measurement unit is in an installed state;
A three-dimensional coordinate measuring device, comprising a guidance image generation unit that generates a guidance image based on the relative positional relationship between the probe and the main body in order to align the first coordinate system and the second coordinate system. . The three-dimensional coordinate system according to claim 1, wherein the coordinate matching processing unit generates matching information for converting at least one of the first coordinate system and the second coordinate system into a common coordinate system. Coordinate measuring device. The probe is further configured to indicate a set point for aligning the first coordinate system and the second coordinate system;
The guidance image generation unit generates, as the guidance image, an image showing an operation procedure of the probe to be operated to align the first coordinate system and the second coordinate system,
The operation procedure of the probe to be operated to align the first coordinate system and the second coordinate system is instructed by the probe when the main body is in the first installed state. indicating with the probe a set point corresponding to a first set point, a second set point, and a third set point, respectively, when the body portion is in the second installed state;
The three-dimensional coordinate measuring device according to claim 1 or 2, wherein the guidance image is an image showing the first set point, the second set point, and the third set point. The coordinate matching processing unit determines the coordinates of the first set point, the second set point, and the third set point according to the first coordinate system when the main body is in the first installed state. and according to the second coordinate system of set points corresponding to the first set point, the second set point, and the third set point, respectively, when the main body is in the second installed state. The three-dimensional coordinate measuring device according to claim 3, wherein the first coordinate system and the second coordinate system are matched based on the coordinates. a probe integrally fixed to the probe for generating an image indicative of the region of interest by imaging the region of interest including the first set point, the second set point, and the third set point; further including an imaging unit;
The probe imaging unit is integrally fixed to the probe,
The guided image includes the first set point, the second set point, and The three-dimensional coordinate measuring device according to claim 3, further comprising an image in which an image indicating the third set point is displayed in a superimposed manner. a relative first position between the first set point, the second set point, and the third set point indicated by the probe when the body portion is in the first installed state; and the set points corresponding to the first set point, the second set point, and the third set point indicated by the probe when the main body is in the second installed state. 4. The three-dimensional coordinate measuring device according to claim 3, further comprising a deviation generating section that generates deviation information between the two relative second positional relationships. The guidance image generation unit generates, as the guidance image, an image showing a predetermined changeable range of the installation state of the main body in order to match the first coordinate system and the second coordinate system. ,
The main body includes a main body imaging unit for generating an image of the probe as information regarding the position and orientation of the probe by imaging the probe,
The three-dimensional coordinate measuring device according to claim 1 or 2, wherein the guidance image is an image indicating a range in which the probe can be imaged by the main body imaging unit as a changeable range of the predetermined installation state of the main body. . The probe has a plurality of measurement markers,
An image showing the plurality of measurement markers is generated by the main body imaging unit capturing the plurality of measurement markers,
The coordinate calculation unit calculates the plurality of measurement markers on a coordinate system defined according to the installation state of the main body based on the images of the plurality of measurement markers when measuring the position and orientation of the probe. Further calculate the coordinates of
The alignment information generation unit is configured to generate coordinates of the plurality of measurement markers according to the first coordinate system, which are calculated when the main body is in the first installation state with the probe fixed; the first coordinate system and the second coordinate system based on the coordinates of the plurality of measurement markers according to the second coordinate system calculated when the main body is in the second installation state; The three-dimensional coordinate measuring device according to claim 7, wherein the three-dimensional coordinate measuring device is aligned. The three-dimensional image sensor according to claim 8, wherein the image showing the range in which the probe can be imaged by the main body imaging section includes at least one of an imaging field of view of the main body imaging section and an irradiation range of light generated from the measurement marker. Coordinate measuring device. The guided image generation unit generates at least one of a first guided image and a second guided image as the guided image,
The first guidance image is an image showing a procedure for operating the probe to align the first coordinate system and the second coordinate system,
1 . The second guiding image is an image showing a predetermined range in which the installation state of the main body can be changed in order to match the first coordinate system and the second coordinate system. The three-dimensional coordinate measuring device described.

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