JPH08327339A - Apparatus for recognizing shape of object to be measured and method therefor - Google Patents

Abstract

PURPOSE: To provide an apparatus for recognizing the shape of an object to be measured and a method therefor with a relatively simple structure. CONSTITUTION: In the case of free fall of a master article in a moving path, an output signal from a sensor means is amplified by an amplifier and undergoes an A/D conversion. The results are subjected to an arithmetic processing and are stopped to measure the master article (step S1). Upper and lower limit values are set for a master data to set judging conditions (step S2). The falling of an object to be measured is started (step S3). With the falling of the object, an output of a sensor means undergoes an A/D conversion at a fixed time interval and data is stored into a memory of a control means (step S4). Measured data and the master data are compared and analyzed to perform a judgment based on the judging conditions (step S5). A judgment of propriety is performed based on the results of the judgment (step S6). Rejected products are discharged from a line (step S7). Abnormality items of the rejected products are shown on a display device (step S8).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for recognizing a shape of an object to be measured and a method for recognizing the shape, and more particularly, to continuously and efficiently recognize shapes of irregularly shaped parts such as wire harnesses. The present invention relates to a measurable shape recognition device and its shape recognition method.

[0002]

2. Description of the Related Art In a conventional irregularly shaped component of this type, the wire harness is constructed as shown in FIG. In the figure, 1 is the wire harness,
Two independent first terminals 4 are provided at one end of the first and second lead wires 2 and 3, and a second terminal 5 is provided at the other end of the first lead wire 2. However, the sockets 6 are connected to the other ends of the second lead wires 3 respectively, and the second lead wires 3
A heat-resistant small-diameter sleeve 7, and a heat-resistant large-diameter sleeve 8 attached to the first lead wire 2 and the sleeve 7.

Usually, the wire harness 1 is manufactured by sequentially assembling the components supplied from various component supply parts provided along the work line in order. After manufacturing, visually check the wire
Although it is inspected whether Nes 1 is normally manufactured or not, there is a problem that not only the inspection efficiency is low, but also sufficient inspection accuracy cannot be obtained.

[0004]

SUMMARY OF THE INVENTION Therefore, in order to solve such a problem, a wire harness flowing in a work line is used.
A shape recognition apparatus has been proposed which recognizes the shape of the wire harness 1 by shooting the nest 1 with a camera and performing image processing on the shooting data.

According to this shape recognition device, the wire harness
It is possible to easily check for missing parts or the like in the nest 1, and it is possible to relatively efficiently perform the inspection as to whether or not the parts are normally manufactured.

However, in the case of a complicated shape such as the wire harness 1, all the parts within the visual field of the camera are photographed as they flow through the work line, but the parts overlap each other. In this case, the image is not photographed by the camera, and the shape cannot be recognized. Therefore, not only can accurate and highly reliable inspections not be expected, but because the number of processing data is remarkably large, the processing speed is slow and the work efficiency is as high as that expected from visual work. There is a problem that it cannot be improved.

Therefore, an object of the present invention is to provide a shape recognizing device for an object to be measured and a shape recognizing method therefor capable of accurately measuring and recognizing the shape of the object to be measured with a relatively simple structure. To do.

[0008]

Therefore, according to the present invention, in order to achieve the above-mentioned object, a movement path for moving an object to be measured in a certain direction and a light emission arranged so as to sandwich the movement path of the object to be measured. Means including a detector and a light receiver, an A / D conversion means for A / D converting a signal output from the sensor means when an object to be measured passes through a moving path at a substantially constant speed, and an A / D conversion According to a second aspect of the present invention, the control means performs arithmetic processing based on the data and recognizes the shape of the object to be measured. A third aspect of the present invention includes a memory means for storing D conversion data to calculate and compare both data, and a third invention is such that a plurality of sets of the sensor means sandwich a movement path of an object to be measured. According to a fourth aspect of the present invention, the movement history of the measured object is The result constitutes at the tubular body is intended to free-fall to the cylindrical body, the fifth invention, the sensor means, Les light emitters - The - elements, CCD light receiver
It is characterized in that it is composed of elements.

