JP4555762B2 - LENGTH MEASUREMENT DEVICE, LENGTH MEASUREMENT METHOD, AND LENGTH MEASUREMENT COMPUTER PROGRAM - Google Patents

Description

  The present invention relates to a length measuring device, a length measuring method, and a length measuring computer program for measuring the length of a measurement object by image processing.

Generally, a long material formed into a columnar shape or a tubular shape by rolling or the like is cut into a predetermined length by a cutting process to become a product. In this case, the length of the cut long product is measured to inspect whether the length of the product is within a predetermined length, that is, within the product specification standard. As a length measuring device in such a product length inspection, for example, a device using a charge-coupled device (CCD) as disclosed in Patent Document 1 is known.
JP-A-6-18228

  In the length measuring device described in Patent Document 1, positioning is performed by bringing the leading end of a long product, which has been rolled by a rolling mill and then cut into a predetermined length, into contact with a material alignment stopper. The front end and rear end of the product are imaged by a CCD camera disposed above the front end and rear end of the product. In this case, each CCD camera is provided with illumination that illuminates the front end and rear end of the product, and each CCD camera receives each reflected light from the front end and rear end of the product, An electrical signal corresponding to the amount of light is output to the image processing apparatus for each pixel. The image processing device generates two-dimensional shape data representing the shape of the front end portion and the rear end portion of the product based on the electrical signal output for each pixel from each CCD camera, and the front end portion and the rear end portion of the product. Each end is detected to measure the product length.

  However, in such a length measuring apparatus using a CCD camera, the light receiving surface of the CCD camera is the object to be measured in order to accurately detect each end of the front end and rear end of the measurement object (product). The CCD camera must be arranged so as to be orthogonal to each end face at each end of the object. For this reason, the arrangement position of the CCD camera is limited to a narrow range. This CCD camera placement work is a complicated work, and there is a problem that it is necessary to periodically calibrate the CCD camera placement position. Further, since the image data representing the shape of each end of the measurement object generated by the image processing apparatus is two-dimensional image data representing the outer periphery of the measurement object, the shape of each end of the measurement object is bent. If the end face of each end is inclined with respect to the axial direction of the measurement object, image data with different end face shapes is detected depending on the orientation of the measurement object with respect to the light receiving surface of the CCD camera, and the accuracy is high. There was a problem that the length of the measurement object could not be measured.

  The present invention has been made to cope with the above problem, and the object thereof is not to strictly position and arrange an imaging device for imaging each end of the measurement object, and each end of the measurement object. The length of the object to be measured is accurate regardless of the orientation of the end face with respect to the imaging device, even when the shape is bent or the end face at each end is inclined with respect to the axial direction of the object to be measured. An object of the present invention is to provide a length measuring device, a length measuring method, and a computer program for length measurement that can be measured well.

In order to achieve the above object, the present invention is characterized in that, in a length measurement device for measuring the length of a measurement object, a support means for supporting the measurement object and light irradiated toward the measurement object are the same. A three-dimensional shape measuring apparatus for measuring the three-dimensional shape of the surface of the measuring object including at least an end including the end face to be subjected to length measurement in the measuring object, using reflected light from the measuring object; Reference plane defining means for defining a plane perpendicular to the axis between the end faces of the measurement object supported by the support means as a reference plane, and a predetermined second in the coordinate system of the three-dimensional shape measuring apparatus. Of the measurement object with one measurement reference position and a predetermined second measurement reference position for specifying the position of the end surface at the end opposite to the end of the measurement object measured by the three-dimensional shape measurement apparatus The distance along the axis is the reference distance Storage means for storing as, three-dimensional shape data group generating means for generating a three-dimensional shape data group representing a three-dimensional surface shape of the measurement object measured by a three-dimensional shape measuring apparatus, and the generated three-dimensional An end face defining means for defining an end face to be subjected to length measurement in the measurement object using the shape data group, and a measuring plane including one point in the end face defined by the end face defining means and parallel to the reference plane Measuring plane defining means for defining the distance between the measuring plane defined by the measuring plane defining means and the first measurement reference position as the first distance, and calculating the first distance from the reference distance stored in the storage device . And a length calculating means for calculating the length of the measurement object by subtracting one distance .

  In this case, the first measurement reference position is the coordinate origin in the coordinate system of the three-dimensional shape measurement apparatus, and the second measurement reference position is opposite to the end of the measurement object measured by the three-dimensional shape measurement apparatus. The end on the side may be positioned at a specific position. Here, the specific position is, for example, the position of the same end when the workpiece is positioned at a specific position by contacting one end of the workpiece. Further, in place of the first measurement reference position and the second measurement reference position, a three-dimensional shape measurement device is prepared for each end surface to be measured of the measurement object, that is, two three-dimensional shape measurement devices are prepared, The first measurement reference position may be the coordinate origin in the coordinate system of one three-dimensional shape measurement apparatus, and the second measurement reference position may be the coordinate origin in the coordinate system of the other three-dimensional shape measurement apparatus.

  In this case, the two three-dimensional shape measurement apparatuses in the length measurement apparatus irradiate light toward the measurement object, and use the reflected light from the measurement object to measure the length of the measurement object. The three-dimensional shape of the surface of the measurement object including at least each end including each of the two target end surfaces is measured, and the reference surface definition means measures the length of the measurement object supported by the support means. A plane perpendicular to the axis between the end surfaces to be subjected to the measurement is defined as a reference plane, and the storage means is a predetermined first in the coordinate system of one of the three three-dimensional shape measuring devices. The distance along the axis of the measurement object between the measurement reference position and a predetermined second measurement reference position in the coordinate system of the other three-dimensional shape measuring apparatus is stored as a reference distance, and the three-dimensional shape data group generation hand Respectively generate three-dimensional shape data groups representing the three-dimensional surface shape of the measurement object respectively measured by the two three-dimensional shape measurement devices, and the end surface defining means generates each of the generated three-dimensional shape data. Two end surfaces to be length measurement targets in the measurement object are defined using a group, and the measurement plane definition means includes one point in each end face defined by the end face definition means, and a reference The measurement plane parallel to the surface is defined, and the length calculation means calculates the distance between the measurement plane corresponding to the one three-dimensional shape measuring apparatus and the first measurement reference position as the first distance. The distance between the measurement plane corresponding to the other three-dimensional shape measuring apparatus and the second measurement reference position is calculated as a second distance, and the first distance and the first distance and the reference distance stored in the storage device are calculated. The second distance may be such that calculates the length of the measurement object by subtracting.

  Further, in each of the cases where the first measurement reference position and the second measurement reference position are the above, one point included in the measurement plane at each end face defined by the end face defining means is a center point on the end face, and a center of gravity on the end face. Any one of a point, a point closest to the three-dimensional shape measuring device facing the same end surface, and a point farthest from the three-dimensional shape measuring device facing the same end surface may be used.

  According to the feature of the present invention configured as described above, the distance between the first measurement reference position and the second measurement reference position along the axis between the end faces to be measured in the measurement object in the storage device is set as the reference distance. I remember it. Here, the first measurement reference position exists in the coordinate system of the three-dimensional shape measurement apparatus, and the first measurement reference position and the position of the end face of the measurement object measured by the three-dimensional shape measurement apparatus are specified. The In addition, the second measurement reference position is a position that specifies the position of the other end surface that is the measurement target in the measurement target. Then, a measurement plane parallel to the reference plane orthogonal to the axis is defined as an end surface to be measured, and the length of the measurement target is calculated using the measurement plane and the reference distance. According to this, if a measurement plane can be defined for the end surface to be measured, that is, if 3D shape data representing the surface shape of the end of the measurement object including the end surface to be measured can be obtained, measurement is always performed. The length of the measurement object can be measured along the axis of the object, and the arrangement position of the three-dimensional shape measurement apparatus is not limited. In addition, since the measurement plane is defined by three-dimensional data, a constant plane can be defined regardless of the shape of the end surface to be measured and the direction of the end surface with respect to the three-dimensional shape measuring apparatus. As a result, the length of the measurement object can be measured with high accuracy.

  Further, in the length measuring apparatus, the measurement plane defining means further uses the 3D data representing the surface shape of the outer peripheral surface at the end of the measurement object in the 3D shape data group. A center axis calculating means for calculating the center axis of the object, and an end face center for calculating an intersection of the end surface defined by the end face defining means and the center axis calculated by the center axis calculating means as the center point of the end face of the measurement object A calculation means, and a plane including the center point of the end face calculated by the end face center calculation means and parallel to the reference plane is defined as a measurement plane. According to this, even when the end surface to be measured is not completely perpendicular to the central axis or when the end surface is slightly bent, the measurement is based on the intersection of the end surface and the central axis of the measurement object. Since the work plane is defined, the measurement plane can be defined based on the accurate center point on the end face.

  According to another aspect of the present invention, in the length measurement apparatus, when the angle of the end face defined by the end face defining means with respect to the reference plane is within a predetermined range, the length of the measurement object is measured. A length measurement availability determination unit that determines that the measurement target is capable of being measured when the length measurement capability determination unit determines that the length measurement of the measurement target is possible. The length is calculated. According to this, the length measurement of the measurement object can be performed and measured only when the end surface as the measurement object is deviated from the perpendicular to the axis of the measurement object by an angle within a predetermined range. The length comparison between measurement objects can be performed more accurately.

  Another feature of the present invention is that the length measurement apparatus further includes an end of the measurement object using three-dimensional data representing the surface shape of the end of the measurement object in the three-dimensional shape data group. Bending determination means for determining the presence or absence of bending of the part, and when the bending determination means determines that there is bending at the end of the measurement object, the measurement plane defined by the measurement plane definition means, A measurement plane correction unit that corrects the measurement plane when the end of the measurement object is linear, and the length calculation unit is defined by the measurement plane definition unit or the measurement plane. The length of the measurement object is calculated using the measurement plane corrected by the plane correction means and the reference distance stored in the storage device. According to this, even when the end portion of the measurement object is bent, the length of the measurement object can be measured when the end portion is bent and formed in a straight line. That is, even if the same end is bent and deformed, the original length of the measuring object can be measured.

Another feature of the present invention is that, in the length measurement apparatus, a three-dimensional shape data group generated corresponding to a plurality of measurement objects supported by the support means is further measured. has three-dimensional shape data classifying means for classifying each object, the end surface defining means defines an end face to be the length measurement for each of the plurality of the measurement object, the measurement plane defining means, said plurality of A measurement plane is defined for each measurement object, and the length calculation means is configured to measure the length of the measurement object for each of the plurality of measurement objects. According to this, a plurality of measurement objects can be supported by the support means, and the lengths of the plurality of measurement objects can be measured simultaneously. Thereby, the length measurement of a measuring object can be performed efficiently.

  The present invention can be implemented not only as an apparatus invention but also as a method invention and a computer program invention.

  Hereinafter, an embodiment of a length measuring apparatus according to the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing a basic configuration of a length measuring apparatus according to an embodiment of the present invention.

  This length measuring device includes two square columnar support bases 10 that respectively support both end sides of a round bar-shaped measurement object (hereinafter referred to as “workpiece”) WK. This support base 10 corresponds to the support means according to the present invention. The two support bases 10 are formed in the same shape as each other. Specifically, as shown in FIG. 2, on the upper surface of the main body 10a formed in the shape of a quadrangular column, along the longitudinal direction of the main body 10a. Three support portions 10b are formed at intervals. These three support portions 10b are each formed in a V-groove shape in a direction orthogonal to the longitudinal direction of the main body portion 10a, and stably support the workpiece WK placed on the support base 10. These two support bases 10 are arranged in parallel to each other in a measurement target space of a later-described three-dimensional shape measuring apparatus 20A, 20B, and support one work WK in a horizontal state by the two support bases 10. In the present embodiment, the three support portions 10b are provided on the support base 10 so that the lengths of the three workpieces WK can be measured simultaneously. However, the number of the support portions 10b is as follows. What is necessary is just to change suitably according to the number of the workpiece | work WK measured simultaneously.

  Disposed above each of the support bases 10 at different positions toward the support base 10, specifically, toward the two end surfaces Sa and Sb of the workpiece WK placed on the support base 10, respectively. The three-dimensional shape measuring devices 20A and 20B are provided. These three-dimensional shape measuring apparatuses 20A and 20B measure the three-dimensional shape of each end including the end surfaces Sa and Sb of the workpiece WK placed on the support base 10 using light. Is output, and the amount of reflected light from the surface of the workpiece WK is measured, and the amount of reflected light measurement information representing the measurement result is output. These three-dimensional shape measuring apparatuses 20A and 20B measure the three-dimensional surface shape of an object using light and output a signal representing the measured three-dimensional surface shape, and the amount of light reflected from the surface of the object. Any three-dimensional shape measuring apparatus can be used as long as it outputs a signal to represent. Note that the reflectance or color of an object may be identified instead of the amount of reflected light. In this embodiment, a method for measuring the three-dimensional surface shape of an object according to a triangulation method using laser light and measuring the amount of reflected light from the object surface will be briefly introduced.

  In this three-dimensional shape measuring apparatus, a virtual plane that is substantially perpendicular to the traveling direction of laser light emitted from a laser light source toward an object is assumed, and an X-axis direction and a Y-axis that are orthogonal to each other on the virtual plane. Assume a large number of minute areas divided along the direction. Then, the three-dimensional shape measuring apparatus sequentially irradiates the plurality of minute areas with laser light, sequentially detects the distance to the object surface defined by the minute areas by reflected light from the object as a Z-axis direction distance, Information on X, Y, and Z coordinates representing each divided area position obtained by dividing the surface of the object into minute areas is obtained, and the shape of the object surface facing the three-dimensional shape measuring apparatus is measured. In addition, this three-dimensional shape measuring apparatus measures the shape of the object surface and simultaneously detects the reflected light from the object for each minute area and measures the amount of reflected light for each minute area. .

