JP6110720B2 - Three-dimensional shape measuring device and its control software - Google Patents

Description

  The present invention relates to a three-dimensional shape measuring apparatus and its control software, and more particularly to a three-dimensional shape measuring apparatus and its control software capable of accurately and quickly reaching a measurement position of a probe.

  Conventionally, a manually operated three-dimensional shape measuring machine as shown in Patent Document 1 has been used. This three-dimensional shape measuring machine is configured to output probe position information. In addition to the three-dimensional shape measuring machine, a three-dimensional shape measuring apparatus is configured by including a processing unit that processes the position information and a display unit that displays processing information obtained by the processing unit. . In such a three-dimensional shape measuring apparatus, even if the measurement position on the workpiece is designated, it is necessary for the operator to manually move the probe to the measurement position. In that case, if the distance from the current position of the probe to the measurement position can be displayed on the display unit by designating the measurement position, the probe is moved to the measurement position using this as a clue. It is possible.

JP 2008-190994 A

  However, in the above configuration that only displays the distance from the current position of the probe to its measurement position, even the moving direction from the current position of the probe is unknown. In addition, the workpiece has a three-dimensional shape and is not necessarily a planar configuration, and the operator may not be able to visually observe the measurement position from the current position of the probe and enter the shadow of the workpiece. For this reason, in the prior art, there have been cases where it is difficult to bring the probe close to the measurement position.

  The present invention has been made to solve the above problems, and an object of the present invention is to provide a three-dimensional shape measuring apparatus capable of accurately and quickly reaching the measurement position of the probe and its control software.

  The invention according to claim 1 of the present application includes a three-dimensional shape measuring machine that outputs positional information of a probe, a processing unit that processes the positional information, a display unit that displays processing information obtained by the processing unit, A three-dimensional shape measuring apparatus for measuring a three-dimensional shape of a workpiece with the probe, wherein the processing unit uses the three-dimensional shape information of the workpiece acquired in advance as a viewpoint of the current position of the probe as a viewpoint. When an original CG image is synthesized and a measurement position on the workpiece is designated, a movement path that avoids interference between the workpiece and the probe is obtained, and at least the movement direction from the current position of the probe and the measurement position or the measurement The approach vector to the position is displayed on the display unit together with the three-dimensional CG image, thereby solving the problem.

  In the invention according to claim 2 of the present application, in the processing unit, the display unit displays the moving direction from the current position of the probe according to the distance to the measurement position, and the measurement position or At least one of the display forms of the approach vector to the measurement position is changed.

  In the invention according to claim 3 of the present application, the display state of the display unit is updated each time the current position of the probe is changed in the processing unit.

  The invention according to claim 4 of the present application is a three-dimensional shape measuring machine that outputs positional information of a probe, a processing unit that processes the positional information, a display unit that displays processing information obtained by the processing unit, A three-dimensional shape measuring apparatus for controlling the three-dimensional shape of the workpiece using the probe, and the three-dimensional shape of the workpiece with the current position of the probe as a viewpoint from the three-dimensional shape information of the workpiece acquired in advance A process for synthesizing a CG image; a process for obtaining a movement path that avoids interference between the work and the probe when a measurement position in the work is designated; and a movement direction from the current position of the probe and the measurement position Alternatively, the processing unit is configured to display the approach vector to the measurement position together with the three-dimensional CG image on the display unit. A.

  Note that the three-dimensional CG image is a three-dimensional computer graphic image, unlike an image directly captured by a camera.

  According to the present invention, it is possible to reach the measurement position of the probe accurately and quickly.

The schematic diagram which shows an example of the three-dimensional shape measuring apparatus which concerns on 1st Embodiment of this invention. The schematic diagram which shows an example of the structural block of the process part of FIG. The schematic diagram which shows an example of the navigation display displayed on the display part of FIG. The schematic diagram which shows another example of the navigation display displayed on the display part of FIG. The schematic diagram which shows another example of the navigation display displayed on the display part of FIG. The schematic diagram which shows an example of the work box defined when determining the movement path | route calculated | required in the process part of FIG. The flowchart based on an example of the process sequence performed in the process part of FIG. Schematic diagram showing an example of control software for realizing the processing of FIG. The schematic diagram which shows an example of the three-dimensional shape measuring machine which concerns on 2nd Embodiment of this invention.

  Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings.

  A first embodiment according to the present invention will be described with reference to FIGS.

  First, the configuration of the three-dimensional shape measuring apparatus 100 according to this embodiment will be described.

  As shown in FIG. 1, the three-dimensional shape measuring apparatus 100 includes a three-dimensional shape measuring machine 102, a processing unit 130, a display unit 140, and an input unit 142. The input unit 142 may be integrated with the display unit 140 as a touch panel, for example. In the present embodiment, the workpiece W is a vehicle body as shown in FIG. 3, but it may be smaller (for example, a minute part that cannot be confirmed without using a microscope). It may be large (for example, a frame part such as a ship or an aircraft).

  As shown in FIG. 1, the three-dimensional shape measuring machine 102 is an arm-type articulated coordinate measuring machine, and includes a support column 120 that stands vertically on a base 122 fixed to a work table or the like. The support column 120 and one end of the second arm 114 are connected via a third joint 116 having a built-in rotary encoder (not shown) that can freely rotate in two axial directions and can detect the respective rotation angles. ing. The other end of the second arm 114 and one end of the first arm 110 are connected via a second joint 112 similar to the third joint 116. Further, the other end of the first arm 110 and the probe head 106 are connected via a first joint 108 similar to the second joint 112. A probe 104 is provided at the tip of the probe head 106. The probe 104 is a contact-type ball probe whose tip (probe tip) 104A is a ball.

  Here, the length and positional relationship of the probe 104, the probe head 106, the first and second arms 110 and 114, and the column 120 are clarified in advance. By measuring the center coordinate value of the ball of the probe 104, the ball center coordinate value can be offset by the radius of the ball, and the contact position between the ball and the workpiece W can be accurately determined. It is possible to measure. For this reason, the current position of the probe tip 104A can be accurately obtained in a coordinate system based on the base 122 based on the outputs of the rotary encoders built in the first to third joints 108, 112, and 116. That is, the three-dimensional shape measuring machine 102 can accurately output the position information of the probe 104 (probe tip 104A) by the output of the rotary encoder (hereinafter, “probe tip 104A of the probe 104” is output). Also simply referred to as “probe 104”). Note that when the three-dimensional shape measuring machine 102 measures the three-dimensional shape of the workpiece W, the operator directly grips and operates the probe head 106. That is, the operator can bring the probe 104 closer to the workpiece W from a free direction, and can contact the workpiece W at a free angle.

  The processing unit 130 is connected to a three-dimensional shape measuring machine 102 as shown in FIG. And the process part 130 processes the positional information output from the three-dimensional shape measuring machine 102. FIG. Then, each time the current position of the probe 104 is changed, the processing unit 130 processes the position information of the probe 104 based on the new current position of the probe 104 and updates the display state of the display unit 140.

  Specifically, the processing unit 130 includes an image composition unit 132, a route determination unit 134, and a display control unit 136, as shown in FIG. The processing unit 130 has a storage unit (not shown), in which the three-dimensional shape information of the workpiece W (see FIG. 3) acquired in advance, various initial setting values, and the like are stored. In the present embodiment, the image composition unit 132 performs processing before the route determination unit 134, but the order may be reversed.

  The image synthesis unit 132 synthesizes a 3D CG image of the workpiece W with the current position of the probe 104 as a viewpoint from the previously acquired 3D shape information of the workpiece W (a 3D CG image is an image directly captured by a camera). Unlike 3D computer graphic images). That is, in the three-dimensional CG image, the three-dimensional CG image of the workpiece W increases as the probe 104 approaches the workpiece W, and the three-dimensional CG image of the workpiece W decreases as the probe 104 moves away from the workpiece W. However, the enlargement / reduction mode can be enabled / disabled by setting in the display control unit 136. Therefore, even when the probe 104 approaches, the display control unit 136 can set a mode in which the three-dimensional CG image of the workpiece W is not enlarged / reduced and only the rotation is performed. Note that the three-dimensional shape information of the workpiece W acquired in advance may be CAD design data stored in the storage unit or measured data such as a master workpiece. Or you may acquire by the rough measurement of the workpiece | work W by the three-dimensional shape measuring machine 102. FIG. Even when CAD design data or the like is used as the three-dimensional shape information of the workpiece W acquired in advance, the workpiece W is roughly measured by the three-dimensional shape measuring machine 102, and the coordinate system based on the base 122 is used. It is preferable to take alignment.

  When the measurement position on the workpiece W is designated by the input unit 142 or in accordance with the signal stored in the storage unit, the route determination unit 134 obtains a movement route that avoids interference between the workpiece W and the probe 104. As an example, first, a rectangular parallelepiped work box 134A (a rectangular parallelepiped indicated by a broken line in FIG. 6) covering the entire region where the workpiece W exists is obtained with respect to the three-dimensional shape information of the workpiece W acquired in advance. The size of the work box 134 </ b> A with respect to the work W can be appropriately set to a size that is not too large and in which interference between the work W and the probe 104 cannot occur. Then, an approach path that is a distance from the measurement position to the side surface of the work box 134A closest to the measurement position is obtained. Then, the shortest path from the end point of the approach path on the side surface to the current position of the probe 104 is determined along the side surface (including the top surface) of the work box 134A so as not to enter the work box 134A. That is, all the travel routes can be obtained from the approach route and the shortest route. When the size of the workpiece W is difficult when the probe 104 is manually moved (for example, the height of the workpiece W is so high that it is difficult to move the probe 104 by hand (for example, 1 m or more)). )), The movement path is determined so as not to pass through the upper surface of the work box 134A (this determination may be performed automatically or manually from the input unit 142). In the present embodiment, the work box 134A is a rectangular parallelepiped, but may have another three-dimensional shape such as a columnar shape, for example, according to the shape of the work W. The work box 134A is also handled as a basic size when the three-dimensional CG image of the work W is reduced, enlarged, rotated, moved, or the like.

  As shown in FIG. 3, the display control unit 136 displays all the obtained movement paths in a curved line together with the three-dimensional CG image of the work W on the display unit 140 (also simply referred to as navigation display) (all the movement paths are displayed in the work box. May be shown as a straight line along 134A). That is, all the obtained movement paths and the three-dimensional CG image of the workpiece W are output to the display unit 140 as processing information. The movement path here is indicated by a solid line arrow 105A. That is, the reference numeral 105A indicates the moving direction of the probe 104 from the current position and the approach vector to the measurement position (the approach vector indicates from which direction the measurement position is reached). In the display unit 140, the display control unit 136 sets the position of the probe 104 to the near side of the center of the screen and the measurement position to the depth side. In the present embodiment, the display form of the probe 104 is a white circle, but the probe 104 may be a human figure or an airplane silhouette. Of course, the display form of the probe 104 may be changed according to the type of the probe (for example, if the probe is a ball probe, it is a white circle as in this case, and if the probe is a laser probe, the laser probe Change to a silhouette etc. In that case, the type of probe can be easily confirmed on the display).

  However, the display control unit 136 is not limited to this, and as shown in FIG. 4, the movement direction from the current position of the probe 104 (white arrow 105C) and the approach vector to the measurement position (white arrow 105B) A navigation display may be displayed on the display unit 140 together with the three-dimensional CG image of the workpiece W. Alternatively, as shown in FIG. 5, the moving direction (white arrow 105D) of the probe 104 from the current position and the measurement position (reference MP) may be displayed on the display unit 140 together with the three-dimensional CG image of the workpiece W. (In FIG. 5, the position of the center of gravity of the workpiece W is set at the center of the screen of the display unit 140). In FIG. 5, the display of the measurement position is indicated by a black circle, but a conspicuous symbol mark such as a checker flag may be displayed as an animation.