In a sixth aspect of the present invention, the step of moving the object to be measured in a fixed direction between the sensor means composed of the light emitter and the light receiver, and the output from the sensor means by the movement of the object to be measured. A seventh aspect of the present invention, which comprises a step of A / D converting the signal at a constant time interval and a step of recognizing the shape of the object to be measured by performing an arithmetic processing based on the A / D conversion data. In the above, a plurality of sets of the sensor means are arranged so as to sandwich the movement path of the object to be measured, the output signals from the respective sensor means are A / D converted, and arithmetic processing is performed based on the conversion data. It is characterized by

An eighth aspect of the present invention is that a master product is moved in a fixed direction between sensor means composed of a light emitter and a light receiver, and a signal output from the sensor means is A / D converted, After the calculation data based on the A / D conversion data is stored in the memory as the master data, the object to be measured is moved in a fixed direction between the sensor means and the signal output from the sensor means is changed to A. A / D conversion, operation data based on A / D conversion data is stored in memory as work data, and both data are stored.
The feature is that the shape of the object to be measured is recognized by comparing the data with each other.

Furthermore, a ninth aspect of the present invention is that a master product is moved in a fixed direction between one or a plurality of sets of sensor means consisting of a light emitter and a light receiver, and a signal output from the sensor means is output. A step of measuring the shape of the master product based on the master data, a step of setting the measurement data of the master product as master data, and setting the determination condition based on the data, and a sensor for measuring the object to be measured. Move in a certain direction between the means,
The step of measuring the shape of the object to be measured based on the signal output from the sensor means is compared and analyzed with the master data and the work data based on the object to be measured, and based on the judgment condition. And a determining step.
The invention of claim 11 is characterized in that the master product and the object to be measured are allowed to fall freely between the sensor means.
The step of measuring the shape of the master product is a step of setting an initial value of the sensor means, a step of setting a trigger level with respect to the initial setting value, and a step of moving the master product in a certain direction, The output signal is A / D converted at a constant time interval, and A / D conversion data corresponding to the signal from each sensor means at a constant time interval is added.
A twelfth aspect of the present invention is characterized in that the step of measuring the shape of the master product includes the step of setting an initial value of the sensor means and the step of storing the master value in the master data area. On the other hand, the step of setting the trigger level, the step of moving the master product in a fixed direction to A / D convert the signal output from the sensor means at a fixed time interval, and all A levels below the trigger level. / D
A step of storing conversion data in a memory, a step of adding A / D conversion data corresponding to a signal from each sensor means at a constant time interval, and a step of storing in a work total area. The method is characterized by including the steps of storing the total number of data in the work total area in a predetermined area and the step of moving the data in the work total area to the master data area. In the thirteenth invention, the step of measuring the shape of the object to be measured comprises a step of moving the object to be measured in a constant direction, A / D converting a signal output from the sensor means at a constant time interval, and a trigger. -All A / below level
A step of storing the D conversion data in a memory, a step of adding A / D conversion data corresponding to a signal from each sensor means at a constant time interval, and a step of storing in the work total area. , Storing the total number of data in the work total area in a predetermined area.
In the invention, the analysis / determination step comprises a step of determining whether or not the data numbers of the master data and the work data stored in the memory are the same, If the number of quad data is larger than the number of master data, the number of work data is set to the number of master data.
Compression step to match the number of data
If the number of data in the data is smaller than the number of data in the master data, the number of data in the work data should match the number of data in the master data. It is characterized by including the step of expanding and the step of comparing the work data and the master data with each other at the stage where the numbers of data match, and judging a predetermined judgment item.

[0012]

According to the above construction, the output signal from the sensor means obtained by moving the object to be measured in a fixed direction between the sensor means consisting of the light emitter and the light receiver, for example, by free fall, is A / D converted. , The shape of the object to be measured can be efficiently recognized by performing the arithmetic processing based on the A / D conversion data, and particularly when a plurality of sensor means are arranged, the shape recognition accuracy can be remarkably improved. In addition, the space between the sensor means
The signal from the sensor means is moved to A
After performing A / D conversion and storing A / D conversion data in a memory as master data and work data, arithmetic processing is performed based on the respective data to analyze and judge The shape of the object to be measured with respect to the master product can be accurately recognized within a short time. In particular, if the initial value and the trigger level of the sensor means are set prior to the shape measurement of the object to be measured, it is possible to suppress the fluctuation factors due to the ambient conditions of the sensor means and to improve the reliability of the measurement result. .