  Accordingly, the three-dimensional shape measuring apparatus includes an X-axis direction scanner that changes the direction of the emitted laser light in the X-axis direction, a Y-axis direction scanner that changes the direction of the emitted laser light in the Y-axis direction, and an object surface. And a photodetector that detects the distance to the object surface and the amount of light reflected from the object surface by receiving the reflected laser light reflected by the light source. The X-axis direction scanner and the Y-axis direction scanner may be any mechanism that can change the optical path of the laser beam emitted from the laser light source independently in the X-axis direction and the Y-axis direction. Rotate by an electric motor around the axis in the axial direction and the Y-axis direction, or rotate a galvano mirror provided in the optical path of the emitted laser light and changing its direction by an electric motor around the axis in the X-axis direction and the Y-axis direction A mechanism is available. As the photodetector, a plurality of imaging lenses such as an imaging lens that rotates following the optical path of the emitted laser beam and collects the reflected laser beam reflected on the object surface and a CCD that receives the collected laser beam are used. The light sensor is arranged in a line, and the distance to the object surface is detected by the position of the reflected laser beam received by the line sensor, and the reflected light from the object surface is detected by the light reception width of the reflected laser beam. The amount of light is detected.

  Therefore, such a three-dimensional shape measuring apparatus uses the reference direction of the laser beam emitted by the X-axis direction scanner as information on the X, Y, and Z coordinates representing the divided area positions obtained by dividing the surface of the object into minute areas. The tilt θx in the X-axis direction with respect to the angle, the tilt θy in the Y-axis direction with respect to the reference direction of the laser beam emitted by the Y-axis direction scanner, the distance Lz to the object surface by the photodetector, and the object surface by the photodetector Is output for each of a large number of minute areas divided along the virtual X-axis direction and Y-axis direction. More specifically, the inclinations θx and θy in the X-axis and Y-axis directions are rotation angles from the reference position of the electric motor. The distance Lz to the object surface is the light receiving position of the reflected laser light at the line sensor, and the reflected light amount Lzs from the object surface is the light receiving width of the reflected laser light at the line sensor. Note that the three-dimensional shape measuring apparatus has an abrupt amount of reflected light Lzs from the object surface in addition to the output for each of a large number of areas divided along the X-axis direction and the Y-axis direction according to a command from the controller 31 described later. When changed, the inclination θx in the X-axis direction, the inclination θy in the Y-axis direction, the distance Lz to the object surface, and the amount of reflected light Lzs from the object surface are output.

  A controller 31 and a three-dimensional image data processing device 32 are connected to these three-dimensional shape measuring devices 20A and 20B, respectively. The controller 31 controls the operations of the three-dimensional shape measuring apparatuses 20A and 20B in accordance with instructions from the input device 33 formed of a keyboard. Further, the controller 31 controls the operation of the three-dimensional image data processing device 32 in accordance with an instruction from the input device 33 and supplies the data input by the input device 33 to the three-dimensional image data processing device 32.

  The three-dimensional image data processing device 32 is constituted by a computer device, and the three-dimensional shape measuring device is executed by executing the programs shown in FIGS. 3, 5, 6, 8, 12, 13, 16, and 18. Information on the three-dimensional images from 20A and 20B, specifically, an inclination θx in the X-axis direction, an inclination θy in the Y-axis direction, and a distance Lz to the object surface are input and located in the measurement target space. Three-dimensional image data of the object is generated, and the length of the work WK is calculated using the generated three-dimensional image data. In addition, the three-dimensional image data processing device 32 receives the amount of reflected light Lzs from the object surface, and calculates the amount of reflected light for each minute area of the object surface located in the measurement target space.

  A display device 34 is connected to the three-dimensional image data processing device 32. The display device 34 includes a liquid crystal display, a plasma display, a CRT display, or the like, and displays the execution process of each program executed by the three-dimensional image data processing device 32 and the length of the work WK calculated by the execution of each program. To do.

Next, the operation of the length measuring apparatus configured as described above will be described. The operator operates the input device 33 to instruct measurement of the length of the work WK. The instruction to measure the length of the work WK is transmitted to the three-dimensional image data processing device 32 via the controller 31, and the three-dimensional image data processing device 32 executes the work length measurement program shown in FIG. 3 in step S100. starting Te at step S102, calculates a reference distance _{L 0.} As shown in FIG. 4, the reference distance L ₀ is a reference length for calculating the length of the workpiece WK, and is calculated by measuring the reference object 40 set on the support base 10. . The reference object 40 is a round bar whose cross-sectional shape is formed in a perfect circle shape, and each end surface 40 a, 40 b at both ends of the reference object 40 has a shape orthogonal to the axis of the reference object 40. The length L ₄₀ of the reference object 40 in advance has been recognized by the worker, it is previously stored in the storage device of the three-dimensional image data processing apparatus 32. Further, the amount of reflected light reflected from the end surfaces 40a and 40b when the two end surfaces 40a and 40b of the reference object 40 are irradiated with laser light is recognized in advance by the operator, and three-dimensional image data processing is performed. The amount of reflected light is stored in advance in the storage device of the device 32.

  The operator places the reference object 40 on each support portion 10 b of the support base 10, specifically, places each end of the reference object 40 on each support portion 10 b of the two support bases 10. Thus, the reference object 40 is arranged in each measurement target space of the three-dimensional shape measuring apparatuses 20A and 20B. In this case, the end surface 40a of the reference object 40 faces the three-dimensional shape measuring apparatus 20A, and the end surface 40b of the reference object 40 is arranged in a state facing the three-dimensional shape measuring apparatus 20B. The reference object 40 may be placed on any of the three support portions 10b of the support base 10 but may be placed on the support portions 10b corresponding to each other between the two support bases 10. Put. That is, the reference object 40 is placed in a state orthogonal to the longitudinal direction of the support base 10.

  On the other hand, the three-dimensional image data processing device 32 starts execution of the reference distance calculation subprogram shown in FIG. 5 in step 200, and inputs measurement information by the three-dimensional shape measuring devices 20A and 20B in step S202. wait. The three-dimensional shape measuring apparatuses 20A and 20B are controlled by the controller 31, and the three-dimensional surface of the reference object 40 (including an object existing around the reference object 40 such as the support table 10) disposed in the measurement target space. While measuring the shape, information representing the surface shape of the reference object 40 and information representing the amount of reflected light from the surface of the reference object 40 are output to the three-dimensional image data processing device 32, respectively. That is, from the information (specifically, inclination θx, θy and distance Lz) regarding the X, Y, and Z coordinates representing the divided area positions obtained by dividing the surface of the reference object 40 into minute areas, and the object surface of the reference object 40 Information on the amount of reflected light (specifically, the amount of reflected light Lzs) is output. Therefore, in step S202, the three-dimensional image data processing device 32 receives information on the X, Y, and Z coordinates output from the three-dimensional shape measurement devices 20A and 20B and the amount of reflected light from the object surface of the reference object 40. Enter information about.

  Next, in step S204, the three-dimensional image data processing device 32 receives the input information regarding the X, Y, and Z coordinates from the three-dimensional shape measurement devices 20A and 20B and the reflected light from the object surface of the reference object 40. Based on the information relating to the amount of light, a three-dimensional shape data group representing the three-dimensional surface shape of the reference object 40 existing in the measurement target space is calculated for each of the three-dimensional shape measurement apparatuses 20A and 20B. That is, a three-dimensional representation of each divided area position obtained by dividing the surface of the reference object 40 into two microscopic areas in two types of coordinate systems A and B defined by the three-dimensional shape measuring apparatuses 20A and 20B. A set of a large number of data sets is calculated by associating the coordinate data and the reflected light amount data representing the light amount of the reflected light at each divided area position divided into the three-dimensional coordinate data into the three-dimensional coordinate data. Dimensional shape data groups Da and Db are obtained. The two sets of three-dimensional shape data groups Da and Db are represented by coordinate values X, Y, and Z and reflected light quantities Q in the coordinate systems A and B, respectively. Specifically, each data set constituting the three-dimensional shape data groups Da and Db is represented by (xa, ya, za, qa) and (xb, yb, zb, qb), respectively.

  Next, in step S206, the three-dimensional image data processing device 32 applies the three-dimensional shape measurement devices 20A and 20B to the three-dimensional shape data groups Da and Db corresponding to the coordinate systems A and B, respectively. Two sub three-dimensional shape data groups each representing the end faces 40a and 40b of the facing reference object 40 are extracted. Specifically, the three-dimensional shape data groups Da and Db that match the reflected light amount data relating to the end faces 40a and 40b of the reference object 40 stored in advance in the three-dimensional image data processing device 32 or are within a predetermined discrimination value. Each coordinate value (xa, ya, za), (xb, yb, zb) is classified for each reflected light quantity Q (qa, qb) in the data set that constitutes. In this case, two sets of sub three-dimensional shape data groups Dak and Dbk are generated corresponding to the end faces 40a or 40b of the reference object 40 facing the three-dimensional shape measuring apparatuses 20A and 20B, respectively.

Next, in step S208, the three-dimensional image data processing device 32 defines planes Psa and Psb including the end faces 40a and 40b of the reference object 40, respectively. Specifically, the coordinate values (xa, ya, za), (xb, yb, zb) in the two sets of sub three-dimensional shape data groups Dak, Dbk are substituted into the plane equation shown in the following equation 1. Each coordinate value (xa, ya, za), (xb, yb, zb) corresponds to x, y, z in the following formula 1, respectively.
a * x + b * y + c * z + 1 = 0 Formula 1

  That is, for each sub three-dimensional shape data group, a point group (xi, yi, zi) (i = 1 to n) constituting the sub three-dimensional shape data group is substituted into the left side of the above equation 1, and the value Of the planes Psa and Psb respectively including two end faces 40a and 40b of the reference object 40 represented by the sub-three-dimensional shape data group. Find each formula. The three-dimensional image data processing device 32 is measured by the three-dimensional shape data groups Da and Db belonging to predetermined ranges with respect to the calculated planes Psa and Psb, that is, the three-dimensional shape measuring devices 20A and 20B. Each coordinate value (xa, ya, za), (xb, yb, zb) constituting all the three-dimensional coordinate data is substituted into the left side of the calculated plane Psa, Psb, and the value is determined from “0” to a predetermined value. Substituting the data in the range into Equation 1 above, recalculating the plane using the least square method in the same manner as described above, and let the calculated planes be new planes Psa and Psb. As a result, the three-dimensional shape data groups Da and Db representing the end surfaces 40a and 40b leaked from the extraction process of the sub three-dimensional shape data groups Dak and Dbk representing the end surfaces 40a and 40b in the step S208 are also used with higher accuracy. Planes Psa and Psb including the end faces 40a and 40b can be defined.

Next, the three-dimensional image data processor 32, at step S210, calculates a reference distance _{L 0.} Specifically, from the planes Psa and Psb defined in step S208 to the origins Oa and Ob of the coordinate systems A and B of the three-dimensional shape measuring apparatuses 20A and 20B respectively facing the planes Psa and Psb. The distances La and Lb are calculated, and the calculated distances La and Lb are added to the length L ₄₀ of the reference object 40 stored in advance in the storage device to calculate the reference distance L ₀ . In this case, the distance La is the length of a straight line passing through the origin Oa in the coordinate system A related to the three-dimensional shape measuring apparatus 20A and orthogonal to the plane Psa. The distance Lb is the length of a straight line passing through the origin Ob in the coordinate system B related to the three-dimensional shape measuring apparatus 20B and orthogonal to the plane Psb. This reference distance L ₀ is a straight line perpendicular to the planes Psa and Psb, that is, a plane perpendicular to the axis of the workpiece WK arranged on the support base 10, and the coordinate systems A and B of the three-dimensional shape measuring apparatuses 20A and 20B. The distance between the planes including the origins Oa and Ob. The origins Oa and Ob of the coordinate systems A and B of the three-dimensional shape measuring apparatuses 20A and 20B correspond to the first measurement reference position and the second measurement reference position according to the present invention, respectively. Next, the three-dimensional image data processing device 32, after storing the reference distance L ₀ which is the calculated storage device, at step S212, the finished executing reference distance calculating subprogram, step in the work length measuring program Return to S104. Incidentally, if the reference distance L ₀ calculated previously not been changed, it may be skipped calculation process of the reference distance by the step S102.

  Next, the three-dimensional image data processing device 32 defines the reference planes Pka and Pkb in step S104 shown in FIG. Specifically, the three-dimensional image data processing device 32 starts execution of the reference plane definition subprogram shown in FIG. 6 in step S300, and inputs information regarding the reference plane setting jig 50 in step S302. wait. As shown in FIG. 7, the operator inputs information on the reference plane setting jig 50 on one end (right side in FIG. 4) of the reference object 40 placed on the support base 10 and the support base. A reference plane setting jig 50 is set on 10.

  The reference plane setting jig 50 is a jig for defining the reference planes Pka and Pkb, and has a V-groove similar to the support section 10b of the support base 10 at the center of the lower surface of the main body section 50a formed in a rectangular parallelepiped shape. And a reference hole 50c, 50d penetrating from the upper surface to the lower surface at both ends of the main body 50a. The groove part 50b is formed in a direction orthogonal to the longitudinal direction of the main body part 50a, and positions the reference plane setting jig 50 in the longitudinal direction of the support base 10 on the round bar-like reference object 40. The reference holes 50c and 50d are formed in a perfect circle shape, and are provided so that a straight line connecting the center of each other is perpendicular to the groove 50b, that is, perpendicular to the axis of the reference object 40, and the reference hole 50c. And the reference hole 50d are different in diameter, specifically, the reference hole 50c is formed to have a larger diameter than the reference hole 50d. The reason why the reference hole 50c and the reference hole 50d have different hole diameters is to make it easier to set the directions in the reference surfaces Pka and Pkb when the reference surfaces Pka and Pkb are defined. Therefore, when it is not necessary to set the directions in the reference planes Pka and Pkb, the diameters of the reference hole 50c and the reference hole 50d may be the same.