  Further, the display control unit 136 displays the display form of the moving direction from the current position of the probe 104 and the measurement position or the display unit 140 in a stepwise manner according to the distance from the current position of the probe 104 to the measurement position. You may make it change at least any one of the display forms of the approach vector to a measurement position. The display form to be changed may be, for example, the color or size of an arrow. When changing the color of the arrow, for example, when the current position of the probe 104 is far from the measurement position, it can be displayed in a warm color such as red, and as it approaches, it can be displayed in a cold color such as blue. . In addition, the display control unit 136 performs a demonstration of reproducing the change in the three-dimensional CG image of the workpiece W on the display unit 140 when the probe 104 is moved to the measurement position at the stage where the movement path is determined. Can also be set. At that time, the operator can move the probe 104 while leaving the change in the three-dimensional CG image of the workpiece W as an image, and can move the probe 104 more efficiently.

  As shown in FIG. 1, the display unit 140 is connected to the processing unit 130, and can display processing information obtained by the processing unit 130 in accordance with the signal of the display control unit 136 described above. The display unit 140 can also display output from the three-dimensional shape measuring machine 102 and the input unit 142.

  As shown in FIG. 1, the input unit 142 is connected to the processing unit 130, and can determine processing contents in the processing unit 130 and input various initial setting values. As the input unit 142, a keyboard, a mouse, a touch panel, a joystick, or the like can be used alone or in combination. The input unit 142 can also edit the movement path including the size setting of the work box 134A for avoiding interference and the presence / absence of passing through the upper surface of the work box 134A in order to determine the movement path. The input unit 142 sets a method for inputting a measurement position and a navigation display. Specifically, the entire moving path is not displayed by the solid arrow 105A as shown in FIG. 3, but the moving direction from the current position of the probe 104 and the approach vector to the measurement position are shown in white as shown in FIG. You may set as shown by the extraction arrows 105C and 105B. Further, when the setting of the movement path is completed, the input unit 142 may be set to demonstrate movement of the probe 104 from the current position to the measurement position. The input unit 142 may also set conditions for reaching the measurement position, navigation termination conditions, and the like.

  Next, an example of a processing procedure performed by the processing unit 130 in the three-dimensional shape measuring apparatus 100 of the present embodiment will be described below with reference to FIG.

  First, the input unit 142 sets a display method on the display unit 140, a determination condition for reaching the measurement position, and the like for the processing unit 130 (step S2).

  Next, the three-dimensional shape information of the workpiece W in the coordinate system with reference to the base 122 is acquired (step S4). That is, if there is CAD design data of the workpiece W, the main part on the workpiece W is temporarily measured, and the CAD design data is aligned with the coordinate system based on the base 122 based on the temporary measurement result. Based on this, the route determination unit 134 sets the work box 134A. If there is no CAD design data for the workpiece W, the three-dimensional shape of the workpiece W is temporarily measured to the extent that the workpiece box 134A can be set.

  Next, the measurement position is designated (step S6). When there are a plurality of measurement positions, they may be designated by the input unit 142 every time, or the measurement positions may be read out in order from the list stored in the storage unit in advance.

  Next, the current position of the probe 104 is acquired (step S8). The current position of the probe 104 is obtained based on the output of the rotary encoder of the three-dimensional shape measuring machine 102. And step S8-S16 of FIG. 7 is repeated for every predetermined time until it arrives at a measurement position.

  Next, a three-dimensional CG image is synthesized by the image synthesis unit 132 (step S10). From the viewpoint of the probe 104, a three-dimensional CG image of the workpiece W is obtained. Here, the current position of the probe 104 is on the near side of the screen center of the display unit 140, and the measurement position on the workpiece W is on the depth side of the screen center of the display unit 140. Therefore, if the current position of the probe 104 is close to the workpiece W, the three-dimensional CG image of the workpiece W can be enlarged and displayed. That is, in the display control unit 136, when the enlargement / reduction mode for enlarging / reducing the three-dimensional CG image of the workpiece W according to the distance between the current position of the probe 104 and the measurement position is valid, the display unit 140 rotates and enlarges the workpiece W. If it is reduced and invalid, the work W is only rotated on the display unit 140. The three-dimensional CG image here is re-synthesized and updated every time the current position of the probe 104 is changed. That is, in this three-dimensional CG image, the linear vector from the current position of the probe 104 to the measurement position on the workpiece W is always directed from the center front side of the display unit 140 toward the depth side.

  Next, the route determination unit 134 determines a movement route (step S12). Specifically, a rectangular parallelepiped work box 134A that covers the entire area where the workpiece W exists is set for the workpiece W. In principle, the approach path from the measurement position to the side of the work box 134A closest to the measurement position is obtained, and the shortest path from the end point of the approach path on the side to the current position of the probe 104 is obtained. For this reason, by setting the work box 134A, at least interference between the probe 104 and the work W in the shortest path is avoided. Note that the travel route here is also updated by repeating steps S8 to S16 in FIG. 7 every predetermined time.

  Next, the display control unit 136 causes the display unit 140 to perform navigation display (step S14). Specifically, based on the display method defined in step S2, at least the moving direction of the probe 104 from the current position and the measurement position or the approach vector to the measurement position are displayed together with the three-dimensional CG image of the workpiece W. 140. Note that the navigation display here is also updated by repeating steps S8 to S16 in FIG. 7 every predetermined time (that is, if the predetermined time interval is short, the three-dimensional CG image of the workpiece W and at least the probe 104). The movement direction from the current position and the measurement position or the approach vector to the measurement position are redrawn in substantially real time). When the current position of the probe 104 approaches the workpiece W, a three-dimensional CG image of the workpiece W can be enlarged and displayed on the display unit 140. In other words, when the display control unit 136 is effective in an enlargement / reduction mode that enlarges / reduces the three-dimensional CG image of the workpiece W according to the distance between the current position of the probe 104 and the measurement position, the display unit 140 enlarges / reduces the workpiece W. Is done. When the current position of the probe 104 moves to the left side with respect to the workpiece W as shown in FIG. 3, the three-dimensional CG image of the workpiece W on the display unit 140 moves to the right side on the screen.

  When the measurement position is not directly displayed on the display unit 140, in most cases, the current position of the probe 104 is outside the work box 134A, and the navigation display is performed so that the probe 104 moves outside the work box 134A. Is made. As a result of moving the probe 104, when the measurement position is displayed so as to be directly visible on the display unit 140, the probe 104 can be moved from the outside to the inside of the work box 134A by the navigation display. That is, by setting the work box 134A, in a state where the measurement position is not directly displayed on the display unit 140, it is ensured that the probe 104 and the work W interfere with the movement of the probe 104 along the navigation display. Avoided. In the state where the measurement position is displayed so as to be directly visible on the display unit 140, the probe 104 is also displayed. Therefore, even if the probe 104 moves in the work box 134A, the probe 104 interferes with the work W. Whether the probe 104 interferes with the workpiece W can be avoided. Moreover, by setting the work box 134A, the distance of the moving path can be shortened accordingly, so that the probe 104 can be quickly reached the measurement position.

  Next, it is determined whether or not the probe 104 has reached the measurement position. The measurement position designated by the operator may be used as a guide for measuring the surrounding area. For this reason, the distance between the probe 104 and the measurement position for determining that the measurement position has been reached may be set in advance as an arrival range, and if it enters the arrival range, the measurement position may be reached. If the measurement position is not reached (No in step S16), the current position of the probe 104 is changed again, and the current position is acquired (step S8).

  When the measurement position is reached (Yes in step S16), it is determined whether or not the movement to all measurement positions is completed. This determination may be made automatically or manually. If the movement to all the measurement positions has not been completed (No in step S18), the measurement position is designated again (step S6). When the movement to all the measurement positions is completed (Yes in step S18), the navigation display ends.

  According to the prior art, the coordinate value shown on the display unit and the distance to the measurement position can be confirmed numerically, the distance to the measurement position can be judged by sound, and the movement direction of the probe can be determined by the operator himself. I had to think about it.

  However, in the present embodiment, the movement path to the measurement position is displayed with arrows or the like on the workpiece W displayed as a three-dimensional CG image, that is, navigation display is performed, so that the probe 104 is moved for the operator. Easy to understand the direction. The operator can easily reach the measurement position by moving the probe 104 according to the navigation display. At that time, it is not necessary to be aware of the conventional numerical values such as coordinate values, and it is not necessary to concentrate on the sound in the surrounding environmental sounds, so that the work burden on the operator can be reduced.

  Moreover, the method of causing the probe 104 to reach the measurement position according to the movement path is very simple and can be executed immediately without requiring skill. For this reason, even if an operator does not memorize | store the measurement position of the workpiece | work W in detail and it does not train in advance, the probe 104 can be reached to a measurement position with sufficient accuracy.

  In addition, when the enlargement / reduction mode is valid in the display control unit 136, the three-dimensional CG image of the work W on the display unit 140 is reduced when the probe 104 is separated from the work W. When the probe 104 approaches the workpiece W, the three-dimensional CG image of the workpiece W on the display unit 140 is enlarged. Moreover, the processing unit 130 updates the display state of the display unit 140 every predetermined time. That is, the viewpoint of the probe 104, that is, the three-dimensional CG image of the workpiece W from the operator's viewpoint can be updated in real time and displayed on the display unit 140. For this reason, it becomes easy to grasp all the movement paths and detailed measurement positions, and the probe 104 can reach the measurement positions in a short time.

  However, the present invention is not limited to this, and it is not always necessary to update the display state of the display unit 140 every predetermined time. The display state of the display unit 140 may be updated every time the current position of the probe 104 is changed. . Alternatively, when the operator is moving the probe 104, the probe 104 may be moved (operating by the operator) on the assumption that the operator does not look at the display unit 140 and checks the navigation display on the display unit 140 after stopping. The display unit 140 may be updated when the movement is stopped (strictly speaking, the probe position stays within a certain range) or when the probe 104 is moved into the work box 134A.

  Further, the processing unit 130 displays the display form of the moving direction from the current position of the probe 104 and the display form of the approach vector to the measurement position or the measurement position on the display unit 140 according to the distance to the measurement position. It is possible to change at least one of them. For this reason, it is possible to recognize whether the operator is near or far from the measurement position only by looking at the display unit 140. That is, since the operator can concentrate on the measurement work after sufficiently approaching the measurement position, the work efficiency can be improved, and as a result, the measurement work can be performed quickly. However, the present invention is not limited to this, and the display form may be constant regardless of the distance to the measurement position.

  That is, in this embodiment, it is possible to reach the measurement position of the probe 104 accurately and quickly.

  When a plurality of measurement positions are given in the list, a measurement position closest to the current position of the probe 104 may be selected from the list, and navigation display may be performed for the measurement position. That is, in that case, it is possible to save the trouble of arranging a plurality of measurement positions in the order in which they can be efficiently moved at the stage of creating the list. Then, at the stage of actual measurement, the processing unit 130 causes the display unit 140 to display a navigation display for the measurement position closest to the current position of the probe 104, thereby enabling efficient measurement work.

  Further, in the present embodiment, the processing unit 130 includes the image composition unit 132, the route determination unit 134, and the display control unit 136 in hardware so that the display unit 140 can perform the navigation display described above. Although assumed, these may be realized by software. That is, the control software 150 outputs a three-dimensional shape measuring machine 102 that outputs position information of the probe 104, a processing unit 130 that processes position information, and a display unit 140 that displays processing information obtained by the processing unit 130. The three-dimensional shape measuring apparatus 100 that measures the three-dimensional shape of the workpiece W by the probe 104 may be controlled. Then, the control software 150 synthesizes a 3D CG image of the workpiece W with the current position of the probe 104 as a viewpoint from the previously acquired 3D shape information of the workpiece W, and a measurement position on the workpiece W is designated. The display unit 140 displays, along with the three-dimensional CG image, a process for obtaining a movement path that avoids interference between the workpiece W and the probe 104 and at least a movement direction from the current position of the probe 104 and a measurement position or an approach vector to the measurement position. It is also possible to cause the processing unit 130 to perform processing to be displayed on the screen.

  Specifically, as shown in FIG. 8, the control software 150 includes an initial setting function 152 for navigation display conditions including various initial settings and input requests for measurement positions, an output from the three-dimensional shape measuring machine 102, and a workpiece W. Image design function 154 for capturing the CAD design data and synthesizing a three-dimensional CG image, a path determination function 156 for determining the movement path of the probe 104 by defining the work box 134A, the probe 104, the work W, the measurement position, and the movement path And a display control function 158 for controlling navigation display on the display unit 140.

  Although the present invention has been described with reference to the first embodiment, the present invention is not limited to the first embodiment. That is, it goes without saying that improvements and design changes can be made without departing from the scope of the present invention.

  For example, in the first embodiment, as shown in FIG. 1, the three-dimensional shape measuring machine 102 is an arm-type articulated coordinate measuring machine, but the present invention is not limited to this. For example, the three-dimensional shape measuring machine is a ball probe of a three-dimensional shape measuring machine having a portal (second embodiment) or C-type frame as shown in FIG. 9 or a contact probe such as a touch signal probe. May be. In addition, the probe used in the three-dimensional shape measuring machine may be a non-contact type probe using a line laser or the like. The three-dimensional shape measuring machine is not necessarily limited to the manual type. For example, the present invention may be applied to teaching that is an automatic three-dimensional shape measuring machine and is performed before automatic measurement.

  In the above embodiment, the three-dimensional shape measuring machine does not have an image sensor such as a CCD camera, but the image sensor is also mounted on the probe head, and the image is displayed on the display unit together with the three-dimensional CG image. May be.

  In the above embodiment, navigation display on the display unit is performed. However, navigation by voice or the like may be performed simultaneously with navigation display.

  In the above embodiment, the input unit is provided in the three-dimensional shape measuring apparatus. However, the input unit is not essential, and all processing is performed by reading data stored in the storage unit of the processing unit. You may do it.

  The present invention provides a three-dimensional shape measurement device comprising: a three-dimensional shape measuring machine that outputs probe position information; a processing unit that processes the position information; and a display unit that displays processing information obtained by the processing unit. Can be widely applied to the device.

DESCRIPTION OF SYMBOLS 100 ... Three-dimensional shape measuring apparatus 102, 202 ... Three-dimensional shape measuring machine 104 ... Probe 104A ... Probe tip 106 ... Probe head 108, 112, 116 ... Joint 110, 114 ... Arm 120 ... Post 122 ... Base 130 ... Processing part 132 ... Image composition unit 134 ... Route determination unit 134A ... Workbox 136 ... Display control unit 140 ... Display unit 142 ... Input unit 150 ... Control software 152 ... Initial setting function 154 ... Image composition function 156 ... Path determination function 158 ... Display control Function W ... Work

Claims (4)

A three-dimensional shape measuring machine that outputs position information of the probe, a processing unit that processes the position information, and a display unit that displays processing information obtained by the processing unit. In the three-dimensional shape measuring device that measures the shape,
The processing unit synthesizes a three-dimensional CG image of the workpiece with the current position of the probe as a viewpoint from the three-dimensional shape information of the workpiece acquired in advance, and when the measurement position in the workpiece is designated, Obtaining a movement path that avoids interference with the probe, and displaying at least the movement direction from the current position of the probe and the measurement position or the approach vector to the measurement position on the display unit together with the three-dimensional CG image. A three-dimensional shape measuring apparatus. The processing unit displays on the display unit a display form of a moving direction from the current position of the probe and a display form of the measurement position or an approach vector to the measurement position according to the distance to the measurement position. The three-dimensional shape measuring apparatus according to claim 1, wherein at least one of the two is changed. The three-dimensional shape measuring apparatus according to claim 1, wherein the processing unit updates a display state of the display unit every time the current position of the probe is changed. A three-dimensional shape measuring machine that outputs position information of the probe, a processing unit that processes the position information, and a display unit that displays processing information obtained by the processing unit. In the control software of the three-dimensional shape measuring device that measures the shape,
A process of synthesizing a three-dimensional CG image of the workpiece with the current position of the probe as a viewpoint from the three-dimensional shape information of the workpiece acquired in advance, and when a measurement position in the workpiece is designated, the workpiece and the probe Processing for obtaining a movement path avoiding interference, and processing for displaying at least the moving direction from the current position of the probe and the measurement position or the approach vector to the measurement position on the display unit together with the three-dimensional CG image; ,
Software for controlling a three-dimensional shape measuring apparatus, characterized in that