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, one embodiment of the present invention will be described with reference to FIGS.
Will be described with reference to. The same parts as those in FIG. 16 are designated by the same reference numerals, and detailed description thereof will be omitted. In the figure, reference numeral 9 denotes a tubular body, and a circular plate 10 is fixed to the lower end portion thereof, for example. This plate 10 is formed with the same hole 9a as the cylindrical body 9, and the size of the hole 9a is set so that the object to be measured, for example, the wire harness 1 can freely fall without any trouble. Has been done. A plurality of sets of sensor means are arranged on the lower surface of the plate 10. Specifically, the light emitters 11a and 12a and the light receiver 11
b and 12b, first and second sensor means 11 and 12
Are displaced by approximately 90 degrees. The light emitter 11
a and 12a are, for example, laser elements, which are light receivers 11b,
Each of 12b is composed of, for example, a CCD element. Reference numeral 13 is a control means such as a CPU, which is connected to the A / D conversion means 15 via a bus line 14 and further via an amplifier 16 to the first and second sensor means 11,
It is connected to 12. Also, the bus line 14 has an I / O
An interface 17, a floppy disk or disk 18, a keyboard 19, a display device 20 such as a CRT display or a liquid crystal display are connected to each. In the I / O interface 17, for example, the shape is measured after the wire harness 1 passes through the moving path 9a formed in the tubular body 9, and the recognition result is determined to be unacceptable. If not, a valve (not shown) is used for wire harness 1
Various outputs such as the output when changing the moving direction of are connected.

In this apparatus, when the master product and the object to be measured, such as the wire harness 1, are allowed to fall freely and pass through the moving path 9a, the first and second sensor means 11, 1 are obtained.
A detection signal is output from 2. This output signal is the amplifier 1
It is amplified in 6 and is A / D converted by the A / D conversion means 15. The data interval is set to about 5 μsec, for example. Bus line 1 for each A / D conversion data
It is taken into the control means 13 via 4 and is subjected to arithmetic processing. Then, it is stored in the memory means and also stored in the floppy disk 18. Then, the shape measurement result of the wire harness 1 as the object to be measured compared with the master product is displayed on the display device 20.

Next, a method for recognizing the shape of the DUT 1 by this apparatus will be described with reference to FIGS. First, as shown in FIG. 4, for example, the shape of the master product corresponding to the wire harness is measured based on the data obtained by allowing the master product to fall freely on the moving path 9a (step S1). ). Next, the measurement data of the master product
The determination condition is set based on the data (step S2). When the determination condition is set in step S2, the wire harness as the object to be measured is allowed to fall freely on the moving path 9a (step S3). When the wire harness falls freely, the process proceeds to step S4. In this step S4,
The shape measurement is performed based on the data taken into the control means 13 in association with the free fall of the wire harness. Then, the measurement result is analyzed, and the determination is made based on the determination condition of step S2 (step S5). Further, based on the determination result of step S5, the wire harness as the DUT is measured.
The pass / fail of the nest is determined (step S6). If it is determined to be acceptable, the process returns to step S3 and waits for the next free fall of the wire harness. When it is determined that the product is rejected, the rejected product is discharged from the moving route 9a, for example (step S7). Then, the reject content of the rejected product, that is, the abnormal item is displayed on the display device 20 (step S8), and the wire-harness shape recognition is completed.