  Then, the operator operates the input device 33 to input information regarding the reference plane setting jig 50. In the present embodiment, the information regarding the reference plane setting jig 50 includes the diameters of the reference holes 50c and 50d in the reference plane setting jig 50, and the main body 50a when the reference plane setting jig 50 is irradiated with laser light. 4 is data for designating the amount of reflected light reflected from the upper surface of the light source and one end (right side in FIG. 4) of the reference object 40 on which the reference surface setting jig 50 is set. Input information regarding the reference plane setting jig 50 is supplied to the three-dimensional image data processing device 32 via the controller 31. If the previously input diameters of the reference holes 50c and 50d and the light amount of reflected light from the upper surface of the main body 50a are not changed, the input of the hole diameter and the reflected light amount may be omitted.

  After the processing in step S302, the three-dimensional image data processing device 32 waits for input of measurement information by the three-dimensional shape measuring device 20A or 20B in step S304. In this case, the three-dimensional image data processing device 32 measures the three-dimensional shape corresponding to one end (right side in FIG. 4) of the reference object 40 on which the reference plane setting jig 50 input in step S302 is set. The controller 20 is instructed to perform measurement by the devices 20A and 20B, that is, the three-dimensional shape measuring device 20A, and the three-dimensional shape measuring device 20A also outputs data when the amount of reflected light from the object surface changes abruptly. The controller 31 is instructed to measure. As a result, the controller 31 controls the operation of the instructed three-dimensional shape measuring apparatus 20A to start measuring the three-dimensional solid shape of the reference surface setting jig 50 (including the reference object 40 and the support base 10). Information representing the surface shape of the reference surface setting jig 50 and information representing the amount of reflected light from the surface of the reference surface setting jig 50 are input to the three-dimensional image data processing device 32. That is, information about X, Y, Z coordinates representing the divided area positions obtained by dividing the surface of the reference plane setting jig 50 into minute areas, and X, representing the position when the amount of reflected light from the object surface changes abruptly. A three-dimensional shape data group Da composed of information related to the Y and Z coordinates and information related to the amount of reflected light from the object surface of the reference plane setting jig 50 is input. A data set constituting this three-dimensional shape data group Da is represented by (xa, ya, za, qa). Further, the three-dimensional shape data group Da when the amount of reflected light from the object surface changes abruptly is identified from the other three-dimensional shape data group Da.

  Next, in step S306, the three-dimensional image data processing device 32 extracts a sub three-dimensional shape data group representing the upper surface of the reference surface setting jig 50 from the input three-dimensional shape data group Da. Specifically, the three-dimensional shape data group Da that coincides with the reflected light amount data regarding the upper surface of the reference surface setting jig 50 input to the three-dimensional image data processing device 32 in step S302 or is within a predetermined discrimination value. Each coordinate value (xa, ya, za) is classified for each amount of reflected light Q (qa) in the data set that constitutes. Thereby, the sub three-dimensional shape data group Das representing the upper surface of the reference surface setting jig 50 is extracted.

  Next, the three-dimensional image data processing device 32 defines a plane Ps including the upper surface of the reference plane setting jig 50 in step S308. Specifically, each coordinate value (xa, ya, za) in the sub three-dimensional shape data group Das is substituted into the equation 1. That is, by substituting the point group (xi, yi, zi) (i = 1 to n) constituting the sub three-dimensional shape data group into the left side of the equation 1, a, the sum of squares of the values a, b and c are calculated using the least square method, and an expression of the plane Ps including the upper surface of the reference plane setting jig 50 represented by the sub three-dimensional shape data group is obtained. The three-dimensional image data processing device 32 calculates the coordinate value (xa, ya, za) constituting the three-dimensional shape data group Da belonging to a predetermined range with respect to the calculated plane Ps. Substituting into the left-hand side, substituting the data whose value is within a predetermined range from “0” into the equation 1, recalculating the plane using the least square method in the same manner as above, and newly calculating the calculated plane A flat surface Ps. Thereby, using the three-dimensional shape data group Da representing the upper surface of the reference surface setting jig 50 leaked from the extraction process of the sub three-dimensional shape data group representing the upper surface of the reference surface setting jig 50 in step S306, The plane Ps including the upper surface of the reference plane setting jig 50 can be defined with higher accuracy.

  Next, the three-dimensional image data processing device 32 calculates the center coordinates of the reference holes 50c and 50d in step S310. Specifically, the execution of the reference hole center calculation subprogram shown in FIG. 8 is started in step S400. In step S402, the three-dimensional image data processing device 32 executes unit block and search block size setting processing using the hole diameters of the reference holes 50c and 50d input in step 302. The unit block is a minimum block for moving the search block in order to specify the positions where the reference holes 50c and 50d are present. In the present embodiment, the unit block is formed in a square shape, but may be in other shapes such as a rectangle. Further, the size of the unit block is set to be small to some extent so that it can be confirmed that a part of the openings of the reference holes 50c and 50d exists. In the present embodiment, the size is set so as to include the large-diameter reference hole 50c in the unit block of 8 vertical and horizontal.

  The search block is used for specifying a position including the reference holes 50c and 50d in the inside thereof. In the present embodiment, the search block is formed in a square shape, but may be other shapes such as a rectangle. The size of this search block can be set to be as small as possible while including all of the reference holes 50c and 50d. That is, since the reference hole 50c is larger than the reference hole 50d, the size of the search block is set to a size that can include all of the reference holes 50c. Specifically, the size of each unit block in the vertical and horizontal directions is set as the search block size. However, the fact that the reference holes 50c and 50d can be included means that all of the unit blocks including part of the reference holes 50c and 50d are included. In this embodiment, the unit block and the search block size are set in step S302. However, if the reference holes 50c and 50d are not changed, the unit block and search block sizes set in advance are set. Since it may be used as it is, the process of step S402 is not necessary.

  Next, the three-dimensional image data processing device 32 executes search area blocking processing in step S404. The search area blocking process is a process of dividing an area that may include the reference holes 50c and 50d into unit blocks in the plane Ps defined in step S308. Specifically, the three-dimensional shape data group Da extracted when the amount of reflected light from the object surface suddenly changes is extracted from the three-dimensional shape data group Da, and the extracted three-dimensional shape data group in the plane Ps. An area where Da is present is divided in a plane by unit blocks. That is, only the three-dimensional shape data group Da representing the peripheral portion on the upper surface of the reference surface setting jig 50 and the openings of the reference holes 50c and 50d is extracted, and the extracted three-dimensional shape data group Da exists. Then, the plane Ps is divided into unit blocks. The division is performed by arranging unit blocks in parallel with the plane Ps. FIG. 9 is a conceptual diagram showing a result of executing this processing on a region in the plane Ps where the extracted three-dimensional shape data group Da exists. FIG. 9 shows a state in which the reference surface setting jig 50 is viewed from above, and the broken lines in FIG. 9 show the peripheral edge on the upper surface of the reference surface setting jig 50 and the openings of the reference holes 50c and 50d. A chain line indicates the plane Ps.

  Next, in step S406, the three-dimensional image data processing device 32 checks whether a three-dimensional shape data group Da exists for each unit block divided by the processing in step S404. Then, a unit block in which the three-dimensional shape data group Da exists is extracted. FIG. 10 is a conceptual diagram showing a result of executing this process on the search area shown in FIG. FIG. 10 shows unit blocks from which hatched unit blocks are extracted.

  Next, in step S408, the three-dimensional image data processing device 32 detects a search block position including the reference holes 50c and 50b. In this search block position detection process, in the area (search area) divided into unit blocks by the process of step S404, the search block set by the process of step S402 is used as a unit block for the X axis and the Y axis. To move sequentially. Then, for each movement, the number of unit blocks included in the moved search block and extracted by the process of step S406 and the manner of arrangement are calculated. If the number of unit blocks is within a predetermined range and the arrangement is circular, the same position is detected as the corresponding search block position. (A) to (D) of FIG. 11 are conceptual diagrams showing states of movement of the search block. In this case, since the hole diameters of the reference holes 50c and 50d are respectively specified, the number of unit blocks in which the three-dimensional shape data group Da included in the search block exists is specified. This search block position detection process is performed over the entire search area, and the positions of the search blocks including the reference holes 50c and 50b are detected.

  Next, in step S410, the three-dimensional image data processing device 32 sets a temporary coordinate system for calculating the hole centers of the reference holes 50c and 50d. Specifically, each coordinate value (xa, ya, za) in the three-dimensional shape data group Da included in the search block at the position detected by the processing in step S408 is substituted into the equation 1. That is, the point group (xi, yi, zi) (i = 1 to n) constituting the three-dimensional shape data group is substituted into the left side of the equation 1, and a, b, and c are calculated using the least square method. Then, the plane P represented by the same three-dimensional shape data group is calculated. In this case, each coordinate value (xa, ya, za) in the three-dimensional shape data group Da included in the position search block detected by the process of step S408 represents the opening of the reference holes 50c, 50d, The calculated plane P is a plane parallel to the openings of the reference holes 50c and 50d opened on the upper surface of the reference plane setting jig. Then, the three-dimensional image data processing device 32 uses a temporary coordinate system with a coordinate system in which the normal vector γ of the calculated plane P and the vectors α and β perpendicular to the normal vector γ and orthogonal to each other are in the direction of the coordinate axes. Set as system.

Next, in step S412, the three-dimensional image data processing device 32 determines each coordinate value (xa, ya, za) in the three-dimensional shape data group Da included in the search block at the position detected by the processing in step S408. That is, the coordinate values representing the openings of the reference holes 50c and 50d are coordinate-converted into coordinate values based on the temporary coordinate system set in step S410. Thereby, the respective coordinate values (xa, ya, za) representing the openings of the reference holes 50c, 50d represented by the coordinate system A related to the three-dimensional shape measuring apparatus 20A are parallel to the openings of the reference holes 50c, 50d. Coordinates are converted into coordinate values of a coordinate system having two coordinate axes on the plane P, and the coordinate values on the coordinate axis perpendicular to the plane P are unified into one value among the coordinate values. Next, the three-dimensional image data processing device 32 calculates the center coordinates of the reference holes 50c and 50d in step S414. Specifically, two coordinate values (xa, ya) other than the coordinate values unified into one value among the coordinate values transformed in step S412 are set as follows for each of the reference holes 50c and 50d. Substituting into the two-dimensional circle equation shown in Equation 2, a and b that minimize the sum of squares of the values are calculated using the method of least squares. In this case, a and b indicate the center coordinates (a and b) of the circle. Thereby, the center coordinates Cc and Cd of the reference holes 50c and 50d are calculated, respectively. In the following formula 2, r is the radius of the circle.
(Xa) ² + (y−b) ² = r ² Formula 2

  Next, in step S416, the three-dimensional image data processing device 32 uses the coordinate values of the center coordinates Cc and Cd of the reference holes 50c and 50d calculated in step S414 as the coordinate system A related to the three-dimensional shape measuring device 20A. Coordinates to the coordinate value of. Specifically, the coordinate transformation of the central coordinate Cc, Cd represented by the temporary coordinate system is converted into the coordinate value of the coordinate system A related to the three-dimensional shape measuring apparatus 20A by performing the inverse transformation of the coordinate transformation at the step S412. To do. In step S418, the three-dimensional shape measuring apparatus 32 ends the execution of the reference hole center calculation subprogram and returns to step S312 in the reference surface definition subprogram.

  Next, the three-dimensional image data processing device 32 defines the reference plane Pka in step S312. The reference planes Pka and Pkb are planes that pass through the center coordinates Cc and Cd of the reference holes 50c and 50d and are perpendicular to the plane Ps. Specifically, two equations obtained by substituting the center coordinates Cc and Cd of the reference holes 50c and 50d calculated by the execution of the reference hole center calculation subprogram into the equation 1 which is a plane equation, and the plane Ps A, b, and c in the plane formula are calculated by solving three simultaneous equations of the relational expression in which the inner product of the normal vector and the normal vector of the reference plane Pka is “0”. Thereby, a reference plane Pka that is a plane perpendicular to the plane Ps through the center coordinates Cc and Cd of the reference holes 50c and 50d is calculated.

  Next, in step S314, the three-dimensional image data processing device 32 determines whether or not to end the definition processing of the reference planes Pka and Pkb. In this determination process, if both of the reference planes Pka and Pkb are defined, it is determined as “Yes” and the process proceeds to step S316. In step 316, the execution of the reference plane definition subprogram is terminated, and the work length measurement program The process returns to step S106. On the other hand, if both of the reference planes Pka and Pkb are not defined in the determination process, that is, if the reference plane Pkb is not defined, “No” is determined and the process returns to step S302. In this case, the three-dimensional image data processing device 32 defines the reference surface Pkb in the same manner as the definition of the reference surface Pka. Specifically, the operator sets the reference plane setting jig 50 on the other end of the reference object 40 (left side in FIG. 4) and on the support base 10, and then sets the reference plane via the input device 33. Information on the jig 50 is input. Subsequent processing steps are the same as described above, and a description thereof will be omitted. As a result, the reference plane Pkb is defined in addition to the reference plane Pka as shown in FIG. If the previously defined reference plane is not changed, the reference plane definition process in step S104 may be skipped.