The step S1 for measuring the shape of the above master product is specifically subdivided as follows. That is, first, the sensor means 11 of each channel in the state where no master product exists between the sensor means 11 and 12,
12 output signals are A / D converted (step S1-
1). Then, an appropriate coefficient (for example, 99%) is given to the A / D conversion data of each channel to set the trigger level (step S1-2). Next, when the wire harness 1 as a master product is allowed to freely fall on the moving path 9a, detection signals are output from the sensor means 11 and 12, and a fixed time interval (for example, 5 μse) is set for each channel.
A / D conversion is performed in c) (step S1-3). If any of the channels falls below the trigger level, it is confirmed that the wire harness 1 has passed (step S1-4). If there is no channel below the trigger level, the process returns to step S1-3. Will be waiting. When the passage of the wire-harness 1 is confirmed, detection signals are output from the sensor means 11 and 12, and A / D conversion is performed at constant time intervals for each channel (step S).
1-5: Same as step S1-3). Then, it is determined whether or not all channels are below the trigger level (step S1-6). If all channels are below the trigger level, the A / D corresponding to the output from all channels (all sensor means 11, 12).
The conversion data is stored in the memory shown in FIG. 7 (step S
1-7). For example, the data (sampling data) of the first sensor means 11 at constant time intervals is N of CH1.
O. 1, NO. 2 ... NO. .., CHn in order of each sensor means. When the storage is completed, step S1-
Return to 5. On the other hand, if all the channels are not below the trigger level, the A / D conversion data of each channel is added in step S1-8, and the data shown in FIG.
Stored in the total area. For example, NO. The data of each channel CH1, CH2, ... CHn in No. 1 are added and stored in the work total area.
2, NO. 3 ... NO. Similarly, N is added and stored in each area. Next, the total number of data (NM) stored in the work total area is stored in a predetermined area shown in FIG. 7 (step S1-9). Further, the data stored in the work total area is moved to the master data area shown in FIG. 7 (step S1-10).
By doing so, step S1 of measuring the shape of the master product is completed.

Further, the all CH / A / D conversion step S1-1 in the details of the step S1 for measuring the shape of the master product is further subdivided as follows. That is, first, the sensor means 11 in a state where no master product is present between the first sensor means 11 (CH1)
The control means 13 issues an instruction to A / D convert the output signal of (1) (step SB1). A / D based on this instruction
It is judged whether or not the data has been converted (step SB).
2). When the conversion is completed, the data is read (step SB3), and the data is stored in the register (step SB4). Next, in step SB5 and subsequent steps, the first sensor means 1 with respect to the second sensor means 12 (CH2)
By repeating the steps similar to 1 (CH1), all CH / A / D conversion step S1-1 is completed.

Further, in the above-mentioned determination condition setting step S2, for example, the following conditions are set based on the shape measurement data of the master product (master data). That is, a predetermined upper and lower limit value is set for the data at each sampling point with reference to the master data. The upper and lower limit values are determined by, for example, stricter or looser control limits. The upper and lower limit values are input by the keyboard 10 and stored in the memory of the control means 13 and the floppy disk 18 via the bus line 14. As the judgment items, for example, when the master product is the wire harness shown in FIG. 1, comparison of total areas, comparison of area change rates, comparison of upper and lower limit values at each measurement point, plural measurement points If there is at least one of the upper and lower limits, it is judged as OK by 4 items.

This judgment item will be described with reference to FIGS. First, in the comparison of the total areas, as shown in FIG. 8, the data of the respective measurement points P1, P2, P3, ... Are integrated and Pn is the total area. Therefore, the upper and lower limit values are set to this value and used as a judgment item. Next, the comparison of the rate of change in area is for confirming the presence or absence or the position of the parts attached to the master product. For example, in FIG.
In the wire harness 1 shown in FIG.
May move as shown by the dotted line. In this case, although the total area does not change even if the position of the sleeve 8 changes, the change may be seen at each measurement point like the mesh portion shown in FIG. Therefore, the accuracy of shape recognition can be improved by comparing the area change rates at the respective measurement points. Next, the comparison of the upper and lower limits at each measurement point is
The upper and lower limit values are set for each of the measurement points P1, P2, ... To improve the accuracy of shape recognition in each part. Finally,
If even one of the measurement points is within the upper and lower limit values, the comparison is made OK. For example, in the wire harness 1 shown in FIG. 9, the large-diameter sleeve 8 moves as shown by the dotted line. there is a possibility. In this case, since the position of the sleeve 8 moves only between the solid line position and the dotted line position, if the presence or absence of the sleeve 8 is checked at the two positions of the solid line part and the dotted line part,
It can be easily recognized whether the sleeve 8 is moving or missing.

The step S4 for measuring the shape of the wire harness 1 as the object to be measured is specifically subdivided as follows. That is, first, the wire harness 1
Is allowed to freely fall on the moving path 9a so as to pass between the sensor means 11 and 12. And the sensor means 1
The outputs from 1 and 12 are output at regular time intervals (for example, 5 μse
A / D conversion is performed in c) (step S4-1). It is determined whether or not the A / D conversion data of all the channels are below the trigger level (step S4-2). At this step, if all the A / D conversion data are below the trigger level, the A / D conversion data of all the channels are stored in the memory shown in FIG. 7 (step S4-3), Then, it returns to step S4-1. If all the A / D conversion data are not below the trigger level, the process proceeds to step S4-4. At this stage, the wire harness 1
Indicates the end of the fall. In this step,
The A / D conversion data stored in the memory shown in is added for each measurement point and stored in the work total area. For example N
O. For each sensor means at one measurement point (CH1, CH
2, ... CHn) A / D conversion data is added and stored in the work summing area, and subsequently, NO. 2, N
O. 3 ... NO. Similarly, N is added and stored in a predetermined work total area. The total number of data stored in the work total area (N
W) is stored in a predetermined area (step S4-
5) and proceeds to step S5.

The execution of the storage data analysis / judgment in step S5 is specifically subdivided as follows. That is, first, it is determined whether or not the numbers of data stored in the work total data area and the master data area shown in FIG. 7 are the same (S5-1). If the number of data does not match in this step, step S5-
2, the process proceeds to step S5-5 if they match. In step S5-2, it is determined whether the number of data NW in the work total area is larger than the number of data NM in the master area. When it is determined that NW is larger than NM, <(work data number N) × NM / NW
+0.5> is used to compress the number of work data so as to match the number of master data (step S5).
-3). On the other hand, when it is determined that NW is smaller than NM, <(work data number N) × NM / NW + 0.5>
The number of work data is expanded so as to match the number of master data by the following equation (step S5-4), and the process proceeds to the determination step S5-5. In this step, comparison of total areas set in step S2, comparison of area change rates,
It is determined whether or not the conditions are satisfied for the four determination items, that is, the comparison of the upper and lower limit values at each measurement point, and the comparison of OK if there is at least one of the upper and lower limit values among a plurality of measurement points. Then, based on this determination result, step S6
The pass / fail of the object to be measured is determined at.

The present invention can determine the direction of the object 1A to be measured as shown in FIG. In the figure,
The object to be measured is a stud bolt, and the first and second screw portions 22 and 23 having small diameters and different lengths are provided on both sides of the head portion 21 having a large diameter.
Are integrally formed. This stud bolt 1A is widely used as an automobile part, and its quality and its supply attitude to the line are checked prior to use, but it can be applied to this check.
In this case, only one of the sensor means 11 and 12 shown in FIGS. First, the direction determination will be described. Since the basic processing such as the direction determination is the same as that of the above-mentioned embodiment, detailed description will be omitted. When the stud bolt 1A is allowed to fall freely, the result shown in FIG.
The sampling data shown in FIG. The maximum position of this data is obtained, and a certain number of minus positions A and B are obtained. Then, points C and D at which the data direction is reversed from points A and B are obtained. As described above, the sensor signal is A / D converted at intervals of, for example, 5 μsec. Therefore, the number of data from points C and D to the end and 5 μse.
The lengths X and Y of the screw portions 22 and 23 can be measured by the product of c and c. Therefore, it is possible to determine which screw portion is longer based on the comparison of both data, and as a result, it is possible to determine the direction. In particular, the direction-determined stud bolt 1A outputs a direction reversal output through the I / O interface 17 in response to a command from the control means 13, for example, to indicate the direction of the stud bolt having a different direction. It can be corrected. In addition, the screw portion 22,
Regarding the number of screws 23, focusing on the fact that the data is alternately inverted (inflection) from the points C and D toward the end due to the presence of the screw portion, the number of inversions (inflection) It can be calculated from the number of points).