  In this embodiment, the reference plane setting jig 50 is placed on the two ends of the reference object 40 to define the reference planes Pka and Pkb. Instead, the reference plane setting jig 50 is defined. Two tools 50 are prepared, and the reference plane setting jig 50 is simultaneously set on each of the two ends of the reference object 40. Then, the corresponding reference plane setting jigs 50 may be simultaneously measured by the three-dimensional shape measuring apparatuses 20A and 20B, and the processes for defining the reference planes Pka and Pkb may be executed in parallel.

  Next, the three-dimensional image data processing device 32 acquires measurement target space information in step S106. In the process of acquiring the measurement target space information, the worker removes the reference object 40 and the reference plane setting jig 50 from the support base 10 based on an instruction from the three-dimensional image data processing device 32. Then, the three-dimensional image data processing device 32 starts execution of the measurement target space information acquisition subprogram shown in FIG. 12 in step S500, and in step S502, the measurement target spaces of the three-dimensional shape measurement devices 20A and 20B. It waits for the input of measurement information representing the three-dimensional surface shape of the object existing inside. On the other hand, the three-dimensional shape measuring apparatuses 20A and 20B are controlled by the controller 31, and are three-dimensional surface shapes of objects existing in the measurement target space, specifically, the supporting table 10 and the objects existing around the supporting table 10. Start measuring. Then, when the three-dimensional shape measuring apparatuses 20A and 20B complete the measurement of the object existing in the measurement target space, the information indicating the measurement result is output to the three-dimensional image data processing apparatus 32.

  Next, in step S502, the three-dimensional image data processing device 32 inputs measurement information from the three-dimensional shape measurement devices 20A and 20B, respectively, in the same manner as the processing in step S202 described above. In this case, the three-dimensional shape measurement apparatuses 20A and 20B also output information indicating the amount of reflected light from the surface of an object (such as the support base 10) existing in the measurement target space. Since it is not necessary for acquiring the measurement target space information, the three-dimensional image data processing device 32 ignores the input of the information. In step S504, two sets of three-dimensional shape data relating to the object existing in the measurement target space are obtained for each of the three-dimensional shape measurement apparatuses 20A and 20B based on the measurement information in the same manner as in step S204 described above. Groups Da and Db are obtained. These two sets of three-dimensional shape data groups Da and Db are also expressed by X, Y, and Z coordinate values by the coordinate systems A and B, respectively. Each data set constituting the three-dimensional shape data groups Da and Db is ( xa, ya, za), (xb, yb, zb).

  Next, in step S506, the three-dimensional image data processing device 32 stores the two sets of three-dimensional shape data groups Da and Db calculated in step S504 as measurement target space information Ma and Mb, respectively. In step S508, the three-dimensional image data processing device 32 ends the execution of the measurement target space information acquisition subprogram and returns to step S108 in the workpiece length measurement program. If the previously acquired measurement target space information Ma and Mb is not changed, the measurement target space information acquisition process in step S106 may be skipped.

  Next, the three-dimensional image data processing device 32 performs workpiece measurement in step S108. In this workpiece measurement process, the operator sets three workpieces WK on the support base 10 based on instructions from the three-dimensional image data processing device 32. Then, the three-dimensional image data processing device 32 starts execution of the workpiece measurement subprogram shown in FIG. 13 in step S600, and waits for input of measurement information representing the three-dimensional surface shape of the workpiece WK in step S602. . On the other hand, the three-dimensional shape measuring apparatuses 20A and 20B are controlled by the controller 31 and start measuring the three-dimensional surface shape of the workpiece WK. Then, when the three-dimensional shape measuring apparatuses 20A and 20B complete the measurement of the workpiece WK, information representing the measurement result is output to the three-dimensional image data processing apparatus 32. In this case, the information representing the measurement result includes measurement information representing the surface shape of another object existing around the work WK such as the support 10 in addition to the work WK.

  In step S602, the three-dimensional image data processing device 32 inputs measurement information from the three-dimensional shape measuring devices 20A and 20B in the same manner as the processing in steps S202 and S502 described above. In this case, information indicating the amount of reflected light from the surface of the workpiece WK is also output from the three-dimensional shape measuring apparatuses 20A and 20B, but this information is not necessary for measuring the length of the workpiece WK. The three-dimensional image data processing device 32 ignores the input of the same information. In step S604, two sets of three-dimensional shape data groups Da related to the workpiece WK are obtained for each of the three-dimensional shape measuring apparatuses 20A and 20B based on the respective measurement information in the same manner as the processing in steps S204 and S504 described above. , Db. These two sets of three-dimensional shape data groups Da and Db are also expressed by X, Y, and Z coordinate values by the coordinate systems A and B, respectively. Each data set constituting the three-dimensional shape data groups Da and Db is (Xa, ya, za) and (xb, yb, zb).

  Next, in step S606, the three-dimensional image data processing device 32 applies the three-dimensional shape measurement devices 20A and 20B to the three-dimensional shape data groups Da and Db corresponding to the coordinate systems A and B, respectively. Two sub three-dimensional shape data groups each representing the surface shape of the facing workpiece WK are extracted. Specifically, from the coordinate values (xa, ya, za), (xb, yb, zb) constituting the three-dimensional shape data groups Da, Db acquired in step S604, the measurement target space information acquisition program Coordinate values that are close within a predetermined range to the coordinate values (xa, ya, za), (xb, yb, zb) that constitute the measurement target space information Ma, Mb stored in the three-dimensional image data processing device 32 by execution. Except some. Thereby, two sets of sub three-dimensional shape data groups Daw and Dbw representing the surface shape of the workpiece WK respectively facing the three-dimensional shape measuring apparatuses 20A and 20B are extracted. The sub three-dimensional shape data groups Daw and Dbw correspond to the three-dimensional shape data group according to the present invention.

  Next, in step S608, the three-dimensional image data processing device 32 classifies the two sets of sub three-dimensional shape data groups Daw and Dbw extracted in step S606 into three corresponding to the three workpieces WK. To do. Specifically, the operator sets three areas in each of the coordinate systems A and B of the three-dimensional shape measuring apparatuses 20A and 20B, and stores the set areas in the storage device of the three-dimensional image data processing apparatus 32. Is stored in advance. These three regions respectively correspond to the positions of the three workpieces WK set on the support base 10, and each region includes a sub three-dimensional shape data group of one workpiece WK. Then, the three-dimensional image data processing device 32 classifies the sub three-dimensional shape data groups Daw and Dbw for each of the preset regions, and six sets of sub three-dimensional shape data groups Daw1, Dbw1, Daw2, Dbw2, and Daw3. , Dbw3. In this case, the sub three-dimensional shape data groups Daw1 and Dbw1, Daw2 and Dbw2, and Daw3 and Dbw3 are three-dimensional shape data representing the respective ends of the same workpiece WK.

  Next, in step S610, the three-dimensional image data processing device 32 defines two planes Pwa and Pwb that respectively represent the end surfaces Sa and Sb of the three workpieces WK for each workpiece WK. Here, when the sub three-dimensional shape data group Daw representing the surface shape of one workpiece WK measured by the three-dimensional shape measuring apparatus 20A is represented as a point group in the figure, it is represented as shown in FIG. In this case, the three-dimensional data closest to the three-dimensional shape measuring apparatus 20A is the three-dimensional data in the vicinity indicated by the arrow A, that is, the three-dimensional data defining the upper end of the outer peripheral portion of the end surface Sa of the workpiece WK. Therefore, the three-dimensional image data processing device 32 has coordinate values (three-dimensional shape measuring device) closest to the three-dimensional shape measuring devices 20A and 20B among the sub-three-dimensional shape data groups Daw1, Dbw1, Daw2, Dbw2, Daw3, and Dbw3. In 20A, a predetermined number of coordinate values existing in the lower side of the figure are extracted from the coordinate values in the vicinity of the arrow A in FIG. 14 and the same coordinate values, and each of the extracted coordinate values is expressed by Equation 1 above. A temporary plane is defined by the least square method by substituting it into the plane equation. Then, the three-dimensional image data processing device 32 obtains the coordinate values of the respective sub three-dimensional shape data groups Daw1, Dbw1, Daw2, Dbw2, Daw3, and Dbw3 belonging to a predetermined range with respect to the defined temporary plane. Then, the extracted coordinate values are substituted again into the equation 1 to define planes by the least square method. Thereby, planes Pwa1, Pwb1, Pwa2, Pwb2, Pwa3, and Pwb3 including the end surfaces Sa and Sb of the workpieces WK respectively facing the three-dimensional shape measuring apparatuses 20A and 20B are defined. FIG. 15 shows a state in which planes Pwa and Pwb representing the end surfaces Sa and Sb are defined for the end surfaces Sa and Sb in one work WK, respectively.

  Next, the three-dimensional image data processing device 32 determines whether or not the length of the workpiece WK can be measured in step S612. Specifically, the inclinations of the planes Pwa1, Pwb1, Pwa2, Pwb2, Pwa3, and Pwb3 defined in step S610 with respect to the reference planes Pka and Pkb defined by the reference plane definition subprogram are calculated, respectively. It is determined for each work WK whether or not each tilt is within a predetermined range. That is, the length of the workpiece WK is calculated by calculating the inclination with respect to the reference planes Pka and Pkb for each set of planes Pwa1 and Pwb1, Pwa2 and Pwb2, and Pwa3 and Pwb3 corresponding to the end surfaces Sa and Sb of the three workpieces WK. It is determined for each work WK whether or not the measurement is possible. More specifically, the angles of the planes Pwa1, Pwa2, and Pwa3 are calculated with respect to the reference plane Pka, and the angles of the planes Pwb1, Pwb2, and Pwb3 are calculated with respect to the reference plane Pkb. In this determination process, if the set of each plane with respect to the reference planes Pka and Pkb, specifically, Pwa1 and Pwb1, Pwa2 and Pwb2, and Pwa3 and Pwb3 are both in a predetermined range, the length of the workpiece WK It is determined that the measurement is possible, “Yes”, and the process proceeds to step S614. That is, when both end surfaces Sa and Sb of the workpiece WK are substantially parallel to the reference planes Pka and Pkb, it is determined that the length of the workpiece WK can be measured. In this case, if the length of at least one workpiece WK can be measured, “Yes” is determined in the determination process.

  On the other hand, in each set of planes (planes Pwa1 and Pwb1, Pwa2 and Pwb2, and Pwa3 and Pwb3), when the inclination of one of the planes in each set with respect to the reference planes Pka and Pkb is outside a predetermined range, Since at least one of the end surfaces Sa and Sb of the work WK is inclined with respect to the reference surfaces Pka and Pkb, specifically, at least one of the end surfaces is not perpendicular to the side surface of the work WK. If the end surface of the workpiece WK is not orthogonal to the longitudinal direction of the workpiece WK because the end portion of the workpiece WK is bent, the end surface of the workpiece WK is not orthogonal to the longitudinal direction of the workpiece WK. Measurement is impossible. Therefore, in this determination process, when it is impossible to measure the lengths of all the workpieces WK, it is determined as “No” and the process proceeds to step S616. In step S616, the lengths of the workpieces WK cannot be measured. A message to that effect is displayed on the display device 34.

  Next, in step S614, the three-dimensional image data processing device 32 defines the central axis of the workpiece WK for the workpiece WK that is determined to be capable of measuring the length of the workpiece WK in step S612. The definition of the center axis of the workpiece WK is performed by executing the workpiece center axis definition subprogram shown in FIG. The three-dimensional image data processing device 32 starts a work center axis definition subprogram in step S700, and defines planes Pka 'and Pkb' parallel to the reference planes Pka and Pkb in step S702, respectively. Specifically, as shown in FIG. 15, planes Pka ′, Pka ′, Pkb parallel to the reference planes Pka, Pkb at positions separated from the reference planes Pka, Pkb by a predetermined distance from the other reference planes Pkb, Pka. Pkb ′ is defined respectively.

  Next, in step S704, the three-dimensional image data processing device 32 sets a temporary coordinate system for each of the reference planes Pka and Pkb and the planes Pka 'and Pkb'. Specifically, similarly to step S410 in the reference hole center calculation program, sub three-dimensional shape data groups Daw and Dbw existing within a predetermined range with respect to the reference planes Pka and Pkb and the planes Pka ′ and Pkb ′. Substituting into the formula of the plane shown in Formula 1, four planes respectively corresponding to the reference planes Pka and Pkb and the planes Pka ′ and Pkb ′ are calculated by the method of least squares. In this case, the four calculated planes are orthogonal to the longitudinal direction of the workpiece WK. Then, a coordinate system in which the calculated normal vector γ of each plane and the vectors α and β perpendicular to the normal vector γ and orthogonal to each other are set as the coordinate axes is set as a temporary coordinate system.

  Next, in step S706, the three-dimensional shape measuring apparatus 32, as in step S412 described above, sub-three-dimensional shape data existing within a predetermined range with respect to the reference planes Pka and Pkb and the planes Pka 'and Pkb'. The coordinate values of the groups Daw and Dbw are converted into coordinate values based on the corresponding temporary coordinate systems. As a result, the coordinate values of the sub three-dimensional shape data groups Daw and Dbw represented by the coordinate systems A and B related to the three-dimensional shape measuring apparatuses 20A and 20B are two on the plane orthogonal to the axial direction of the workpiece WK. The coordinate axis is converted into a coordinate value of a certain coordinate system, and the coordinate value in the coordinate axis (axis direction of the workpiece WK) perpendicular to the same plane among the coordinate values is unified into one value. Next, in step S708, the three-dimensional image data processing device 32 calculates a coordinate value on the central axis of the workpiece WK. Specifically, as in step S414, each coordinate value converted to a coordinate value in each temporary coordinate system is substituted into the two-dimensional circle equation shown in equation 2, and the least square method is used. The center coordinates Ca, Cb, Ca ′, Cb ′ of the circle are calculated. Thereby, the coordinate value on the central axis of the workpiece WK is calculated for each temporary coordinate system.

  Next, in step S710, the three-dimensional image data processing device 32 uses the coordinate values of the center coordinates Ca, Cb, Ca ′, Cb ′ calculated in step S708 as coordinates for the three-dimensional shape measuring devices 20A, 20B. Coordinates are converted to coordinate values of the systems A and B. Specifically, the coordinate transformation is reversed in step S706, and the coordinate values of the central coordinates Ca, Cb, Ca ′, Cb ′ represented by the temporary coordinate systems are converted into the three-dimensional shape measuring apparatuses 20A, 20B. Is converted into coordinate values of each coordinate system A, B. Next, the three-dimensional image data processing device 32 defines the central axis of the workpiece WK in step S712. Specifically, straight lines CLa passing through the central coordinates Ca and Ca ′ calculated corresponding to the reference plane Pka and the plane Pka ′ are calculated, and calculated corresponding to the reference plane Pkb and the plane Pkb ′. A straight line CLb passing through the center coordinates Cb and Cb ′ is calculated. As a result, center axes CLa and CLb are defined for each workpiece WK facing each of the three-dimensional shape measuring apparatuses 20A and 20B (a workpiece WK capable of measuring the length of the workpiece WK). In step S714, the three-dimensional image data processing device 32 ends the execution of the workpiece center axis definition subprogram and returns to step S618 in the workpiece length measurement program.

  Next, in step S618, the three-dimensional image data processing device 32 calculates the center coordinates of the end surfaces Sa and Sb of the workpiece WK. Specifically, as in the case of calculating the center-of-gravity coordinates from a large number of coordinate values, the coordinate values are added together for each of the X, Y, and Z coordinates, and the total value of each is added. Divide. Thereby, the respective center coordinates Cwa and Cwb on the end surfaces Sa and Sb of the workpiece WK are calculated.

  Next, in step S620, the three-dimensional image data processing device 32 detects the bending of each of the two ends of the work WK. Specifically, the intersection of the plane Pwa defined in step S610 and the center axis CLa defined by the execution of the workpiece center axis definition subprogram in step S614 and the intersection of the plane Pwb and the center axis CLb are defined. Calculate each. When the difference between the calculated coordinate values of the intersections and the coordinate values of the center coordinates Cwa and Cwb calculated in step S618 is within a predetermined range, the end of the workpiece WK is Since it is not bent, it determines with "No" and progresses to step S622. On the other hand, if the difference between the calculated coordinate values of the intersections and the coordinate values of the center coordinates Cwa and Cwb is outside the predetermined range, it is determined that the end portion of the workpiece WK is bent and “Yes”. Determination is made and the process proceeds to step S624.

  This determination process will be described with a specific example. As shown in FIGS. 17A and 17B, when the shape of the end portion of the work WK is not bent, that is, as shown in FIG. When the end portion Sa of the WK is orthogonal to the center axis CLa of the workpiece WK and when the end portion of the workpiece WK is not bent as shown in FIG. 17B, the end portion Sa is the center of the workpiece WK. When not orthogonal to the axis CLa, the center coordinate Cwa of the end surface Sa of the workpiece WK and the intersection of the center axis CLa of the workpiece WK and the plane Pwa have substantially the same coordinate value. On the other hand, as shown in FIG. 17C, when the shape of the end portion Sa of the workpiece WK is bent downward, the center position of the end surface Sa of the workpiece WK is shifted from the center axis CLa of the workpiece WK. The center coordinate Cwa of the end surface Sa of the WK and the intersection of the center axis CLa of the workpiece WK and the plane Pwa do not have the same coordinate value but different values. Therefore, when the ends Sa and Sb of the work WK are bent, it is determined as “Yes” in the determination process, and the process proceeds to step S624. When the ends Sa and Sb of the work WK are not bent, In the determination process, “No” is determined, and the process proceeds to step S622. In FIGS. 17B and 17C, the state in which the end surface Sa is inclined is exaggerated.

  In step S622, planes Pma and Pmb for measuring the length of the workpiece WK when the two ends of the workpiece WK are not bent are defined. Specifically, a plane parallel to the reference plane Pka including the intersection between the plane Pwa and the central axis CLa calculated in the step 620 is defined as the measurement plane Pma, and the intersection between the plane Pwb and the central axis CLb. And a plane parallel to the reference plane Pkb is defined as a measurement plane Pmb. That is, the measurement planes Pma and Pmb are planes including the center points of the two end faces Sa and Sb of the workpiece WK and parallel to each other. The measurement planes Pma and Pmb are substantially the same planes as the planes Pwa and Pwb, respectively, but the planes Pwa and Pwb are parallel to the end surfaces Sa and Sb of the workpiece WK, whereas the measurement plane Pma , Pmb are parallel to the reference planes Pka, Pkb and can be defined regardless of the inclination of the end faces Sa, Sb of the workpiece WK. Therefore, when the end portions Sa and Sb of the workpiece WK are orthogonal to the central axis of the workpiece WK (when not bent), the planes Pwa and Pwb may be set as the measurement planes Pma and Pmb.

  In step S624, the coordinate values of the center coordinates Cwa and Cwb of the end surfaces Sa and Sb of the workpiece WK calculated in step S618 are corrected. The correction processing of the center coordinates Cwa and Cwb is performed when the center coordinates Cwa and Cwb at the end where the bending is detected in the step S620 out of the two ends of the workpiece WK are not bent at the same end ( This is a process of correcting to the center coordinates of the end surfaces Sa and Sb of the end portion in the case where the end portion is linear. In the correction processing in step 624, the three-dimensional image data processing device 32 starts the central coordinate correction subprogram shown in FIG. 18 in step S800, and defines the bending measurement plane Pmc in step S802. In the process of the center coordinate correction subprogram, as shown in FIGS. 19A and 19B, the case where the end portion of the end surface Sa of the workpiece WK is bent will be described as an example. Further, the end portion of the work WK in the figure exaggerates the bent state. Further, in FIG. 19B, the support base 10 is omitted for easy understanding of the drawing.

  First, the three-dimensional image data processing device 32 changes the reference surface Pka from the reference surface Pka corresponding to the end surface Sa at the end where the bending is detected in the determination processing of the step 620 to the same reference surface Pka at the same end surface Sa side. A parallel plane Pka ′ is defined. Next, as shown in FIG. 19B, the three-dimensional image data processing device 32 has the same angle by a predetermined angle within a predetermined angle range for each axis centered on two axes orthogonal to each other in the plane Pka ′. The plane Pka ′ is tilted. Then, for each predetermined angle, a sub three-dimensional shape data group Daw existing within a predetermined range with respect to the inclined plane Pka ′ is extracted, and each coordinate of the extracted sub three-dimensional shape data group Daw is extracted. By substituting the value into the circle equation shown in Equation 2, the circle C is defined by the least square method. Then, a distance from each coordinate value of the extracted sub three-dimensional shape data group Daw from the circle C is calculated, and a standard deviation in the distance for each coordinate value is calculated.

  Specifically, the way of defining the circle C is the same as the processing for calculating the central axis of the workpiece WK in the step S614. That is, as in step S410 in the reference hole center calculation program, the normal vector γ of the plane and the vectors α and β perpendicular to the normal vector γ and orthogonal to each other in the bending measurement plane Pmcn (n = 1) are coordinate axes. The coordinate system with the direction of is set as a temporary coordinate system. Next, the three-dimensional image data processing device 32, like step S412 described above, each coordinate value of the sub three-dimensional shape data group Daw existing within a predetermined range with respect to the bending measurement plane Pmcn (n = 1). Are converted into coordinate values based on the provisional coordinate systems. Thereby, each coordinate value of the sub three-dimensional shape data group Daw represented by the coordinate system A related to the three-dimensional shape measuring apparatus 20A is coordinate-converted into a coordinate value of a coordinate system having two coordinate axes on the bending measurement plane Pmc1. Among the coordinate values, the coordinate values on the coordinate axis (in the direction of the central axis of the work WK) perpendicular to the same bending measurement plane Pmcn (n = 1) are unified into one value. Then, the three-dimensional image data processing device 32 substitutes each coordinate value converted into the coordinate value of the temporary coordinate system into the two-dimensional circle equation shown in Equation 2 in the same manner as in Step S414. After calculating the center coordinate Cc and the radius r of the circle using the square method, the distance from each coordinate value of the sub three-dimensional shape data group Daw to the center coordinate Cc is calculated, and the value of the radius r is subtracted from the distance. To do. This subtracted value corresponds to the distance from the circle to each coordinate value, and the standard deviation of the same distance for all coordinate values is calculated.

  The processing for calculating the standard deviation is executed for each predetermined angle within the predetermined angle range, and the plane Pka ′ at the angle at which the calculated standard deviation is the minimum is set as the bending measurement plane Pmcn (n = 1). . That is, the sub three-dimensional shape data group Daw existing within a predetermined range with respect to the plane Pka 'is extracted in an elliptical shape or a circular shape according to the tilt angle of the plane Pka'. Then, a circle C is calculated based on the sub three-dimensional shape data group Daw extracted in an elliptical shape or a circular shape, and a standard deviation is calculated. In this case, the smaller the difference between the coordinate values of the extracted sub three-dimensional shape data group Daw with respect to the calculated circle C, the smaller the standard deviation calculated. In other words, the difference from the circle C, that is, the standard deviation becomes smaller as the sub three-dimensional shape data group Daw is extracted in a circular shape. The plane Pka 'having the smallest standard deviation, that is, the bending measurement plane Pmc is a plane orthogonal to the central axis of the workpiece WK at the end where the bending is detected. In FIGS. 19A and 19B, the bending measurement plane Pmcn (n = 1) is substantially the same plane as the plane Pka '.

  Next, in step S804, the three-dimensional image data processing device 32 calculates the center coordinates Cc of the workpiece WK in the bending measurement plane Pmc. Since the center coordinate Cc is calculated as the coordinate value of the temporary coordinate system in step S802, the coordinate value by the coordinate system A related to the corresponding three-dimensional shape measuring apparatus 20A is obtained by the coordinate conversion opposite to the previous coordinate conversion. Convert coordinates. Thereby, the center coordinates Cc of the workpiece WK in the bending measurement plane Pmcn (n = 1) are calculated.

Next, in step S806, the three-dimensional image data processing device 32 determines whether or not to end the calculation of the center coordinate Cc of the workpiece WK. Specifically, it is determined whether or not the center coordinate Cc of the workpiece WK calculated in step S804 coincides with the center coordinate Cwa of the end face at which the bending is detected or is within a predetermined determination value. If the coordinate Cc does not coincide with the center coordinate Cwa or is not within the predetermined discriminant value, it is determined as “No”, the process returns to step S802, and the center coordinate Cc of the workpiece WK is calculated again. In this case, the plane Pka ″ defined in step S802 is the plane Pka ′ previously defined.
It is defined as a position moved to the end surface Sa side at a predetermined interval. Further, as shown in FIG. 19A, when the plane Pka '' is defined as a bent portion at the end of the work WK, the bend measurement plane Pmcn (n = 2) is at the same end. It becomes a plane orthogonal to the central axis of the workpiece WK. On the other hand, in the determination process, if the center coordinate Cc matches the center coordinate Cwa or is within a predetermined determination value, “Yes” is determined, and the process proceeds to step S808. Thereby, the coordinate value on the central axis of the workpiece WK between the reference surface Pka and the end surface Sa corresponding to the end where the bending is detected is calculated as the center coordinates Cci (i = 1 to n). In FIG. 19A, the interval between the plane Pka ′ and the plane Pka ″ is exaggerated.

  Next, in step S808, the three-dimensional image data processing device 32 defines a circle C corresponding to the central axis at the end where the bending is detected. Specifically, as shown in FIG. 20, the center coordinates Cci (i = 1 to n), which are the coordinate values of the center axis of the workpiece WK, calculated by the processes in steps S802 to S806 are shown in the above equation 1. The plane P including the central axis at the end where the bend is detected by the least square method is defined by substituting each into the formula of the plane. Similarly to step S804, a coordinate system in which the normal vector γ of the plane P and the vectors α and β perpendicular to the normal vector and orthogonal to each other are set as the coordinate axes are set as temporary coordinate systems. Next, the three-dimensional image data processing device 32 converts the coordinate values of the center coordinates Cci (i = 1 to n) into coordinate values based on a temporary coordinate system, as in step S312. Thereby, each coordinate value of the center coordinates Cci (i = 1 to n) represented by each coordinate system A related to the three-dimensional shape measuring apparatus 20A is coordinate-converted into a coordinate value of a coordinate system having two coordinate axes on the plane P. The coordinate values on the coordinate axis perpendicular to the plane P among the coordinate values are unified into one value.

  Then, the three-dimensional image data processing device 32 substitutes each coordinate value coordinate-converted into the coordinate value of the provisional coordinate system into the two-dimensional circle equation shown in Equation 2 above, and uses the least square method to calculate the same circle value. After calculating the center coordinates C and the radius r, the center coordinates C represented by the coordinate values of the temporary coordinate system are represented by the coordinate system A related to the corresponding three-dimensional shape measuring apparatus 20A as in step S416. Convert coordinates to coordinate values. Thereby, a circle C corresponding to the central axis at the end where the bending is detected is defined.

  Next, the three-dimensional image data processing device 32 corrects the center coordinate Cwa of the end surface Sa in step S810. Specifically, an intersection point P0 (or contact point) between the center axis CLa corresponding to the end where the bending is detected and the circle C is specified. This intersection point P0 represents the start of bending of the central axis at the end where the bending is detected. Next, the length Lst (string length) of the straight line connecting the specified intersection point P0 and the center coordinates Cwa of the end surface Sa at the end where the bending is detected (in other words, the intersection point P1 of the circle C and the end surface Sa). ) And the length on the circumference of the circle C connecting the intersection point P0 and the center coordinate Cwa (in other words, the intersection point P1 of the end face Sa) with the same length Lst and the radius r of the circle C ( Arc length). A coordinate value obtained by adding the length Larc (the arc length) in the direction of the central axis CLa to the coordinate value of the intersection point P0 on the central axis CLa is defined as a new central coordinate Cwa '. Even when the end portion of the end surface Sb of the workpiece WK is bent, the center coordinate Cwb is similarly corrected to the center coordinate Cwb ′. As a result, the center coordinates Cwa ′ and Cwb ′ of the end surface Sa of the end portion in the case where there is no bend of the end portion (when the end portion is linear) are calculated at the end portion where the bend is detected. . In step S812, the three-dimensional image data processing device 32 ends the execution of the center coordinate correction subprogram, and returns to step S622 in the workpiece measurement subprogram. In step S622, measurement planes Pma and Pmb are defined based on the center coordinates Cwa 'and Cwb' corrected by the execution of the center coordinate correction subprogram.

Next, in step S626, the three-dimensional image data processing device 32 calculates the length of the work WK. Specifically, as shown in FIG. 21, the origins Oa, Ob in the coordinate systems A, B relating to the measurement planes Pma, Pmb and the three-dimensional shape measuring apparatuses 20A, 20B corresponding to the measurement planes Pma, Pmb Distances La and Lb are calculated. In this case, the distance La is the length of a straight line that passes through the origin Oa in the coordinate system A of the three-dimensional shape measuring apparatus 20A and is orthogonal to the measurement plane Pma. The distance Lb is the length of a straight line that passes through the origin Ob in the coordinate system B of the three-dimensional shape measurement apparatus 20B and is orthogonal to the measurement plane Pmb. The three-dimensional image data processing device 32 then calculates the same distance La, from the reference distance L ₀ (the distance between the three-dimensional shape measuring device 20A and the three-dimensional shape measuring device 20B) calculated by the reference distance calculating subprogram in step S102. The length L of the workpiece WK is calculated by subtracting Lb.

  In step S628, the three-dimensional image data processing device 32 causes the display device 34 to display the calculated length L of the workpiece WK. In this case, for the workpiece WK whose length cannot be measured among the three workpieces WK, the display device 34 displays that the length of the workpiece WK cannot be measured. If it is determined in step S614 that the length of the workpiece WK cannot be measured, the display device 34 is informed that the length of the workpiece WK cannot be measured in step S616 as described above. After the display, the process proceeds to step S630. Next, in step S630, the three-dimensional image data processing device 32 determines whether or not to finish measuring the length of the workpiece WK. Specifically, the three-dimensional image data processing device 32 inquires of the worker via the display device 34 whether or not the measurement of the length of the workpiece WK is finished, and waits for an instruction from the worker. In this case, when there is another workpiece WK to be measured, the operator removes the workpiece WK set on the support base 10 and sets a new workpiece WK on the support base 10, and then This is instructed via the input device 33. On the other hand, when there is no other workpiece WK to be measured, the operator removes the workpiece WK set on the support base 10 and then instructs the fact via the input device 33.

  When receiving an instruction from the operator to continue measuring the length of the workpiece WK, the three-dimensional shape measuring apparatus 32 determines “No” in the determination process, returns to step S602, and again determines the workpiece WK. Execute the measurement process. Further, when receiving an instruction from the operator to end the length measurement of the workpiece WK, the three-dimensional shape measuring apparatus 32 determines “Yes” in the determination process and determines the workpiece measurement sub in step S632. The execution of the program is terminated, and the process returns to step S110 in the workpiece length measurement program, and the execution of the workpiece length measurement program is terminated in step S110.

As can be understood from the above description of the operation, according to the above embodiment, the 3D image data processing device 32 has the 3D shape measuring device 20A in advance along the axis between the end surfaces Sa and Sb to be measured on the workpiece WK. stores the distance between the coordinate origin Ob of coordinate origin Oa and the three-dimensional shape measuring apparatus 20B as a reference distance L _0. Then, measurement planes Pma and Pmb parallel to the reference planes Pka and Pkb orthogonal to the axis are defined as end surfaces Sa and Sb to be measured, and the measurement planes Pma and pmb and the reference distance L ₀ are used. The length L of the measurement object is calculated. According to this, if the measurement planes Pma and Pmb can be defined with respect to the end surfaces Sa and Sb to be measured, that is, the three-dimensional representing the surface shape of the end portion of the workpiece WK including the end surfaces Sa and Sb to be measured. If the shape data group can be acquired, the length of the workpiece WK can always be measured along the axis of the workpiece WK, and the arrangement positions of the three-dimensional shape measuring apparatuses 20A and 20B are not limited. Since the measurement planes Pma and Pmb are defined by three-dimensional data, the measurement planes Pma and Pmb are constant regardless of the shape of the end surfaces Sa and Sb to be measured and the direction of the end surfaces Sa and Sb with respect to the three-dimensional shape measuring apparatuses 20A and 20B. A plane can be defined. Thereby, it is possible to measure the length of the work WK with high accuracy.

  Further, the measurement planes Pma and Pmb are defined based on the intersections between the planes Pka and Pkb representing the end surfaces Sa and Sb and the center axes CLa and CLb of the workpiece WK, so that the end surfaces Sa and Sb are relative to the center axis. Even if it is not completely vertical or the end is slightly bent, the measurement planes Pma and Pmb can be defined based on the exact center point on the end surfaces Sa and Sb. In step S612 in the workpiece measurement subprogram, it is determined whether or not to measure the length of the workpiece WK according to the inclinations of the end surfaces Sa and Sb, and the end surfaces Sa and Sb are positioned with respect to the axis of the workpiece WK. If it is tilted more than the fixed amount, the length measurement of the workpiece WK is not executed. Thereby, the length measurement of the workpiece WK can be performed only when the end surfaces Sa and Sb are deviated from the perpendicular to the axis of the workpiece WK by an angle within a predetermined range. The comparison can be made more accurately.

  Furthermore, in carrying out the present invention, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the object of the present invention.

In the above embodiment, the reference planes Pka and Pkb are defined in correspondence with the respective end portions of the workpiece WK. However, when the length of the workpiece WK is short, the measurement by the three-dimensional shape measuring apparatuses 20A and 20B is performed. When the target spaces overlap, one reference plane Pk corresponding to both ends of the work WK may be defined. In this case, the reference plane setting jig 50 is disposed in both the measurement target spaces of the three-dimensional shape measuring apparatuses 20A and 20B (for example, the central portion of the reference object 40). According to this, the work of setting the reference surface Pk is only required once, and the setting work of the reference surface Pk can be performed efficiently. Further, since it is possible to set the calculations and various planes of the reference distance L ₀ based on a single reference plane Pk, it can be performed more accurately the length measurement of the workpiece WK.

  In the above embodiment, the reference planes Pka and Pkb are defined by using the reference plane setting jig 50. However, the present invention is not limited to this. For example, since the end surfaces 40a and 40b of the reference object 40 are orthogonal to the axis of the reference object 40, the reference surfaces Pka and Pkb are defined using a three-dimensional shape data group representing the end surfaces 40a and 40b. You can also According to this, since the reference plane setting jig 50 is not required, the reference plane setting work can be performed efficiently. In this case, since the end faces 40a and 40b have a small area, they are effective in measuring the length of the workpiece WK having a relatively small radius.

  Further, in the above embodiment, three regions are preset in each of the coordinate systems A and B of the three-dimensional shape measuring apparatuses 20A and 20B, and the sub three-dimensional shape data group Daw, Although Dbw is extracted and the sub three-dimensional shape data groups Daw and Dbw corresponding to the three workpieces WK are classified, the present invention is not limited to this. For example, among the sub three-dimensional shape data groups Daw and Dbw representing the surface shape of the workpiece WK extracted in step S506, the coordinate values closest to the three-dimensional shape measuring apparatuses 20A and 20B (indicated by the arrow A in FIG. 14). A predetermined number of coordinate values existing on the lower side of the figure are extracted from the three-dimensional data in the vicinity) and the same coordinate values, and each of the extracted coordinate values is substituted into the plane equation shown in Equation 1 to obtain the least square method Defines a temporary plane. Then, each coordinate value of each of the sub three-dimensional shape data groups Daw and Dbw belonging to a predetermined range with respect to each of the defined temporary planes is extracted, and each of the extracted coordinate values is substituted into the equation 1 again. Then, each plane is defined by the least square method. Thereby, planes Pa and Pb including the end surface Sa of the workpiece WK closest to the three-dimensional shape measuring devices 20A and 20B among the workpieces WK facing the three-dimensional shape measuring devices 20A and 20B, respectively, are defined. The planes Pa and Pb are planes orthogonal to the axial direction of the workpiece WK.

  Next, the three-dimensional image data processing device 32 divides the measurement target space in the three-dimensional shape measuring devices 20A and 20B into unit blocks similar to the unit blocks in the reference hole center calculation subprogram. Basically, based on the sub three-dimensional shape data groups Daw and Dbw related to the workpiece WK, the space where the sub three-dimensional shape data groups Daw and Dbw exist in the measurement target space is three-dimensionally divided into unit blocks. The division is performed by a method of arranging unit blocks along the planes Pa and Pb. In this case, the size of the unit block is set so small that it can be confirmed that a part of the work WK is present. For example, the end faces Sa and Sb of the work WK are included in eight unit blocks in the vertical and horizontal directions. Set the size for.

  Then, the set of 8 unit blocks in the vertical and horizontal directions is moved as a search block along the planes Pa and Pb with the unit block as a unit, and the end surfaces Sa and Sb of the work WK are searched. In this case, for the search of the end surfaces Sa and Sb of the work WK, unit blocks in which the sub three-dimensional shape data groups Daw and Dbw exist are extracted in advance, and the unit blocks (sub three-dimensional shape data group in the search blocks) are extracted. The end surfaces Sa and Sb of the workpiece WK are detected based on the number of unit blocks (where Daw and Dbw exist) and how they are arranged. When the end surfaces Sa and Sb of the workpiece WK are detected, all the sub three-dimensional shape data in the unit block existing in the direction orthogonal to the planes Pa and Pb (the axial direction of the workpiece WK) are extracted. Thereby, the sub three-dimensional shape data groups Daw and Dbw related to the three workpieces WK can be classified. Also by this, the same effect as the above can be expected.

  In the above embodiment, the points on the end surfaces Sa and Sb of the workpiece WK for defining the measurement planes Pma and Pmb are the intersections of the planes Pwa and Pwb and the central axes CLa and CLb, that is, The measurement planes Pma and Pmb are defined using the center points of the end surfaces Sa and Sb, respectively, but the present invention is not limited to this. For example, instead of the intersections between the planes Pwa and Pwb and the central axes CLa and CLb, measurement is performed using the center coordinates Cwa and Cwb of the end surfaces Sa and Sb in step S618 in the workpiece measurement subprogram shown in FIG. The planes for use Pma and Pmb may be defined respectively. In this case, the central coordinates Cwa and Cwb are calculated by the sub three-dimensional shape data groups Daw and Dbw that define the end faces Sa and Sb, respectively, and can be said to be the center of gravity points on the end faces Sa and Sb. Also by this, the same effect as the above can be expected.

  Further, when measuring the longest length on the axis to be measured for the length of the workpiece WK, the three-dimensional shape of the sub-three-dimensional shape data groups Daw and Dbw that define the end surfaces Sa and Sb, respectively. The measurement planes Pma and Pmb may be defined using coordinate values closest to the measurement devices 20A and 20B, respectively. According to this, the length measurement of the workpiece WK can be performed based on the points on the outermost end surfaces Sa and Sb of the end surfaces Sa and Sb of the workpiece WK. On the contrary, when measuring the shortest length on the axis to be measured for the length of the workpiece WK, the sub three-dimensional shape data group Daw, which defines the end faces Sa, Sb, respectively. The measurement planes Pma and Pmb may be defined using coordinate values farthest from the three-dimensional shape measuring apparatuses 20A and 20B in Dbw. According to this, the length of the workpiece WK can be measured based on the points on the end surfaces Sa and Sb that are present on the innermost side among the end surfaces Sa and Sb of the workpiece WK. According to these, when the end surfaces Sa and Sb are inclined with respect to the axis (FIGS. 17B and 17C), based on which position on the end surfaces Sa and Sb is measured as the length of the work WK. As described above, positions for defining the measurement planes Pma and Pmb can be set as necessary, and various length measurements can be performed.

  In the above embodiment, in the correction of the center coordinates Cwa and Cwb in step S810 of the center coordinate correction subprogram, the center coordinates of the intersection point P0 and the end surface Sa at which the center axis begins to bend at the end where the bend is detected. Although the length Larc on the circumference with Cwa is calculated and the same length Larc is added to the coordinate value of the intersection point P0 on the center axis CLa to correct the center coordinate Cwa, the present invention is not limited to this. That is, the center coordinates Cwa ′ and Cwb ′ of the end surfaces Sa and Sb of the same end when there is no bend at the end where the bend is detected (when the end is linear) are calculated. That's fine. For example, a plane that passes through the center coordinate Cwa of the end surface Sa of the workpiece WK and is perpendicular to the center axis CLa may be defined, and the intersection of the plane and the center axis CLa may be set as the center coordinate Cwa ′. According to this, it is possible to easily calculate the approximate value for the center coordinate Cwa 'in the above embodiment.

  Moreover, in the said embodiment, while determining the shape in the edge part of the workpiece | work WK in step S612 and S620 in the said workpiece | work length measurement program, the end surface in the said edge part is inclined or same in steps S616 and S624. Each corresponding process is executed when the end is bent, but there is no work WK in which the end surface of the end is inclined or the end is bent in the work WK to be measured. In some cases, the processes are not necessary. Thereby, the structure of the workpiece length measurement program can be simplified.

  In the above embodiment, the length of the workpiece WK is measured using the two three-dimensional shape measuring devices 20A and 20B. However, the length of the workpiece WK is measured using the one three-dimensional shape measuring device 20. Measurement may be performed. For example, one end of the workpiece WK is positioned at a specific position (for example, a stopper for positioning one end of the workpiece WK is prepared), and the other end face of the workpiece WK faces the three-dimensional shape measuring apparatus 20. Arrange the work WK. In this case, the distance in the axial direction of the workpiece WK between the specific position where one end of the workpiece WK is positioned and the origin of the coordinate system of the three-dimensional shape measuring apparatus 20 or the specific position and the reference plane definition program are defined. What is necessary is just to memorize | store beforehand in the three-dimensional shape measuring apparatus 20 by making distance with the reference plane which becomes a reference | standard distance into it. Also by this, the same effect as the above can be expected.

  Moreover, in the said embodiment, although comprised so that the length measurement of three workpiece | work WK might be performed simultaneously, the number of the workpiece | work WK measured simultaneously is suitably set as needed, and is limited to this. It is not a thing. Therefore, the length measurement of one workpiece WK may be performed, or the length measurement of four or more workpieces WK may be performed simultaneously. Also by this, the same effect as the above can be expected.

  In the above embodiment, a round bar is used as the long workpiece WK to be measured. However, the present invention is not limited to this, and other cross-sectional shapes such as polygonal shapes such as triangles and squares are used. A long material having a cross-sectional shape may be a measurement target. Also by this, the same effect as the above can be expected.

  Moreover, in the said embodiment, while having the V-groove-shaped groove part 50b similar to the support part 10b of the support stand 10 in the center part of the lower surface of the main-body part 50a formed in the rectangular parallelepiped shape, both ends of the main-body part 50a The reference planes Pka and Pkb are defined using the reference plane setting jig 50 formed so as to have reference holes 50c and 50d penetrating from the upper surface to the lower surface, respectively. If a plane perpendicular to the axial direction of WK can be defined as the reference plane, the present invention is not limited to this. For example, the side surfaces facing the three-dimensional shape measuring apparatuses 20A and 20B in the main body 50a may be formed larger. In this case, a plane including the same side surface is calculated, and the same plane may be defined as the reference planes Pka and Pkb. Also by this, the same effect as the above can be expected.

  Moreover, in the said embodiment, the example which applied this invention to the length measuring apparatus which measures the length of the workpiece | work WK with respect to the workpiece | work WK mounted on the support stand 10 was demonstrated. However, instead of this, the present invention may also be applied to a length measuring apparatus that sequentially measures the lengths of the workpieces WK that move one after another on various lines such as a production line and an inspection line. . In this case, as a support means for supporting the workpiece WK, for example, a roller table in which a V-shaped groove is spirally formed on the circumferential surface of the roller may be used.

It is the schematic which shows the whole length measuring apparatus which concerns on one Embodiment of this invention. It is a perspective view of the support stand used for the length measuring apparatus of FIG. 2 is a flowchart of a work length measurement program executed by the three-dimensional image data processing apparatus of FIG. It is explanatory drawing which shows the positional relationship of the three-dimensional shape measuring apparatus in the length measuring apparatus of FIG. 1, a support stand, a reference | standard object, and a reference plane setting jig | tool. 3 is a flowchart of a reference distance calculation subprogram executed by the three-dimensional image data processing apparatus of FIG. 1. 3 is a flowchart of a reference plane definition subprogram executed by the three-dimensional image data processing apparatus of FIG. 1. It is a perspective view which shows the arrangement | positioning state of the reference plane setting jig | tool used for the length measuring apparatus of FIG. 3 is a flowchart of a reference hole center calculation subprogram executed by the three-dimensional image data processing apparatus of FIG. 1. It is a conceptual diagram which shows a search area two-dimensionally. FIG. 10 is a conceptual diagram two-dimensionally showing the relationship between the search area shown in FIG. 9 and extracted unit blocks. (A)-(D) are the conceptual diagrams which show the movement of the search block within a search area two-dimensionally. It is a flowchart of the measurement object spatial information acquisition subprogram executed by the three-dimensional image data processing apparatus of FIG. It is a flowchart of the workpiece | work measurement subprogram performed by the three-dimensional image data processing apparatus of FIG. It is explanatory drawing which expressed on the workpiece | work each coordinate value of a sub three-dimensional shape data group as a point group. It is explanatory drawing which shows the positional relationship of the plane showing the reference plane and end surface with respect to the support stand and a workpiece | work in the length measuring apparatus of FIG. It is a flowchart of the central axis definition subprogram of the workpiece | work performed by the three-dimensional image data processing apparatus of FIG. (A)-(C) is explanatory drawing which showed the positional relationship of the various planes defined in the end surface of a workpiece | work according to the shape of an end surface. It is a flowchart of the center coordinate correction | amendment subprogram performed by the three-dimensional image data processing apparatus of FIG. (A), (B) is explanatory drawing for demonstrating the process in which various planes and a coordinate value are calculated to the workpiece | work edge part of the curved shape. It is explanatory drawing for demonstrating the correction | amendment process of the center coordinate in the workpiece | work edge part of the curved shape. It is explanatory drawing which shows the relationship of the measurement plane with respect to the three-dimensional shape measuring apparatus and workpiece | work in the elongate object length measuring apparatus of FIG.

Explanation of symbols

WK: Work, 10: Support base, 20A, 20B ... 3D shape measuring device, 31 ... Controller, 32 ... 3D image data processing device, 33 ... Input device, 34 ... Display device, 40 ... Reference object, 50 ... Reference Surface setting jig.

Claims (27)

In a length measuring device that measures the length of a measurement object,
A support means for supporting the measurement object;
3 of the surface of the measurement object including at least an end portion including an end surface to be a length measurement target in the measurement object by irradiating light toward the measurement object and using reflected light from the measurement object A three-dimensional shape measuring device for measuring a three-dimensional shape;
Reference plane defining means for defining a plane perpendicular to the axis between the end faces to be measured in the measurement object supported by the support means as a reference plane;
In order to specify the predetermined first measurement reference position in the coordinate system of the three-dimensional shape measuring apparatus and the position of the end face at the end opposite to the end of the measurement object measured by the three-dimensional shape measuring apparatus. Storage means for storing a distance along the axis of the measurement object from the predetermined second measurement reference position as a reference distance;
Three-dimensional shape data group generation means for generating a three-dimensional shape data group representing the three-dimensional surface shape of the measurement object measured by the three-dimensional shape measurement apparatus;
Using the generated three-dimensional shape data group, an end surface defining means for defining an end surface to be a length measurement target in the measurement object;
A measuring plane defining means for defining a measuring plane that includes one point in the end face defined by the end face defining means and is parallel to the reference plane;
Calculating a distance between the measurement plane defined by the measurement plane definition means and the first measurement reference position as a first distance, and subtracting the first distance from a reference distance stored in the storage device; the length measuring device is characterized in that a length calculation means for calculating the length of the measurement object by. The length measuring device according to claim 1,
The first measurement reference position is a coordinate origin in the coordinate system of the three-dimensional shape measurement apparatus, and the second measurement reference position is opposite to an end of the measurement object measured by the three-dimensional shape measurement apparatus. A length measuring device which is a position for positioning a side end portion at a specific position. In a length measuring device that measures the length of a measurement object,
A support means for supporting the measurement object;
Irradiate light toward the measurement object and use each reflected light from the measurement object to include at least each end part including two end surfaces to be subjected to length measurement in the measurement object. Two three-dimensional shape measuring devices for measuring the three-dimensional shape of the surface of the measuring object,
A reference surface defining means for defining, as a reference surface, a plane perpendicular to an axis between two end faces to be measured in length in a measurement object supported by the support means;
Of the two three-dimensional shape measuring devices, a predetermined first measurement reference position in the coordinate system of one three-dimensional shape measuring device and a predetermined second measurement reference in the coordinate system of the other three-dimensional shape measuring device. Storage means for storing, as a reference distance, a distance along the axis of the measurement object with respect to the position;
Three-dimensional shape data group generating means for generating three-dimensional shape data groups each representing a three-dimensional surface shape of the measurement object measured by the two three-dimensional shape measurement devices;
Using each of the generated three-dimensional shape data groups, end face defining means for defining two end faces to be length measurement targets in the measurement object,
Measuring plane defining means for defining a measuring plane that includes one point in each end face defined by the end face defining means and is parallel to the reference plane;
The distance between the measurement plane corresponding to the one three-dimensional shape measurement apparatus and the first measurement reference position is calculated as a first distance, and the measurement plane corresponding to the other three-dimensional shape measurement apparatus and the first 2 A length for calculating the length of the measurement object by calculating the distance from the measurement reference position as the second distance and subtracting the first distance and the second distance from the reference distance stored in the storage device. A length measuring device comprising a calculating means. In the length measuring device according to claim 3,
The first measurement reference position is a coordinate origin in the coordinate system of the one three-dimensional shape measurement apparatus, and the second measurement reference position is a coordinate origin in the coordinate system of the other three-dimensional shape measurement apparatus. Measuring device. In the length measuring device according to any one of claims 1 to 4,
One point included in the measurement plane in each end face defined by the end face defining means is a center point on the end face, a center point on the end face, a point closest to the three-dimensional shape measuring apparatus facing the end face, and A length measuring device which is one of the farthest points from the three-dimensional shape measuring device facing the end face. The length measuring device according to any one of claims 1 to 4, further comprising:
The measurement plane defining means includes:
Center axis calculation means for calculating the center axis of the measurement object using the three-dimensional data representing the surface shape of the outer peripheral surface at the end of the measurement object in the three-dimensional shape data group;
End surface center calculating means for calculating the intersection of the end surface defined by the end face defining means and the central axis calculated by the central axis calculating means as the center point of the end face of the measurement object;
A length measuring device that defines a plane that includes the center point of the end face calculated by the end face center calculating means and is parallel to the reference plane as a measuring plane. The length measuring device according to any one of claims 1 to 6, further comprising:
When the angle of the end face defined by the end face defining means with respect to the reference plane is within a predetermined range, there is a length measurement availability determination means that determines that the length of the measurement object can be measured,
The length calculation unit is a length measurement device that calculates the length of the measurement target when the length measurement availability determination unit determines that the length of the measurement target can be measured. In a length measuring device that measures the length of a measurement object,
A support means for supporting the measurement object;
3 of the surface of the measurement object including at least an end portion including an end surface to be a length measurement target in the measurement object by irradiating light toward the measurement object and using reflected light from the measurement object A three-dimensional shape measuring device for measuring a three-dimensional shape;
Reference plane defining means for defining a plane perpendicular to the axis between the end faces to be measured in the measurement object supported by the support means as a reference plane;
In order to specify the predetermined first measurement reference position in the coordinate system of the three-dimensional shape measuring apparatus and the position of the end face at the end opposite to the end of the measurement object measured by the three-dimensional shape measuring apparatus. Storage means for storing a distance along the axis of the measurement object from the predetermined second measurement reference position as a reference distance;
Three-dimensional shape data group generation means for generating a three-dimensional shape data group representing a three-dimensional surface shape of the measurement object measured by the three-dimensional shape measurement apparatus;
Using the generated three-dimensional shape data group, an end surface defining means for defining an end surface to be a length measurement target in the measurement object;
A measuring plane defining means for defining a measuring plane that includes one point in the end face defined by the end face defining means and is parallel to the reference plane;
Bend determination means for determining the presence or absence of bending of the end of the measurement object using the three-dimensional data representing the surface shape of the end of the measurement object in the three-dimensional shape data group;
When the measurement of the measurement plane defined by the measurement plane definition means is straight when the end of the measurement object is straight when it is determined by the bending determination means that the end of the measurement object is bent Measuring plane correction means for correcting to the measuring plane in
The distance between the measurement plane defined by the measurement plane definition means or the measurement plane corrected by the measurement plane correction means and the first measurement reference position is calculated as a first distance and stored in the storage device. And a length calculating unit that calculates a length of the measurement object by subtracting the first distance from the reference distance. The length measuring device according to any one of claims 1 to 8, further comprising:
The three-dimensional shape data group to be generated corresponding to the plurality of measuring objects supported by the support means has a three-dimensional shape data classification means for classifying each the plurality of the measurement object,
The end face defining means defines an end face to be subjected to length measurement for each of the plurality of measurement objects,
The measurement plane defining means defines a measurement plane for each of the plurality of measurement objects,
The length calculation unit is a length measurement device that calculates the length of a measurement object for each of the plurality of measurement objects. In the length measurement method for measuring the length of the measurement object,
A supporting means for supporting the measurement object and a three-dimensional shape measuring device for measuring the three-dimensional shape of the surface of the object;
In order to specify the predetermined first measurement reference position in the coordinate system of the three-dimensional shape measuring apparatus and the position of the end face at the end opposite to the end of the measurement object measured by the three-dimensional shape measuring apparatus. The distance along the axis of the measurement object with respect to the predetermined second measurement reference position is stored in the storage means as a reference distance, and the length measurement object is supported on the measurement object supported by the support means. Define a plane perpendicular to the axis between the end faces as the reference plane,
In the state where at least an end portion including an end surface to be a length measurement target in the measurement object supported by the support means is arranged in the measurement target space of the three-dimensional shape measurement apparatus, the three-dimensional shape measurement apparatus The surface of the measurement object including at least an end including the end face to be subjected to the length measurement by irradiating light toward the measurement object supported by the support means and using the reflected light from the measurement object. A three-dimensional shape data group generation step for measuring a three-dimensional shape and generating a three-dimensional shape data group representing the three-dimensional surface shape of the measurement object;
Using the generated three-dimensional shape data group, an end face defining step for defining an end face to be a length measurement target in the measurement object;
A measuring plane defining step that defines a measuring plane that includes a point in the end face defined by the end face defining step and is parallel to the reference plane;
Calculating a distance between the measurement plane defined by the measurement plane definition step and the first measurement reference position as a first distance, and subtracting the first distance from the reference distance stored in the storage device; And a length calculating step for calculating the length of the object to be measured. The length measuring method according to claim 10,
The first measurement reference position is a coordinate origin in the coordinate system of the three-dimensional shape measurement apparatus, and the second measurement reference position is opposite to an end of the measurement object measured by the three-dimensional shape measurement apparatus. A length measurement method which is a position for positioning the end on the side at a specific position. In the length measurement method for measuring the length of the measurement object,
Preparing a supporting means for supporting the object to be measured and two three-dimensional shape measuring devices for measuring the three-dimensional shape of the surface of the object;
Of the two three-dimensional shape measuring devices, a predetermined first measurement reference position in the coordinate system of one three-dimensional shape measuring device and a predetermined second measurement reference in the coordinate system of the other three-dimensional shape measuring device. The distance along the axis of the measurement object with respect to the position is stored in the storage means as a reference distance, and orthogonal to the axis between the end surfaces to be measured for the length of the measurement object supported by the support means Define the plane to be used as the reference plane,
In a state where at least each end portion including each of two end faces to be subjected to measurement of the length of the measurement object supported by the support means is disposed in each measurement object space of the two three-dimensional shape measuring apparatuses. The two three-dimensional shape measuring devices are irradiated with light toward the measurement object supported by the support means, and the reflected light from the measurement object is used for the length measurement 2. Three-dimensional shape data for generating a three-dimensional shape data group representing each three-dimensional surface shape of the measurement object by measuring the three-dimensional shape of the surface of the measurement object including at least each end including each of the two end surfaces A group generation step;
Using each of the generated three-dimensional shape data groups, an end face definition step for defining two end faces to be subjected to length measurement in the measurement object,
A measuring plane defining step that defines a measuring plane that includes one point in each end face defined by the end face defining step and is parallel to the reference plane;
The distance between the measurement plane corresponding to the one three-dimensional shape measurement apparatus and the first measurement reference position is calculated as a first distance, and the measurement plane corresponding to the other three-dimensional shape measurement apparatus and the first 2 A length for calculating the length of the measurement object by calculating the distance from the measurement reference position as the second distance and subtracting the first distance and the second distance from the reference distance stored in the storage device. And a calculation step. The length measuring method according to claim 12,
The first measurement reference position is a coordinate origin in the coordinate system of the one three-dimensional shape measurement apparatus, and the second measurement reference position is a coordinate origin in the coordinate system of the other three-dimensional shape measurement apparatus. Measuring method. In the length measuring method according to any one of claims 10 to 13 ,
One point included in the measurement plane in each end face defined by the end face definition step is a center point on the end face, a center of gravity point on the end face, a point closest to the three-dimensional shape measuring apparatus facing the end face, and A length measurement method which is any one of the farthest points with respect to the three-dimensional shape measuring apparatus facing the end face. The length measuring method according to any one of claims 10 to 13 , further comprising:
The measurement plane definition step includes:
A central axis calculation step of calculating a central axis in the measurement object using the three-dimensional data representing the surface shape of the outer peripheral surface at the end of the measurement object in the three-dimensional shape data group;
An end surface center calculation step for calculating an intersection of the end surface defined by the end surface definition step and the center axis calculated by the center axis calculation step as a center point in the end surface of the measurement object,
A length measurement method that defines a plane that includes the center point of the end face calculated in the end face center calculation step and is parallel to the reference plane as a measurement plane. The length measurement method according to any one of claims 10 to 15, further comprising:
A length measurement availability determination step that determines that the length of the measurement object can be measured when the angle of the end surface defined by the end surface definition step is within a predetermined range;
The length calculation method is a length measurement method in which, when it is determined by the length measurement availability determination step that the measurement of the length of the measurement object is possible, the length of the measurement object is calculated. In the length measurement method for measuring the length of the measurement object,
A supporting means for supporting the measurement object and a three-dimensional shape measuring device for measuring the three-dimensional shape of the surface of the object;
In order to specify the predetermined first measurement reference position in the coordinate system of the three-dimensional shape measuring apparatus and the position of the end face at the end opposite to the end of the measurement object measured by the three-dimensional shape measuring apparatus. The distance along the axis of the measurement object with respect to the predetermined second measurement reference position is stored in the storage means as a reference distance, and the length measurement object is supported on the measurement object supported by the support means. Define a plane perpendicular to the axis between the end faces as the reference plane,
In the state where at least an end portion including an end surface to be a length measurement target in the measurement object supported by the support means is arranged in the measurement target space of the three-dimensional shape measurement apparatus, the three-dimensional shape measurement apparatus The surface of the measurement object including at least an end including the end face to be subjected to the length measurement by irradiating light toward the measurement object supported by the support means and using the reflected light from the measurement object. A three-dimensional shape data group generation step for measuring a three-dimensional shape and generating a three-dimensional shape data group representing the three-dimensional surface shape of the measurement object;
Using the generated three-dimensional shape data group, an end face defining step for defining an end face to be a length measurement target in the measurement object;
A measuring plane defining step that defines a measuring plane that includes a point in the end face defined by the end face defining step and is parallel to the reference plane;
A bending determination step for determining whether or not the end of the measurement object is bent, using the three-dimensional data representing the surface shape of the end of the measurement object in the three-dimensional shape data group;
When it is determined in the bending determination step that the end of the measurement object is bent, the measurement plane defined in the measurement plane definition step is the end of the measurement object is linear. A measurement plane correction step for correcting to the measurement plane in
The distance between the measurement plane defined by the measurement plane definition step or the measurement plane corrected by the measurement plane correction step and the first measurement reference position is calculated as a first distance and stored in the storage device. And a length calculating step of calculating a length of the measurement object by subtracting the first distance from the reference distance. The length measurement method according to any one of claims 10 to 17, further comprising:
The three-dimensional shape data group to be generated corresponding to the plurality of measuring objects supported by the support means has a three-dimensional shape data classification step of classifying each said plurality of measurement object,
The end surface definition step defines an end surface to be a length measurement target for each of the plurality of measurement objects,
The measurement plane definition step defines a measurement plane for each of the plurality of measurement objects,
The length calculation step is a length measurement method in which a length of the measurement object is calculated for each of the plurality of measurement objects. The length of the measurement object including a support means for supporting the measurement object, a three-dimensional shape measurement device for measuring the three-dimensional shape of the surface of the object, and a computer unit that includes a storage device and executes a computer program. A computer program applied to a length measuring device for measuring, wherein the computer unit includes:
In order to specify the predetermined first measurement reference position in the coordinate system of the three-dimensional shape measuring apparatus and the position of the end face at the end opposite to the end of the measurement object measured by the three-dimensional shape measuring apparatus. A distance along the axis of the measurement object with a predetermined second measurement reference position is stored as a reference distance in the storage device,
A plane perpendicular to the axis between the end faces to be measured in the measurement object supported by the support means is defined as a reference plane;
In the state where at least an end portion including an end surface to be a length measurement target in the measurement object supported by the support means is arranged in the measurement target space of the three-dimensional shape measurement apparatus, the three-dimensional shape measurement apparatus The surface of the measurement object including at least an end including the end face to be subjected to the length measurement by irradiating light toward the measurement object supported by the support means and using the reflected light from the measurement object. Measuring a three-dimensional shape, generating a three-dimensional shape data group representing the three-dimensional surface shape of the measurement object,
Using the generated three-dimensional shape data group, an end face to be a length measurement target in the measurement object is defined,
A measurement plane including a point in the defined end face and parallel to the reference plane is defined;
By calculating the distance between the defined measurement plane and the first measurement reference position as a first distance and subtracting the first distance from the reference distance stored in the storage device, the length of the measurement object A computer program for length measurement that allows you to calculate the length. The computer program for length measurement according to claim 19,
The first measurement reference position is a coordinate origin in the coordinate system of the three-dimensional shape measurement apparatus, and the second measurement reference position is opposite to an end of the measurement object measured by the three-dimensional shape measurement apparatus. A computer program for length measurement which is a position for positioning a side end portion at a specific position. The length of the measuring object including supporting means for supporting the measuring object, two three-dimensional shape measuring devices for measuring the three-dimensional shape of the surface of the object, and a computer unit that includes a storage device and executes a computer program A computer program applied to a length measuring device for measuring thickness, wherein the computer unit includes:
Of the two three-dimensional shape measuring devices, a predetermined first measurement reference position in the coordinate system of one three-dimensional shape measuring device and a predetermined second measurement reference in the coordinate system of the other three-dimensional shape measuring device. The distance along the axis of the measurement object with respect to the position is stored in the storage device as a reference distance,
A plane perpendicular to the axis between the end faces to be measured in the measurement object supported by the support means is defined as a reference plane;
In a state where at least each end portion including each of two end faces to be subjected to measurement of the length of the measurement object supported by the support means is disposed in each measurement object space of the two three-dimensional shape measuring apparatuses. The two three-dimensional shape measuring devices are irradiated with light toward the measurement object supported by the support means, and the reflected light from the measurement object is used for the length measurement 2. Measuring the three-dimensional shape of the surface of the measurement object including at least each end including each of the two end surfaces, and generating each three-dimensional shape data group representing each three-dimensional surface shape of the measurement object,
Using each of the three-dimensional shape data groups generated respectively, two end faces to be length measurement targets in the measurement object are respectively defined,
A measuring plane that includes one point in each of the defined end faces and is parallel to the reference plane,
The distance between the measurement plane corresponding to the one three-dimensional shape measuring apparatus and the first measurement reference position is calculated as a first distance, and the measurement plane corresponding to the other three-dimensional shape measuring apparatus and the first 2 The distance from the measurement reference position is calculated as the second distance, and the length of the measurement object is calculated by subtracting the first distance and the second distance from the reference distance stored in the storage device. Computer program for length measurement. The computer program for length measurement according to claim 21,
The first measurement reference position is a coordinate origin in the coordinate system of the one three-dimensional shape measurement apparatus, and the second measurement reference position is a coordinate origin in the coordinate system of the other three-dimensional shape measurement apparatus. Computer program for measurement. A computer program for length measurement according to any one of claims 19 to 22,
One point in each end face used to define the measurement plane is a center point on the end face, a centroid point on the end face, a point closest to the three-dimensional shape measuring apparatus facing the end face, and the end face. A computer program for length measurement which is one of the furthest points with respect to the facing three-dimensional shape measuring apparatus. The computer program for length measurement according to any one of claims 19 to 22, wherein the computer unit further includes:
Using the three-dimensional data representing the surface shape of the outer peripheral surface at the end of the measurement object in the three-dimensional shape data group, the central axis of the measurement object is calculated,
The intersection of the defined end surface and the calculated center axis is calculated as the center point on the end surface of the measurement object,
A computer program for length measurement, wherein a plane including the calculated center point of the end face and parallel to the reference plane is defined as a measurement plane. 25. The computer program for length measurement according to any one of claims 19 to 24, further comprising:
When the angle of the defined end surface with respect to the reference surface is within a predetermined range, it is determined that the length measurement of the measurement object is possible,
A length-measuring computer program for calculating the length of a measurement object when it is determined that the length of the measurement object can be measured. The length of the measurement object including a support means for supporting the measurement object, a three-dimensional shape measurement device for measuring the three-dimensional shape of the surface of the object, and a computer unit that includes a storage device and executes a computer program. A computer program applied to a length measuring device for measuring, wherein the computer unit includes:
In order to specify the predetermined first measurement reference position in the coordinate system of the three-dimensional shape measuring apparatus and the position of the end face at the end opposite to the end of the measurement object measured by the three-dimensional shape measuring apparatus. A distance along the axis of the measurement object with a predetermined second measurement reference position is stored as a reference distance in the storage device,
A plane perpendicular to the axis between the end faces to be measured in the measurement object supported by the support means is defined as a reference plane;
In the state where at least an end portion including an end surface to be a length measurement target in the measurement object supported by the support means is arranged in the measurement target space of the three-dimensional shape measurement apparatus, the three-dimensional shape measurement apparatus The surface of the measurement object including at least an end including the end face to be subjected to the length measurement by irradiating light toward the measurement object supported by the support means and using the reflected light from the measurement object. Measuring a three-dimensional shape, generating a three-dimensional shape data group representing the three-dimensional surface shape of the measurement object,
Using the generated three-dimensional shape data group, an end face to be a length measurement target in the measurement object is defined,
A measurement plane including a point in the defined end face and parallel to the reference plane is defined;
Using the three-dimensional data representing the surface shape of the end of the measurement object in the three-dimensional shape data group, the presence or absence of bending of the end of the measurement object is determined,
When it is determined that the end of the measurement object is bent, the measurement plane defined above is corrected to the measurement plane when the end of the measurement object is linear,
The distance between the defined measurement plane or the corrected measurement plane and the first measurement reference position is calculated as a first distance, and the first distance is subtracted from the reference distance stored in the storage device. measuring object length measurement computer program in so that by calculating the length of the by. The length measurement computer program according to any one of claims 19 to 26, wherein the computer unit further includes:
The three-dimensional shape data group generated corresponding to a plurality of measurement object supported by the supporting means, is categorized by the plurality of the measurement object,
For each of the plurality of measurement objects, define an end face to be subjected to the length measurement,
The measurement plane is defined for each of the plurality of measurement objects,
A length measurement computer program that calculates the length of a measurement object for each of the plurality of measurement objects.

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