Further, according to the present invention, the shape of the object 1B to be measured as shown in FIG. 14 can be recognized. In the figure, the object to be measured is an irregularly-shaped component, and is configured by integrally forming a small-diameter projection portion 25 at one end of a large-diameter main body portion 24. The shape recognition of the irregularly shaped component 1B is basically similar to that of the above-described embodiment. By passing this irregularly shaped component 1B between the first sensor means 11,
The sampling data shown in 5 is obtained. Upper and lower limit values are set in the portions corresponding to the main body portion 24 and the protruding portion 25 in the figure, and the upper and lower limit values at each measurement point are compared. And
Whether or not the shape of the measured object is normal can be recognized depending on whether or not the measurement result of the measured object is within the set range.
Further, when combined with the comparison of the total area and the comparison of the area change rate in step S2, the recognition with higher accuracy becomes possible. Especially when it is necessary to reverse the direction,
It may be performed according to the above-mentioned embodiment.

Incidentally, the present invention is not limited to the above-mentioned embodiment at all, and one or two sensor means can be used, and three or more sensor means can be used, and the sensor means can be arranged on the same plane with a predetermined angle offset. If it is not possible, the object to be measured may be arranged slightly displaced in the moving direction. In this case, it is necessary to correct the time for signal processing from each sensor means.
Parts other than the wire harness and the stud bolt can be applied to the object to be measured. In addition to using a cylindrical body as the movement path of the object to be measured, a transparent shoe may be used or it may be omitted altogether. Further, the signal from the sensor means can be continuously output and then sampled at a constant time interval for A / D conversion, or the signal of the sensor means can be sampled at a constant time interval. it can.

[0025]

As described above, according to the present invention, the output signal from the sensor means obtained by moving the object to be measured in a fixed direction between the sensor means consisting of the light emitter and the light receiver is A / The shape of the object to be measured can be efficiently recognized by performing the D conversion and performing the arithmetic processing based on the A / D conversion data. In particular, as the number of sensor means arranged is increased, the accuracy of shape recognition can be improved.

Prior to the measurement of the object to be measured, the master
If the shape of the product is measured, the measured data is stored in the memory, and the measured data of the measured object is compared with the master data, the recognizability of the shape can be improved. it can.

Further, if the initial value and the trigger level of the sensor means are set prior to the shape measurement of the master product, fluctuation factors due to the ambient conditions of the sensor means can be suppressed and the reliability of the measurement result can be improved. be able to.

[Brief description of drawings]

FIG. 1 is a side sectional view showing an embodiment of the present invention.

FIG. 2 is a bottom view of FIG.

FIG. 3 is a block diagram of a signal system of the device of the present invention.

FIG. 4 is a schematic flowchart of the method of the present invention.

FIG. 5 is a detailed flowchart of the measurement step of the master item.

FIG. 6 is a detailed flowchart of all CH / A / D conversion steps.

FIG. 7 is a memory layout diagram.

FIG. 8 is a diagram for explaining the relationship between measurement points and measurement data.

FIG. 9 is a side view showing a state in which the accessory parts of the object to be measured are displaced.

FIG. 10 is a detailed flowchart of the steps of performing the measurement of the device under test.

FIG. 11 is a detailed flowchart of the analysis / judgment step.
To.

FIG. 12 is a side view showing another embodiment of the object to be measured.

FIG. 13 is measurement data obtained by the sensor means of the object to be measured shown in FIG.

FIG. 14 is a side view showing still another embodiment of the object to be measured.

FIG. 15 is measurement data obtained by the sensor means of the object to be measured shown in FIG.

FIG. 16 is a side view of a conventional object to be measured.

[Explanation of symbols]

 1, 1A, 1B Object to be measured 9a Moving path 11, 12 Sensor means 11a, 12a Light emitter 11b, 12b Light receiver 13 Control means 15 A / D conversion means 17 I / O interface 18 Floppy disk 19 key -Board 20 display device

Claims (14)

[Claims] 1. A moving path for moving an object to be measured in a fixed direction, a sensor means composed of a light emitter and a light receiver arranged so as to sandwich the object moving path, and an object to be measured has a substantially constant moving path. A / D conversion means for A / D converting the signal output from the sensor means by passing at a speed of
A shape recognizing device for an object to be measured, comprising: a control unit that performs arithmetic processing based on D conversion data and recognizes the shape of the object to be measured. 2. The control means includes memory means for storing A / D conversion data of a master product and a DUT, and both data are calculated and compared. The shape recognition device for the object to be measured described. 3. The shape recognition device for an object to be measured according to claim 1, wherein a plurality of sets of the sensor means are arranged so as to sandwich a movement path of the object to be measured. 4. The shape recognition device for an object to be measured according to claim 1, wherein the movement path of the object to be measured is constituted by a cylindrical body, and the apparatus is allowed to freely fall inside the cylindrical body. 5. The shape recognition device according to claim 1, wherein said sensor means has a laser element as a light emitting device and a CCD element as a light receiving device. 6. A step of moving an object to be measured in a constant direction between a sensor means composed of a light emitter and a light receiver, and a signal output from the sensor means by the movement of the object to be measured is A / A at a constant time interval. A shape recognition method for an object to be measured, comprising: a step of performing D conversion; and a step of recognizing the shape of the object to be measured by arithmetic processing based on A / D conversion data. 7. A plurality of sets of the sensor means are arranged so as to sandwich a moving path of the object to be measured, and output signals from the respective sensor means are A / D converted, and calculation is performed based on the conversion data. The shape recognition method according to claim 6, wherein the shape recognition is performed. 8. Based on A / D conversion data, a master product is moved in a fixed direction between a sensor means composed of a light emitter and a light receiver, and a signal output from the sensor means is A / D converted. After the calculation data is stored in the memory as master data, the object to be measured is moved in a fixed direction between the sensor means,
The signal output from the sensor means is A / D converted to A / D
An object to be measured characterized in that the operation data based on the conversion data is stored in a memory as work data, and the shape of the object to be measured is recognized by comparing both data. Shape recognition method. 9. A master article is moved in a fixed direction between one or a plurality of sets of sensor means consisting of a light emitter and a light receiver,
Measuring the shape of the master product based on the signal output from the sensor means; and measuring the shape of the master product.
The master data is used as the data, the step of setting the judgment condition based on this data, the object to be measured is moved in a fixed direction between the sensor means, and the object to be measured is output based on the signal output from the sensor means. It is characterized by including a step of measuring the shape of the measurement object, a step of comparing and analyzing the master data and the work data based on the measurement object, and determining based on the determination condition. Shape recognition method for DUT. 10. The method for recognizing the shape of an object to be measured according to claim 9, wherein the master product and the object to be measured are allowed to fall freely between the sensor means. 11. The step of measuring the shape of the master product is a step of setting an initial value of the sensor means, a step of setting a trigger level with respect to the initial setting value, and moving the master product in a fixed direction. Then, the signal output from the sensor means is A / D converted at a constant time interval, A / D conversion data corresponding to the signal from each sensor means at a constant time interval is added, and the signal is used for the master. 10. The method for recognizing the shape of an object to be measured according to claim 9, further comprising the step of storing in a data area. 12. The master article shape measuring step comprises the steps of setting an initial value of the sensor means, setting a trigger level for the initial setting value, and moving the master article in a fixed direction. A / D conversion of the signal output from the sensor means at a constant time interval, a step of storing all A / D conversion data below the trigger level in the memory, and at a constant time interval. Of adding the A / D conversion data corresponding to the signals from the respective sensor means and storing it in the work total area, and setting the total number of work total areas to a predetermined area. 10. The method of recognizing the shape of an object to be measured according to claim 9, further comprising a step of storing and a step of moving data in the work total area to a master data area. 13. The step of measuring the shape of the object to be measured comprises the step of moving the object to be measured in a fixed direction, A / D converting the signal output from the sensor means at a constant time interval, and a trigger level. The step of storing all the following A / D conversion data in the memory and the A / D conversion data corresponding to the signals from the respective sensor means at fixed time intervals are added to obtain the total work. The steps to store in the area and the work
10. The method of recognizing the shape of an object to be measured according to claim 9, further comprising the step of storing the total number of data in the total area in a predetermined area. 14. The analysis / determination step comprises a step of determining whether or not the numbers of data of the master data and the work data stored in the memory match each other. -When the number of data pieces of the data is larger than the number of data pieces of the master data, the number of data pieces of the work data is set to the number of data pieces of the master data. Compressing to match, and
If the number of quad data is smaller than the number of master data, the number of work data is set as the master data.
The step of expanding so as to match the number of data of the data and the step of matching the number of data of the work data and the master data are compared with each other, and the predetermined judgment item is judged. The method for recognizing the shape of an object to be measured according to claim 9, further comprising: