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WO2020049973A1 - Processing device, control method for processing device, and control program for processing device - Google Patents

Processing device, control method for processing device, and control program for processing device Download PDF

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Publication number
WO2020049973A1
WO2020049973A1 PCT/JP2019/031959 JP2019031959W WO2020049973A1 WO 2020049973 A1 WO2020049973 A1 WO 2020049973A1 JP 2019031959 W JP2019031959 W JP 2019031959W WO 2020049973 A1 WO2020049973 A1 WO 2020049973A1
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WIPO (PCT)
Prior art keywords
camera
processing apparatus
cameras
processing device
processing
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/031959
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French (fr)
Japanese (ja)
Inventor
山田　智明
静雄 西川
大樹 中尾
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DMG Mori Co Ltd
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DMG Mori Co Ltd
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Publication of WO2020049973A1 publication Critical patent/WO2020049973A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes

Definitions

  • the present invention relates to a processing device, a control method for the processing device, and a control program for the processing device.
  • Patent Literature 1 discloses a technique in which a camera is arranged inside a machine tool, and the inside of the machine is photographed and displayed using the camera.
  • An object of the present invention is to provide a technique for solving the above-mentioned problem.
  • a processing apparatus includes: At least two cameras including at least one moving camera; Using an image acquired by the at least two cameras, measuring means for measuring the three-dimensional shape of the imaging target, With.
  • a method for controlling a processing apparatus includes: A method for controlling a processing apparatus including at least two cameras including at least one moving camera, An obtaining step of obtaining an image captured by the at least two cameras; Using the acquired image, a measurement step of measuring the three-dimensional shape of the imaging target, including.
  • a control program for a processing apparatus includes: A control program for a processing apparatus provided with at least two cameras including at least one moving camera, An obtaining step of obtaining an image captured by the at least two cameras; Using the acquired image, a measurement step of measuring the three-dimensional shape of the imaging target, On a computer.
  • the processing device 100 is a device that measures a three-dimensional shape from a camera image.
  • the processing apparatus 100 includes a moving camera 101, a camera 102, and a measuring unit 103. Further, the processing apparatus 100 has at least two cameras 101 and 102 including at least one moving camera 101. The measurement unit 103 measures the three-dimensional shape of the imaging target 110 using the images acquired by at least two cameras 101 and 102.
  • FIG. 2A is a diagram illustrating an outline of an example of a configuration of a processing apparatus according to the present embodiment.
  • the processing apparatus 200 performs processing on the imaging target 210 placed on the rotary stage 230 (processing table).
  • the processing apparatus 200 has at least two cameras arranged in the apparatus.
  • the processing apparatus 200 has a moving camera 201 and a fixed camera 202.
  • the moving camera 201 is attached to the tool spindle 220.
  • a spindle is attached to the tool spindle 220, and the moving camera 201 is attached to the tool spindle 220 via, for example, a spindle.
  • the moving camera 201 moves in accordance with the movement of the tool spindle 220 or the spindle. That is, the mobile camera 201 is a mobile camera.
  • the moving camera 201 may be mounted so as not to rotate in accordance with the rotation of the spindle.
  • the fixed camera 202 is attached to the ceiling of the processing device 200.
  • the fixed camera 202 is attached to the ceiling of the processing apparatus 200 and cannot be moved (the position does not change), so that it is a fixed camera.
  • the processing apparatus 200 obtains a three-dimensional image as in the case of a so-called stereo camera by capturing images with the moving camera 201 and the fixed camera 202 and superimposing the obtained images. Using the obtained three-dimensional image, the processing apparatus 200 performs processing such as the three-dimensional shape of the imaging target 210 (work, processing target, etc.), the depth of a hole processed in the imaging target, the size of a step, and the like. Is measured. Further, by measuring the three-dimensional shape, the processing device 200 can avoid collision between the tool and the imaging target 210, collision between components of the processing device 200 and the imaging target 210, and the like.
  • One of the two cameras is attached to the tool spindle 220 to be the movable camera 201 and the other is fixed inside the processing apparatus 200 to be the fixed camera 202, so that a wider range of images can be obtained.
  • the accuracy of the three-dimensional shape of the imaging target 210 measured using the images acquired by the moving camera 201 and the fixed camera 202 increases as the base angle increases.
  • the base angle is the angle of a triangle formed by the mobile camera 201, the fixed camera 202, and the photographing target 210.
  • the accuracy of the three-dimensional shape increases as the base angle increases, but on the other hand, the feature points must be captured by the two cameras (the moving camera 201 and the fixed camera 202).
  • the position of the mobile camera 201 in the Z direction can be changed by changing the field of view (FOV; Field of View) of the camera, so that it is sufficient to determine whether or not the object 210 falls within the field of view of the camera.
  • the position of the mobile camera 201 in the X direction may be any position as long as the photographing target 210 comes to the center of the visual field.
  • the position of the mobile camera 201 in the Y direction only needs to be a position where the base angle is maximum and the surface of the imaging target 210 can be observed.
  • the photographing attitude and the installation position of the mobile camera 201 and the fixed camera 202 can be specifically determined according to, for example, the following procedure.
  • An attention area is set from a model of the imaging target 210 (work).
  • the X coordinate of the moving camera 201 is determined so that the center of the attention area matches the center of the visual field.
  • the Z position is determined from the size of the attention area and the angle of view of the moving camera 201.
  • the distribution of the Y component of the normal vector of each facet of the imaging target 210 is obtained.
  • the shooting direction of the mobile camera 201 is set so that the angle between the vector directed from the mobile camera 201 to the shooting target 210 and the normal vector of (5) is equal to or less than a predetermined value (for example, 70 °). Decide.
  • a predetermined value for example, 70 °.
  • the Y coordinate is obtained from the angle obtained in (6) and the Z coordinate obtained in (4).
  • FIG. 2B is a diagram showing an outline of another example of the configuration of the processing apparatus according to the present embodiment.
  • the processing apparatus 240 has at least two cameras disposed in the apparatus as in the processing apparatus 200.
  • the rotary stage 230 slides and moves in the Y-axis direction (vertical direction).
  • two moving cameras 201) are attached to the rotary stage 230.
  • the disk-shaped pallet 250 has a photographing target 210 such as a processing target (work) previously set thereon, and is conveyed onto the rotary stage 230 by a transfer robot or the like (not shown).
  • the image obtained by the two moving cameras 201) can be used to capture the object 210 and the like inside the processing device 240 as a three-dimensional shape, so that the control of the transfer robot can be closed-loop control. Further, since the processing device 240 measures the three-dimensional shape, it determines whether or not the NC (Numerical @ Control) program is appropriate or not and responds to the imaging target 210 while the imaging target 210 such as a workpiece or a processing target is being transported. You can select a program.
  • NC Numerical @ Control
  • the processing device 240 can measure the three-dimensional shape of a part of the spindle attached to the tool spindle 220, the processing device 240 can check itself after a collision and check the winding of chips. If the processing device 240 includes an acceleration sensor or the like and can detect an abnormality such as a collision, the abnormal state can be easily verified by storing the spindle itself as a three-dimensional shape after the abnormality is detected.
  • the number of mobile cameras 201 disposed inside the processing apparatuses 200 and 240 may be one or more, and all of the plurality of cameras inside the processing apparatuses are mobile cameras 201. You may. When the number of mobile cameras is one, at least one fixed camera 202 is required to be disposed inside the processing apparatuses 200 and 240. However, a plurality of fixed cameras 202 may be provided.
  • FIG. 3 is a block diagram showing the configuration of the processing apparatus according to the present embodiment.
  • the processing apparatus 200 includes a moving camera 201, a fixed camera 202, a measuring unit 301, and a detecting unit 302.
  • the moving camera 201 is movable in the processing device 200. Further, the mobile camera 201 captures an image of the inside of the processing apparatus 200 by capturing an image. In addition, the moving camera 201 may capture an image while moving, and acquire an image. Alternatively, when capturing, the mobile camera 201 may capture a still image to acquire an image.
  • the fixed camera 202 is a camera attached to a predetermined position inside the processing device 200. That is, the fixed camera 202 is a camera that does not move. The fixed camera 202 photographs the inside of the processing apparatus 200 and acquires an image.
  • the mobile camera 201 and the fixed camera 202 are those that exist inside the processing apparatus 200 and are to be photographed.
  • the object 210 to be photographed by the mobile camera 201 and the fixed camera 202 is a processing object mounted on a rotary stage 230 (processing table).
  • the imaging target 210 may be, for example, a processing target (work) to be processed by the processing apparatus 200, a processing table on which the processing target is placed, a tool spindle, a tool holder, a chuck, a cutting tool, or the like. It is not limited to these as long as it exists inside the processing device 200.
  • the fixed camera 202 may be photographed by the moving camera 201 or the moving camera 201 may be photographed by the fixed camera 202.
  • the measuring unit 301 measures the three-dimensional shape of the photographing target 210 by using the images captured by the moving camera 201 and the fixed camera 202.
  • the measurement unit 301 obtains information in the depth direction of the imaging target 210 by using images obtained by simultaneously capturing the imaging target 210 from a plurality of different directions, that is, images acquired by the moving camera 201 and the fixed camera 202. Can be Accordingly, the measurement unit 301 can measure the three-dimensional shape of the imaging target 210.
  • the detection unit 302 detects the position of the mobile camera 201 using the fixed camera 202, and executes calibration.
  • the measurement unit 301 acquires an image of the mobile camera 201 captured by the fixed camera 202.
  • the detection unit 302 obtains parameters such as internal parameters, external parameters, and distortion coefficients of the mobile camera 201 and the fixed camera 202, and performs calibration. If the above parameters are obtained by executing the calibration, the corresponding point search, the rectification, and the like can be efficiently performed under the epipolar geometric constraint condition.
  • the detection unit 302 performs calibration at a timing such as when the processing apparatus 200 is started.
  • the timing at which calibration is performed by the detection unit 302 is not limited to this, and may be timing during processing, after processing is completed, or the like. Incidentally, the three-dimensional coordinates may be directly calculated by the 8-point algorithm without performing the calibration.
  • the measuring unit 301 measures at least one of the depth of the hole formed in the imaging target 210 and the size of the step formed in the imaging target 210 as the three-dimensional shape of the imaging target 210.
  • the processing apparatus 200 can change or control the processing conditions and the like.
  • the three-dimensional shape measured by the measurement unit 301 is not limited to the depth of the hole or the size of the step, and may be, for example, the diameter of the hole, the depth and the length of the groove, and the like.
  • FIG. 4 is a diagram illustrating an example of a camera table included in the processing apparatus according to the present embodiment.
  • the camera table 401 stores a move / fix 412, a position 413, a specification 414, and a captured image 415 in association with a camera ID (Identifier) 411.
  • the camera ID 411 is an identifier for identifying a camera.
  • the move / fix 412 indicates whether the camera is a mobile camera or a fixed camera.
  • the position 413 indicates the position of the camera (the mobile camera 201 and the fixed camera 202).
  • the specification 414 indicates the performance of the camera, and includes, but is not limited to, an angle of view, an F value, a focal length, the number of pixels, a magnification, and the like.
  • the captured image 415 is an image captured by a camera (the moving camera 201 and the fixed camera 202).
  • the processing apparatus 200 refers to, for example, the camera table 401 and measures the three-dimensional shape of the imaging target.
  • the processing apparatus 200 detects the position of the mobile camera 201 with reference to the camera table 401.
  • FIG. 5 is a block diagram showing a hardware configuration of the processing apparatus according to the present embodiment.
  • a CPU (Central Processing Unit) 510 is a processor for arithmetic control, and realizes the functional components of the processing apparatus 200 in FIG. 3 by executing a program.
  • the CPU 510 includes a plurality of processors, and may execute different programs, modules, tasks, threads, and the like in parallel.
  • a ROM (Read Only Memory) 520 stores fixed data such as initial data and programs, and other programs.
  • the network interface 530 communicates with other devices via a network. Note that the number of CPUs 510 is not limited to one, and a plurality of CPUs or a GPU (Graphics Processing Unit) for image processing may be included.
  • the network interface 530 has a CPU independent of the CPU 510 and writes or reads transmission / reception data in an area of a random access memory (RAM) 540. It is desirable to provide a DMAC (Direct Memory Access Controller) for transferring data between the RAM 540 and the storage 550 (not shown). Further, CPU 510 recognizes that the data has been received or transferred to RAM 540 and processes the data. Further, the CPU 510 prepares the processing result in the RAM 540, and leaves the subsequent transmission or transfer to the network interface 530 or the DMAC.
  • DMAC Direct Memory Access Controller
  • the RAM 540 is a random access memory used by the CPU 510 as a work area for temporary storage. In the RAM 540, an area for storing data necessary for realizing the present embodiment is secured.
  • the position 541 is data of the position of the mobile camera 201 and the fixed camera 202 inside the processing device 200.
  • the specification 542 is data relating to the performance of the mobile camera 201 and the fixed camera 202 and the like.
  • the captured image 543 is data of an image captured by the mobile camera 201 and the fixed camera 202.
  • the parameter 544 is an internal parameter between the mobile camera 201 and the fixed camera 202, an external parameter, a distortion coefficient, and the like, obtained by the calibration.
  • the transmission / reception data 545 is data transmitted / received via the network interface 530. Further, the RAM 540 has an application execution area 546 for executing various application modules.
  • the storage 550 stores a database, various parameters, or the following data or programs necessary for realizing the present embodiment.
  • the storage 550 stores the camera table 401.
  • the camera table 401 is a table for managing the relationship between the camera ID 411 and the captured image 415 shown in FIG.
  • the storage 550 further stores a measurement module 551 and a detection module 552.
  • the measurement module 551 is a module that measures the three-dimensional shape of the photographing target 210 using images acquired by photographing with the moving camera 201 and the fixed camera 202.
  • the measurement module 551 is a module that measures, as a three-dimensional shape, at least one of the depth of a hole formed in the imaging target 210 and the size of a step formed in the imaging target 210.
  • the detection module 552 is a module that detects the position of the mobile camera 201 using the fixed camera 202. These modules 551 to 552 are read into the application execution area 546 of the RAM 540 by the CPU 510 and executed.
  • the control program 553 is a program for controlling the entire processing apparatus 200.
  • the input / output interface 560 interfaces input / output data with input / output devices.
  • the display unit 561 and the operation unit 562 are connected to the input / output interface 560.
  • a storage medium 564 may be connected to the input / output interface 560.
  • a speaker 563 as an audio output unit, a microphone (not shown) as an audio input unit, or a GPS position determination unit may be connected.
  • the RAM 540 and the storage 550 shown in FIG. 5 do not show programs and data relating to general-purpose functions and other realizable functions of the processing apparatus 200.
  • FIG. 6 is a flowchart illustrating a processing procedure of the processing apparatus according to the present embodiment. This flowchart is executed by the CPU 510 in FIG. 5 using the RAM 540, and implements the functional components of the processing apparatus 200 in FIG.
  • step S601 the processing device 200 executes a start-up operation of the device.
  • step S603 the processing device 200 determines whether calibration is necessary. If calibration is not necessary (NO in step S603), the processing apparatus 200 proceeds to step S609. If calibration is necessary (YES in step S603), the processing apparatus 200 proceeds to step S605.
  • step S605 the processing apparatus 200 detects the position of the mobile camera 201 using the fixed camera 202.
  • step S607 the processing apparatus 200 executes calibration to obtain parameters such as internal parameters, external parameters, and distortion coefficients of the mobile camera 201 and the fixed camera 202.
  • step S609 the processing apparatus 200 acquires an image captured by the moving camera 201 and the fixed camera 202, and acquires the acquired image.
  • the processing apparatus 200 measures the three-dimensional shape of the imaging target 210 using the images acquired by the moving camera 201 and the fixed camera 202.
  • the processing apparatus 200 measures, for example, at least one of a depth of a hole processed in the imaging target 210 as a three-dimensional shape and a size of a step processed in the imaging target 210.
  • step S613 the processing device 200 determines whether to end the measurement. If it is determined that the measurement is not to be ended (NO in step S613), the processing device 200 returns to step S609. If it is determined that the measurement is to be ended (YES in step S613), the processing device 200 ends the processing.
  • the present embodiment highly accurate measurement based on an image can be performed. Further, since the position of the moving camera is detected using the fixed camera, the camera can be calibrated. Further, it is possible to measure the depth of a hole formed in the object to be photographed as a three-dimensional shape and the size of a step formed in the object to be photographed.
  • FIG. 7 is a diagram illustrating an outline of an example of a configuration of a processing apparatus according to the present embodiment.
  • the processing apparatus according to the present embodiment is different from the above-described second embodiment in that it has a tool magazine and a camera exchange unit.
  • Other configurations and operations are the same as those of the second embodiment, and thus the same configurations and operations are denoted by the same reference numerals and detailed description thereof will be omitted.
  • the processing device 700 includes a tool magazine 701 and a camera exchange unit 702.
  • the tool magazine 701 houses a plurality of types of cameras together with a plurality of tools (tools).
  • the tool magazine 701 is, for example, an ATC (Automatic Tool Changer) magazine and has a role of storing a tool, selecting a tool, and exchanging a tool.
  • the tool magazine 701 may be either a turret type or a magazine storage type.
  • the camera exchange unit 702 takes out the selected camera from the tool magazine 701 and attaches the selected camera to a predetermined position inside the processing device 700.
  • the camera exchange unit 702 is, for example, a robot arm, and can take out the camera from the tool magazine 701 and attach it to a predetermined position inside the processing device 700.
  • the camera exchange unit 702 may be any device as long as it can exchange cameras.
  • FIG. 8 is a diagram illustrating an example of a camera table provided in the processing apparatus according to the present embodiment.
  • the camera table 801 stores the accommodation position 811 in association with the camera ID 411.
  • the storage position 811 indicates a position where the camera is stored in the tool magazine 701.
  • the processing device 700 refers to the camera table 801 to select and exchange a camera according to the purpose.
  • FIG. 9 is a flowchart illustrating a processing procedure of the processing apparatus according to the present embodiment. This flowchart is executed by the CPU 510 in FIG. 5 using the RAM 540, and implements the functional components of the processing apparatus 700 in FIG.
  • the processing device 700 determines whether the camera needs to be replaced. If it is determined that the camera does not need to be replaced (NO in step S901), the processing device 700 proceeds to step S603. If it is determined that the camera needs to be replaced (YES in step S901), the processing device 700 proceeds to step S903. In step S ⁇ b> 903, the processing apparatus 700 selects a camera according to the application from a plurality of types of cameras and replaces the camera.
  • the camera can be selectively replaced, so that measurement suitable for various uses can be performed.

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  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
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  • Length Measuring Devices By Optical Means (AREA)

Abstract

The purpose of the present invention is to perform measurement with high accuracy on the basis of an image. The processing device includes: at least two cameras including at least one moving camera; and a measurement unit which uses images acquired by the at least two cameras to measure the stereoscopic shape of a subject to be imaged.

Description

加工装置、加工装置の制御方法および加工装置の制御プログラムProcessing apparatus, control method for processing apparatus, and control program for processing apparatus

　本発明は、加工装置、加工装置の制御方法および加工装置の制御プログラムに関する。 The present invention relates to a processing device, a control method for the processing device, and a control program for the processing device.

　上記技術分野において、特許文献１には、工作機械の機内にカメラを配置し、当該カメラを用いて機内を撮影して、表示する技術が開示されている。 In the above technical field, Patent Literature 1 discloses a technique in which a camera is arranged inside a machine tool, and the inside of the machine is photographed and displayed using the camera.

特開２０１８－９４６８９号公報JP 2018-94689 A

　しかしながら、上記文献に記載の技術では、所望の映像を得ることができなかったため、映像に基づいた精度の高い計測をすることができなかった。 However, with the technology described in the above-mentioned document, a desired image could not be obtained, so that highly accurate measurement based on the image could not be performed.

　本発明の目的は、上述の課題を解決する技術を提供することにある。 目的 An object of the present invention is to provide a technique for solving the above-mentioned problem.

　上記目的を達成するため、本発明に係る加工装置は、
　少なくとも１つの移動カメラを含む少なくとも２つのカメラと、
　前記少なくとも２つのカメラで取得した画像を用いて、撮影対象物の立体形状を計測する計測手段と、
　を備えた。 In order to achieve the above object, a processing apparatus according to the present invention includes:
At least two cameras including at least one moving camera;
Using an image acquired by the at least two cameras, measuring means for measuring the three-dimensional shape of the imaging target,
With.

　上記目的を達成するため、本発明に係る加工装置の制御方法は、
　少なくとも１つの移動カメラを含む少なくとも２つのカメラを備えた加工装置の制御方法であって、
　前記少なくとも２つのカメラで撮影した画像を取得する取得ステップと、
　取得した前記画像を用いて、撮影対象物の立体形状を計測する計測ステップと、
　を含む。 In order to achieve the above object, a method for controlling a processing apparatus according to the present invention includes:
A method for controlling a processing apparatus including at least two cameras including at least one moving camera,
An obtaining step of obtaining an image captured by the at least two cameras;
Using the acquired image, a measurement step of measuring the three-dimensional shape of the imaging target,
including.

　上記目的を達成するため、本発明に係る加工装置の制御プログラムは、
　少なくとも１つの移動カメラを含む少なくとも２つのカメラを備えた加工装置の制御プログラムであって、
　前記少なくとも２つのカメラで撮影した画像を取得する取得ステップと、
　取得した前記画像を用いて、撮影対象物の立体形状を計測する計測ステップと、
　をコンピュータに実行させる。 In order to achieve the above object, a control program for a processing apparatus according to the present invention includes:
A control program for a processing apparatus provided with at least two cameras including at least one moving camera,
An obtaining step of obtaining an image captured by the at least two cameras;
Using the acquired image, a measurement step of measuring the three-dimensional shape of the imaging target,
On a computer.

　本発明によれば、映像に基づいた精度の高い計測をすることができる。 According to the present invention, highly accurate measurement based on an image can be performed.

本発明の第１実施形態に係る加工装置の構成を示す図である。It is a figure showing the composition of the processing device concerning a 1st embodiment of the present invention. 本発明の第２実施形態に係る加工装置の構成の一例の概要を示す図である。It is a figure showing the outline of an example of the composition of the processing device concerning a 2nd embodiment of the present invention. 本発明の第２実施形態に係る加工装置の構成の他の例の概要を示す図である。It is a figure showing the outline of other examples of the composition of the processing device concerning a 2nd embodiment of the present invention. 本発明の第２実施形態に係る加工装置の構成を示すブロック図である。It is a block diagram showing the composition of the processing device concerning a 2nd embodiment of the present invention. 本発明の第２実施形態に係る加工装置の備えるカメラテーブルの一例を示す図である。It is a figure showing an example of a camera table with which a processing device concerning a 2nd embodiment of the present invention is provided. 本発明の第２実施形態に係る加工装置のハードウェア構成を示すブロック図である。It is a block diagram showing the hardware constitutions of the processing device concerning a 2nd embodiment of the present invention. 本発明の第２実施形態に係る加工装置の処理手順を説明するフローチャートである。It is a flow chart explaining a processing procedure of a processing device concerning a 2nd embodiment of the present invention. 本発明の第３実施形態に係る加工装置の構成の一例の概要を示す図である。It is a figure showing the outline of an example of the composition of the processing device concerning a 3rd embodiment of the present invention. 本発明の第３実施形態に係る加工装置の備えるカメラテーブルの一例を示す図である。It is a figure showing an example of a camera table with which a processing device concerning a 3rd embodiment of the present invention is provided. 本発明の第３実施形態に係る加工装置の処理手順を説明するフローチャートである。It is a flow chart explaining the processing procedure of the processing device concerning a 3rd embodiment of the present invention.

　以下に、本発明を実施するための形態について、図面を参照して、例示的に詳しく説明記載する。ただし、以下の実施の形態に記載されている、構成、数値、処理の流れ、機能要素などは一例に過ぎず、その変形や変更は自由であって、本発明の技術範囲を以下の記載に限定する趣旨のものではない。 Hereinafter, embodiments for carrying out the present invention will be illustratively described in detail with reference to the drawings. However, the configurations, numerical values, processing flows, functional elements, and the like described in the following embodiments are merely examples, and modifications and changes are free, and the technical scope of the present invention is described in the following description. It is not intended to be limiting.

　［第１実施形態］
　本発明の第１実施形態としての加工装置１００について、図１を用いて説明する。加工装置１００は、カメラ画像から立体形状を計測する装置である。 [First Embodiment]
A processing apparatus 100 according to a first embodiment of the present invention will be described with reference to FIG. The processing device 100 is a device that measures a three-dimensional shape from a camera image.

　図１に示すように、加工装置１００は、移動カメラ１０１、カメラ１０２および計測部１０３を含む。さらに、加工装置１００は、少なくとも１つの移動カメラ１０１を含む少なくとも２つのカメラ１０１，１０２を有する。計測部１０３は、少なくとも２つのカメラ１０１，１０２で取得した画像を用いて、撮影対象物１１０の立体形状を計測する。 加工 As shown in FIG. 1, the processing apparatus 100 includes a moving camera 101, a camera 102, and a measuring unit 103. Further, the processing apparatus 100 has at least two cameras 101 and 102 including at least one moving camera 101. The measurement unit 103 measures the three-dimensional shape of the imaging target 110 using the images acquired by at least two cameras 101 and 102.

　本実施形態によれば、映像に基づいた精度の高い計測をすることができる。 According to the present embodiment, highly accurate measurement based on an image can be performed.

　［第２実施形態］
　次に本発明の第２実施形態に係る加工装置について、図２Ａ乃至図６を用いて説明する。図２Ａは、本実施形態に係る加工装置の構成の一例の概要を示す図である。加工装置２００は、回転ステージ２３０（加工台）に載置された撮影対象物２１０の加工を行う。加工装置２００は、装置内にカメラが少なくとも２台配置されている。 [Second embodiment]
Next, a processing apparatus according to a second embodiment of the present invention will be described with reference to FIGS. 2A to 6. FIG. 2A is a diagram illustrating an outline of an example of a configuration of a processing apparatus according to the present embodiment. The processing apparatus 200 performs processing on the imaging target 210 placed on the rotary stage 230 (processing table). The processing apparatus 200 has at least two cameras arranged in the apparatus.

　加工装置２００は、移動カメラ２０１と固定カメラ２０２とを有する。移動カメラ２０１は、工具主軸２２０に取り付けられている。工具主軸２２０には、スピンドルが取り付けられており、移動カメラ２０１は、例えば、スピンドルを介して工具主軸２２０に取り付けられる。そして、移動カメラ２０１は、工具主軸２２０またはスピンドルの移動に合わせて動く。つまり、移動カメラ２０１は、移動式のカメラとなっている。なお、スピンドルは、回転するが、移動カメラ２０１は、スピンドルの回転に合わせて回転しないように取り付けてもよい。 The processing apparatus 200 has a moving camera 201 and a fixed camera 202. The moving camera 201 is attached to the tool spindle 220. A spindle is attached to the tool spindle 220, and the moving camera 201 is attached to the tool spindle 220 via, for example, a spindle. Then, the moving camera 201 moves in accordance with the movement of the tool spindle 220 or the spindle. That is, the mobile camera 201 is a mobile camera. Although the spindle rotates, the moving camera 201 may be mounted so as not to rotate in accordance with the rotation of the spindle.

　固定カメラ２０２は、加工装置２００の天井に取り付けられている。固定カメラ２０２は、加工装置２００の天井に取り付けられ、移動できない（位置が変わらない）ので、固定式のカメラとなっている。 The fixed camera 202 is attached to the ceiling of the processing device 200. The fixed camera 202 is attached to the ceiling of the processing apparatus 200 and cannot be moved (the position does not change), so that it is a fixed camera.

　加工装置２００は、移動カメラ２０１および固定カメラ２０２で撮影し、取得した画像を重ね合わせることで、いわゆるステレオカメラと同じく、立体的な映像を得る。得られた立体的な映像を用いて、加工装置２００は、撮影対象物２１０（ワーク、加工対象物など）の立体形状や、撮影対象物に加工された穴の深さ、段差の大きさなどを計測する。また、加工装置２００は、立体形状を計測することにより、工具と撮影対象物２１０との衝突や、加工装置２００の部品と撮影対象物２１０との衝突などを回避することが可能となる。 (4) The processing apparatus 200 obtains a three-dimensional image as in the case of a so-called stereo camera by capturing images with the moving camera 201 and the fixed camera 202 and superimposing the obtained images. Using the obtained three-dimensional image, the processing apparatus 200 performs processing such as the three-dimensional shape of the imaging target 210 (work, processing target, etc.), the depth of a hole processed in the imaging target, the size of a step, and the like. Is measured. Further, by measuring the three-dimensional shape, the processing device 200 can avoid collision between the tool and the imaging target 210, collision between components of the processing device 200 and the imaging target 210, and the like.

　また、２台のカメラのうち一方を工具主軸２２０に取り付けて移動カメラ２０１とし、もう一方を加工装置２００の内部に固定して固定カメラ２０２とすることで、より広範囲の画像が得られる。 {Circle around (2)} One of the two cameras is attached to the tool spindle 220 to be the movable camera 201 and the other is fixed inside the processing apparatus 200 to be the fixed camera 202, so that a wider range of images can be obtained.

　このように、移動カメラ２０１および固定カメラ２０２を加工装置２００に取り付ければ、装置内の立体映像が得られるので、加工装置２００の内部を外部から確認するためのガラス製の窓を設ける必要がなくなる。そのため、仮に、加工装置２００の内部で工具の破損や撮影対象物２１０の破壊などの事故が発生しても、破損した工具などの破片等により窓が壊れて、加工装置２００の外部に被害が及ぶことがなくなる。 In this way, if the mobile camera 201 and the fixed camera 202 are attached to the processing apparatus 200, a stereoscopic image in the apparatus can be obtained, so that there is no need to provide a glass window for checking the inside of the processing apparatus 200 from outside. . Therefore, even if an accident such as breakage of a tool or destruction of the imaging target 210 occurs inside the processing apparatus 200, a window is broken by broken pieces of the tool or the like, and damage is caused outside the processing apparatus 200. Will not reach.

　次に、移動カメラ２０１および固定カメラ２０２の撮影姿勢および設置位置を決定する方法について説明する。移動カメラ２０１および固定カメラ２０２で取得した画像を用いて計測した撮影対象物２１０の立体形状の精度は、ベースアングルが大きくなるほど高くなる。ここで、ベースアングルは、移動カメラ２０１と固定カメラ２０２と撮影対象物２１０とが作る三角形の角度である。このように、立体形状の精度は、ベースアングルが大きいほど高くなるが、一方で、特徴点が２つのカメラ（移動カメラ２０１、固定カメラ２０２）で捉えられていないとならない。 Next, a method for determining the shooting posture and the installation position of the mobile camera 201 and the fixed camera 202 will be described. The accuracy of the three-dimensional shape of the imaging target 210 measured using the images acquired by the moving camera 201 and the fixed camera 202 increases as the base angle increases. Here, the base angle is the angle of a triangle formed by the mobile camera 201, the fixed camera 202, and the photographing target 210. As described above, the accuracy of the three-dimensional shape increases as the base angle increases, but on the other hand, the feature points must be captured by the two cameras (the moving camera 201 and the fixed camera 202).

　また、移動カメラ２０１のＺ方向の位置は、カメラの視野（ＦＯＶ;Field of View）を変えるため、撮影対象物２１０がカメラの視野に収まるか否かの判断で足りる（決定できる）。移動カメラ２０１のＸ方向の位置は、撮影対象物２１０が視野中央に来るような位置であればよい。移動カメラ２０１のＹ方向の位置は、ベースアングルが最大となり、撮影対象物２１０の面の観察が可能な位置となればよい。 The position of the mobile camera 201 in the Z direction can be changed by changing the field of view (FOV; Field of View) of the camera, so that it is sufficient to determine whether or not the object 210 falls within the field of view of the camera. The position of the mobile camera 201 in the X direction may be any position as long as the photographing target 210 comes to the center of the visual field. The position of the mobile camera 201 in the Y direction only needs to be a position where the base angle is maximum and the surface of the imaging target 210 can be observed.

　移動カメラ２０１および固定カメラ２０２の撮影姿勢および設置位置は、具体的には、例えば、次の手順に従って決定できる。（１）撮影対象物２１０（ワーク）のモデルから注目領域を設定する。（２）注目領域の中心と固定カメラ２０２のなす角をＳＰ軸の角を合致させエピポーララインとカメラの画素方向とを合致させる。（３）注目領域の中心と視野中心とが合致するように移動カメラ２０１のＸ座標を決める。（４）注目領域の大きさと移動カメラ２０１の画角とからＺ位置を決定する。（５）撮影対象物２１０の各ファセットの法線ベクトルのＹ成分の分布を求める。（６）移動カメラ２０１から撮影対象物２１０に向かうベクトルと（５）の法線ベクトルとのなす角があらかじめ定められた値（例えば、７０°）以下となるように移動カメラ２０１の撮影方向を決める。（７）（６）で求めた角度と（４）で求めたＺ座標とからＹ座標を求める。 (4) The photographing attitude and the installation position of the mobile camera 201 and the fixed camera 202 can be specifically determined according to, for example, the following procedure. (1) An attention area is set from a model of the imaging target 210 (work). (2) Match the angle between the center of the attention area and the fixed camera 202 with the angle of the SP axis, and match the epipolar line with the pixel direction of the camera. (3) The X coordinate of the moving camera 201 is determined so that the center of the attention area matches the center of the visual field. (4) The Z position is determined from the size of the attention area and the angle of view of the moving camera 201. (5) The distribution of the Y component of the normal vector of each facet of the imaging target 210 is obtained. (6) The shooting direction of the mobile camera 201 is set so that the angle between the vector directed from the mobile camera 201 to the shooting target 210 and the normal vector of (5) is equal to or less than a predetermined value (for example, 70 °). Decide. (7) The Y coordinate is obtained from the angle obtained in (6) and the Z coordinate obtained in (4).

　図２Ｂは、本実施形態に係る加工装置の構成の他の例の概要を示す図である。加工装置２４０は、加工装置２００と同様に装置内にカメラが少なくとも２台配置されている。加工装置２４０では、回転ステージ２３０がスライドしてＹ軸方向（鉛直方向）に移動する。加工装置２４０では、２台の移動カメラ２０１）が、回転ステージ２３０に取り付けられている。円盤状のパレット２５０は、あらかじめ加工対象物（ワーク）などの撮影対象物２１０が設置されており、図示しない搬送用ロボットなどで回転ステージ２３０の上へと搬送される。 FIG. 2B is a diagram showing an outline of another example of the configuration of the processing apparatus according to the present embodiment. The processing apparatus 240 has at least two cameras disposed in the apparatus as in the processing apparatus 200. In the processing device 240, the rotary stage 230 slides and moves in the Y-axis direction (vertical direction). In the processing device 240, two moving cameras 201) are attached to the rotary stage 230. The disk-shaped pallet 250 has a photographing target 210 such as a processing target (work) previously set thereon, and is conveyed onto the rotary stage 230 by a transfer robot or the like (not shown).

　２台の移動カメラ２０１）で取得した画像を用いて、加工装置２４０の内部の撮影対象物２１０などを立体形状として捉えることができるので、搬送用ロボットの制御を閉ループ制御とすることができる。また、加工装置２４０は、立体形状を計測するので、ワークや加工対象物などの撮影対象物２１０の搬送中に撮影対象物２１０に応答するＮＣ（Numerical Control）プログラムの適不適の判断や応答するプログラムを選択できる。 (# 2) The image obtained by the two moving cameras 201) can be used to capture the object 210 and the like inside the processing device 240 as a three-dimensional shape, so that the control of the transfer robot can be closed-loop control. Further, since the processing device 240 measures the three-dimensional shape, it determines whether or not the NC (Numerical @ Control) program is appropriate or not and responds to the imaging target 210 while the imaging target 210 such as a workpiece or a processing target is being transported. You can select a program.

　また、加工装置２４０は、工具主軸２２０に取り付けられたスピンドルの一部の立体形状を計測できるので、衝突後の自己チェック、切粉の巻きつきなどをチェックすることができる。加工装置２４０が、加速度センサ等を備えて衝突などの異常検知ができる装置であれば、異常検出後に立体形状としてスピンドル自体を保存することにより異常状態の検証が容易になる。 {Circle around (4)} Since the processing device 240 can measure the three-dimensional shape of a part of the spindle attached to the tool spindle 220, the processing device 240 can check itself after a collision and check the winding of chips. If the processing device 240 includes an acceleration sensor or the like and can detect an abnormality such as a collision, the abnormal state can be easily verified by storing the spindle itself as a three-dimensional shape after the abnormality is detected.

　　なお、加工装置２００，２４０の内部に配置される移動カメラ２０１の台数は、１台であっても、複数台であってもよく、加工装置内部における複数台のカメラが全て移動カメラ２０１であってもよい。移動カメラの台数が１台である時には、加工装置２００，２４０の内部に配置される固定カメラ２０２は、少なくとも１台必要になるが、固定カメラ２０２は複数台であってもよい。 The number of mobile cameras 201 disposed inside the processing apparatuses 200 and 240 may be one or more, and all of the plurality of cameras inside the processing apparatuses are mobile cameras 201. You may. When the number of mobile cameras is one, at least one fixed camera 202 is required to be disposed inside the processing apparatuses 200 and 240. However, a plurality of fixed cameras 202 may be provided.

　図３は、本実施形態に係る加工装置の構成を示すブロック図である。加工装置２００は、移動カメラ２０１と固定カメラ２０２と計測部３０１と検出部３０２とを有する。移動カメラ２０１は、加工装置２００内を移動可能となっている。また、移動カメラ２０１は、加工装置２００の内部を撮影して、画像を取得する。なお、移動カメラ２０１は、移動しながら撮影をして、画像を取得しても、撮影の際には、静止した状態で撮影して、画像を取得してもよい。 FIG. 3 is a block diagram showing the configuration of the processing apparatus according to the present embodiment. The processing apparatus 200 includes a moving camera 201, a fixed camera 202, a measuring unit 301, and a detecting unit 302. The moving camera 201 is movable in the processing device 200. Further, the mobile camera 201 captures an image of the inside of the processing apparatus 200 by capturing an image. In addition, the moving camera 201 may capture an image while moving, and acquire an image. Alternatively, when capturing, the mobile camera 201 may capture a still image to acquire an image.

　固定カメラ２０２は、加工装置２００の内部の所定の位置に取り付けられたカメラである。つまり、固定カメラ２０２は、動かないカメラである。固定カメラ２０２は、加工装置２００の内部を撮影して、画像を取得する。 The fixed camera 202 is a camera attached to a predetermined position inside the processing device 200. That is, the fixed camera 202 is a camera that does not move. The fixed camera 202 photographs the inside of the processing apparatus 200 and acquires an image.

　移動カメラ２０１および固定カメラ２０２は、加工装置２００の内部に存在するものを撮影対象とする。図３においては、移動カメラ２０１および固定カメラ２０２の撮影対象物２１０は、回転ステージ２３０（加工台）に載置された加工対象物としている。しかし、撮影対象物２１０は、例えば、加工装置２００の加工対象となる加工対象物（ワーク）や、加工対象物を載せる加工台、工具主軸、工具ホルダ、チャック、刃具などであってもよく、加工装置２００の内部に存在するものであれば、これらには限定されない。また、移動カメラ２０１で固定カメラ２０２を撮影しても、固定カメラ２０２で移動カメラ２０１を撮影してもよい。 The mobile camera 201 and the fixed camera 202 are those that exist inside the processing apparatus 200 and are to be photographed. In FIG. 3, the object 210 to be photographed by the mobile camera 201 and the fixed camera 202 is a processing object mounted on a rotary stage 230 (processing table). However, the imaging target 210 may be, for example, a processing target (work) to be processed by the processing apparatus 200, a processing table on which the processing target is placed, a tool spindle, a tool holder, a chuck, a cutting tool, or the like. It is not limited to these as long as it exists inside the processing device 200. Further, the fixed camera 202 may be photographed by the moving camera 201 or the moving camera 201 may be photographed by the fixed camera 202.

　計測部３０１は、移動カメラ２０１および固定カメラ２０２で撮影し、取得した画像を用いて、撮影対象物２１０の立体形状を計測する。計測部３０１は、撮影対象物２１０を複数の異なる方向から同時に撮影された画像、すなわち、移動カメラ２０１および固定カメラ２０２で取得した画像を用いることにより、撮影対象物２１０の奥行き方向の情報を得られる。これにより、計測部３０１は、撮影対象物２１０の立体形状を測定できる。 The measuring unit 301 measures the three-dimensional shape of the photographing target 210 by using the images captured by the moving camera 201 and the fixed camera 202. The measurement unit 301 obtains information in the depth direction of the imaging target 210 by using images obtained by simultaneously capturing the imaging target 210 from a plurality of different directions, that is, images acquired by the moving camera 201 and the fixed camera 202. Can be Accordingly, the measurement unit 301 can measure the three-dimensional shape of the imaging target 210.

　また、検出部３０２は、固定カメラ２０２を用いて移動カメラ２０１の位置を検出して、キャリブレーションを実行する。まず、計測部３０１は、固定カメラ２０２により撮影した移動カメラ２０１の映像を取得する。そして、検出部３０２は、移動カメラ２０１と固定カメラ２０２との内部パラメータ、外部パラメータ、歪係数などのパラメータを求めて、キャリブレーションを行う。キャリブレーションを実行して、上述のパラメータが求まれば、エピポーラ幾何学的な拘束条件により、対応点探索やレクティフィケーションなどを効率的に行うことができる。なお、検出部３０２は、加工装置２００の起動時などのタイミングでキャリブレーションを行う。検出部３０２によりキャリブレーションを実行するタイミングは、これには限定されず、加工途中や加工完了後などのタイミングであってもよい。因みに、キャリブレーションを行うことなく８点アルゴリズムにより直接三次元座標を算出してもよい。 (4) The detection unit 302 detects the position of the mobile camera 201 using the fixed camera 202, and executes calibration. First, the measurement unit 301 acquires an image of the mobile camera 201 captured by the fixed camera 202. Then, the detection unit 302 obtains parameters such as internal parameters, external parameters, and distortion coefficients of the mobile camera 201 and the fixed camera 202, and performs calibration. If the above parameters are obtained by executing the calibration, the corresponding point search, the rectification, and the like can be efficiently performed under the epipolar geometric constraint condition. Note that the detection unit 302 performs calibration at a timing such as when the processing apparatus 200 is started. The timing at which calibration is performed by the detection unit 302 is not limited to this, and may be timing during processing, after processing is completed, or the like. Incidentally, the three-dimensional coordinates may be directly calculated by the 8-point algorithm without performing the calibration.

　さらに、計測部３０１は、撮影対象物２１０の立体形状として、撮影対象物２１０に加工された穴の深さおよび撮影対象物２１０に加工された段差の大きさのうち少なくとも１つを計測する。これにより、撮影対象物２１０の加工状態や加工の進捗状況などが分かるので、加工装置２００は、加工条件などを変更したり、制御したりすることができる。なお、計測部３０１が計測する立体形状は、穴の深さや段差の大きさには限定されず、例えば、穴の直径や溝の深さおよび長さ、などであってもよい。 Furthermore, the measuring unit 301 measures at least one of the depth of the hole formed in the imaging target 210 and the size of the step formed in the imaging target 210 as the three-dimensional shape of the imaging target 210. Thus, since the processing state and the progress of the processing of the imaging target 210 can be known, the processing apparatus 200 can change or control the processing conditions and the like. Note that the three-dimensional shape measured by the measurement unit 301 is not limited to the depth of the hole or the size of the step, and may be, for example, the diameter of the hole, the depth and the length of the groove, and the like.

　図４は、本実施形態に係る加工装置の備えるカメラテーブルの一例を示す図である。カメラテーブル４０１は、カメラＩＤ（Identifier）４１１に関連付けて、移動／固定４１２、位置４１３、スペック４１４および撮影画像４１５を格納する。カメラＩＤ４１１は、カメラを識別するための識別子である。移動／固定４１２は、カメラが移動式のカメラか固定式のカメラかを示す。位置４１３は、カメラ（移動カメラ２０１，固定カメラ２０２）の位置を示す。スペック４１４は、カメラの性能を示し、画角やＦ値、焦点距離、画素数、倍率などが含まれるが、これらには限定されない。撮影画像４１５は、カメラ（移動カメラ２０１，固定カメラ２０２）で撮影した画像である。加工装置２００は、例えば、カメラテーブル４０１を参照して、撮影対象物の立体形状を計測する。また、加工装置２００は、カメラテーブル４０１を参照して、移動カメラ２０１の位置を検出する。 FIG. 4 is a diagram illustrating an example of a camera table included in the processing apparatus according to the present embodiment. The camera table 401 stores a move / fix 412, a position 413, a specification 414, and a captured image 415 in association with a camera ID (Identifier) 411. The camera ID 411 is an identifier for identifying a camera. The move / fix 412 indicates whether the camera is a mobile camera or a fixed camera. The position 413 indicates the position of the camera (the mobile camera 201 and the fixed camera 202). The specification 414 indicates the performance of the camera, and includes, but is not limited to, an angle of view, an F value, a focal length, the number of pixels, a magnification, and the like. The captured image 415 is an image captured by a camera (the moving camera 201 and the fixed camera 202). The processing apparatus 200 refers to, for example, the camera table 401 and measures the three-dimensional shape of the imaging target. The processing apparatus 200 detects the position of the mobile camera 201 with reference to the camera table 401.

　図５は、本実施形態に係る加工装置のハードウェア構成を示すブロック図である。ＣＰＵ(Central Processing Unit)５１０は、演算制御用のプロセッサであり、プログラムを実行することで図３の加工装置２００の機能構成部を実現する。ＣＰＵ５１０は複数のプロセッサを有し、異なるプログラムやモジュール、タスク、スレッドなどを並行して実行してもよい。ＲＯＭ(Read Only Memory)５２０は、初期データおよびプログラムなどの固定データおよびその他のプログラムを記憶する。また、ネットワークインタフェース５３０は、ネットワークを介して他の装置などと通信する。なお、ＣＰＵ５１０は１つに限定されず、複数のＣＰＵであっても、あるいは画像処理用のＧＰＵ(Graphics Processing Unit)を含んでもよい。また、ネットワークインタフェース５３０は、ＣＰＵ５１０とは独立したＣＰＵを有して、ＲＡＭ(Random Access Memory)５４０の領域に送受信データを書き込みあるいは読み出しするのが望ましい。また、ＲＡＭ５４０とストレージ５５０との間でデータを転送するＤＭＡＣ(Direct Memory Access Controller)を設けるのが望ましい（図示なし）。さらに、ＣＰＵ５１０は、ＲＡＭ５４０にデータが受信あるいは転送されたことを認識してデータを処理する。また、ＣＰＵ５１０は、処理結果をＲＡＭ５４０に準備し、後の送信あるいは転送はネットワークインタフェース５３０やＤＭＡＣに任せる。 FIG. 5 is a block diagram showing a hardware configuration of the processing apparatus according to the present embodiment. A CPU (Central Processing Unit) 510 is a processor for arithmetic control, and realizes the functional components of the processing apparatus 200 in FIG. 3 by executing a program. The CPU 510 includes a plurality of processors, and may execute different programs, modules, tasks, threads, and the like in parallel. A ROM (Read Only Memory) 520 stores fixed data such as initial data and programs, and other programs. In addition, the network interface 530 communicates with other devices via a network. Note that the number of CPUs 510 is not limited to one, and a plurality of CPUs or a GPU (Graphics Processing Unit) for image processing may be included. Further, it is desirable that the network interface 530 has a CPU independent of the CPU 510 and writes or reads transmission / reception data in an area of a random access memory (RAM) 540. It is desirable to provide a DMAC (Direct Memory Access Controller) for transferring data between the RAM 540 and the storage 550 (not shown). Further, CPU 510 recognizes that the data has been received or transferred to RAM 540 and processes the data. Further, the CPU 510 prepares the processing result in the RAM 540, and leaves the subsequent transmission or transfer to the network interface 530 or the DMAC.

　ＲＡＭ５４０は、ＣＰＵ５１０が一時記憶のワークエリアとして使用するランダムアクセスメモリである。ＲＡＭ５４０には、本実施形態の実現に必要なデータを記憶する領域が確保されている。位置５４１は、移動カメラ２０１および固定カメラ２０２の加工装置２００の内部での位置のデータである。スペック５４２は、移動カメラ２０１および固定カメラ２０２の性能などに関するデータである。撮影画像５４３は、移動カメラ２０１および固定カメラ２０２で撮影した画像のデータである。パラメータ５４４は、キャリブレーションにより求められた、移動カメラ２０１と固定カメラ２０２との間の内部パラメータや外部パラメータ、歪係数などである。 The RAM 540 is a random access memory used by the CPU 510 as a work area for temporary storage. In the RAM 540, an area for storing data necessary for realizing the present embodiment is secured. The position 541 is data of the position of the mobile camera 201 and the fixed camera 202 inside the processing device 200. The specification 542 is data relating to the performance of the mobile camera 201 and the fixed camera 202 and the like. The captured image 543 is data of an image captured by the mobile camera 201 and the fixed camera 202. The parameter 544 is an internal parameter between the mobile camera 201 and the fixed camera 202, an external parameter, a distortion coefficient, and the like, obtained by the calibration.

　送受信データ５４５は、ネットワークインタフェース５３０を介して送受信されるデータである。また、ＲＡＭ５４０は、各種アプリケーションモジュールを実行するためのアプリケーション実行領域５４６を有する。 The transmission / reception data 545 is data transmitted / received via the network interface 530. Further, the RAM 540 has an application execution area 546 for executing various application modules.

　ストレージ５５０には、データベースや各種のパラメータ、あるいは本実施形態の実現に必要な以下のデータまたはプログラムが記憶されている。ストレージ５５０は、カメラテーブル４０１を格納する。カメラテーブル４０１は、図４に示した、カメラＩＤ４１１と撮影画像４１５などとの関係を管理するテーブルである。 The storage 550 stores a database, various parameters, or the following data or programs necessary for realizing the present embodiment. The storage 550 stores the camera table 401. The camera table 401 is a table for managing the relationship between the camera ID 411 and the captured image 415 shown in FIG.

　ストレージ５５０は、さらに、計測モジュール５５１および検出モジュール５５２を格納する。計測モジュール５５１は、移動カメラ２０１および固定カメラ２０２で撮影し、取得した画像を用いて、撮影対象物２１０の立体形状を計測するモジュールである。また、計測モジュール５５１は、立体形状として、撮影対象物２１０に加工された穴の深さおよび撮影対象物２１０に加工された段差の大きさのうち少なくとも１つを計測するモジュールである。検出モジュール５５２は、固定カメラ２０２を用いて移動カメラ２０１の位置を検出するモジュールである。これらのモジュール５５１～５５２は、ＣＰＵ５１０によりＲＡＭ５４０のアプリケーション実行領域５４６に読み出され、実行される。制御プログラム５５３は、加工装置２００の全体を制御するためのプログラムである。 The storage 550 further stores a measurement module 551 and a detection module 552. The measurement module 551 is a module that measures the three-dimensional shape of the photographing target 210 using images acquired by photographing with the moving camera 201 and the fixed camera 202. The measurement module 551 is a module that measures, as a three-dimensional shape, at least one of the depth of a hole formed in the imaging target 210 and the size of a step formed in the imaging target 210. The detection module 552 is a module that detects the position of the mobile camera 201 using the fixed camera 202. These modules 551 to 552 are read into the application execution area 546 of the RAM 540 by the CPU 510 and executed. The control program 553 is a program for controlling the entire processing apparatus 200.

　入出力インタフェース５６０は、入出力機器との入出力データをインタフェースする。入出力インタフェース５６０には、表示部５６１、操作部５６２、が接続される。また、入出力インタフェース５６０には、さらに、記憶媒体５６４が接続されてもよい。さらに、音声出力部であるスピーカ５６３や、音声入力部であるマイク（図示せず）、あるいは、ＧＰＳ位置判定部が接続されてもよい。なお、図５に示したＲＡＭ５４０やストレージ５５０には、加工装置２００が有する汎用の機能や他の実現可能な機能に関するプログラムやデータは図示されていない。 The input / output interface 560 interfaces input / output data with input / output devices. The display unit 561 and the operation unit 562 are connected to the input / output interface 560. Further, a storage medium 564 may be connected to the input / output interface 560. Furthermore, a speaker 563 as an audio output unit, a microphone (not shown) as an audio input unit, or a GPS position determination unit may be connected. Note that the RAM 540 and the storage 550 shown in FIG. 5 do not show programs and data relating to general-purpose functions and other realizable functions of the processing apparatus 200.

　図６は、本実施形態に係る加工装置の処理手順を説明するフローチャートである。このフローチャートは、図５のＣＰＵ５１０がＲＡＭ５４０を使用して実行し、図３の加工装置２００の機能構成部を実現する。 FIG. 6 is a flowchart illustrating a processing procedure of the processing apparatus according to the present embodiment. This flowchart is executed by the CPU 510 in FIG. 5 using the RAM 540, and implements the functional components of the processing apparatus 200 in FIG.

　ステップＳ６０１において、加工装置２００は、装置の起動作業を実行する。ステップＳ６０３において、加工装置２００は、キャリブレーションが必要か否かを判断する。キャリブレーションが必要でない場合（ステップＳ６０３のＮＯ）、加工装置２００は、ステップＳ６０９へ進む。キャリブレーションが必要な場合（ステップＳ６０３のＹＥＳ）、加工装置２００は、ステップＳ６０５へ進む。 に お い て In step S601, the processing device 200 executes a start-up operation of the device. In step S603, the processing device 200 determines whether calibration is necessary. If calibration is not necessary (NO in step S603), the processing apparatus 200 proceeds to step S609. If calibration is necessary (YES in step S603), the processing apparatus 200 proceeds to step S605.

　ステップＳ６０５において、加工装置２００は、固定カメラ２０２を用いて移動カメラ２０１の位置を検出する。ステップＳ６０７において、加工装置２００は、キャリブレーションを実行して、移動カメラ２０１と固定カメラ２０２との内部パラメータ、外部パラメータ、歪係数などのパラメータを求める。 In step S605, the processing apparatus 200 detects the position of the mobile camera 201 using the fixed camera 202. In step S607, the processing apparatus 200 executes calibration to obtain parameters such as internal parameters, external parameters, and distortion coefficients of the mobile camera 201 and the fixed camera 202.

　ステップＳ６０９において、加工装置２００は、移動カメラ２０１および固定カメラ２０２で撮影し、取得した画像を取得する。ステップＳ６１１において、加工装置２００は、移動カメラ２０１および固定カメラ２０２で取得した画像を用いて、撮影対象物２１０の立体形状を計測する。加工装置２００は、例えば、立体形状として撮影対象物２１０に加工された穴の深さおよび撮影対象物２１０に加工された段差の大きさのうち少なくとも１つを計測する。ステップＳ６１３において、加工装置２００は、計測を終了するか否かを判断する。計測を終了しないと判断した場合（ステップＳ６１３のＮＯ）、加工装置２００は、ステップＳ６０９へと戻る。計測を終了すると判断した場合（ステップＳ６１３のＹＥＳ）、加工装置２００は、処理を終了する。 に お い て In step S609, the processing apparatus 200 acquires an image captured by the moving camera 201 and the fixed camera 202, and acquires the acquired image. In step S611, the processing apparatus 200 measures the three-dimensional shape of the imaging target 210 using the images acquired by the moving camera 201 and the fixed camera 202. The processing apparatus 200 measures, for example, at least one of a depth of a hole processed in the imaging target 210 as a three-dimensional shape and a size of a step processed in the imaging target 210. In step S613, the processing device 200 determines whether to end the measurement. If it is determined that the measurement is not to be ended (NO in step S613), the processing device 200 returns to step S609. If it is determined that the measurement is to be ended (YES in step S613), the processing device 200 ends the processing.

　本実施形態によれば、映像に基づいた精度の高い計測をすることができる。また、固定カメラを用いて移動カメラの位置を検出するので、カメラのキャリブレーションを行うことができる。さらに、立体形状として撮影対象物に加工された穴の深さや撮影対象物に加工された段差の大きさを計測できる。 According to the present embodiment, highly accurate measurement based on an image can be performed. Further, since the position of the moving camera is detected using the fixed camera, the camera can be calibrated. Further, it is possible to measure the depth of a hole formed in the object to be photographed as a three-dimensional shape and the size of a step formed in the object to be photographed.

　［第３実施形態］
　次に本発明の第３実施形態に係る加工装置について、図７乃至図９を用いて説明する。図７は、本実施形態に係る加工装置の構成の一例の概要を示す図である。本実施形態に係る加工装置は、上記第２実施形態と比べると、工具マガジンおよびカメラ交換部を有する点で異なる。その他の構成および動作は、第２実施形態と同様であるため、同じ構成および動作については同じ符号を付してその詳しい説明を省略する。 [Third embodiment]
Next, a processing apparatus according to a third embodiment of the present invention will be described with reference to FIGS. FIG. 7 is a diagram illustrating an outline of an example of a configuration of a processing apparatus according to the present embodiment. The processing apparatus according to the present embodiment is different from the above-described second embodiment in that it has a tool magazine and a camera exchange unit. Other configurations and operations are the same as those of the second embodiment, and thus the same configurations and operations are denoted by the same reference numerals and detailed description thereof will be omitted.

　加工装置７００は、工具マガジン７０１とカメラ交換部７０２とを有する。工具マガジン７０１は、複数の工具（工具類）とともに複数種類のカメラを収容する。工具マガジン７０１は、例えば、ＡＴＣ（Automatic Tool Changer）マガジンであり、工具格納、工具選択、工具交換などの役割を有する。なお、工具マガジン７０１は、タレット式、マガジン収納式のいずれであってもよい。 The processing device 700 includes a tool magazine 701 and a camera exchange unit 702. The tool magazine 701 houses a plurality of types of cameras together with a plurality of tools (tools). The tool magazine 701 is, for example, an ATC (Automatic Tool Changer) magazine and has a role of storing a tool, selecting a tool, and exchanging a tool. The tool magazine 701 may be either a turret type or a magazine storage type.

　カメラ交換部７０２は、選択されたカメラを工具マガジン７０１から取り出し、加工装置７００の内部の所定の位置に取り付ける。カメラ交換部７０２は、例えば、ロボットアームであり、工具マガジン７０１からカメラを取り出し、加工装置７００の内部の所定の位置に取り付けることができる。なお、カメラ交換部７０２は、カメラの交換ができる装置などであれば、いずれの装置でもよい。 The camera exchange unit 702 takes out the selected camera from the tool magazine 701 and attaches the selected camera to a predetermined position inside the processing device 700. The camera exchange unit 702 is, for example, a robot arm, and can take out the camera from the tool magazine 701 and attach it to a predetermined position inside the processing device 700. Note that the camera exchange unit 702 may be any device as long as it can exchange cameras.

　図８は、本実施形態に係る加工装置の備えるカメラテーブルの一例を示す図である。カメラテーブル８０１は、カメラＩＤ４１１に関連付けて収容位置８１１を格納する。収容位置８１１は、工具マガジン７０１において、カメラが収容されている位置を示す。加工装置７００は、カメラテーブル８０１を参照して、目的に応じたカメラを選択し、交換する。 FIG. 8 is a diagram illustrating an example of a camera table provided in the processing apparatus according to the present embodiment. The camera table 801 stores the accommodation position 811 in association with the camera ID 411. The storage position 811 indicates a position where the camera is stored in the tool magazine 701. The processing device 700 refers to the camera table 801 to select and exchange a camera according to the purpose.

　図９は、本実施形態に係る加工装置の処理手順を説明するフローチャートである。このフローチャートは、図５のＣＰＵ５１０がＲＡＭ５４０を使用して実行し、図７の加工装置７００の機能構成部を実現する。ステップＳ９０１において、加工装置７００は、カメラの交換が必要か否かを判断する。カメラの交換が必要ないと判断した場合（ステップＳ９０１のＮＯ）、加工装置７００は、ステップＳ６０３へ進む。カメラの交換が必要と判断した場合（ステップＳ９０１のＹＥＳ）、加工装置７００は、ステップＳ９０３へ進む。ステップＳ９０３において、加工装置７００は、複数種類のカメラの中から用途に応じたカメラを選択し、交換する。 FIG. 9 is a flowchart illustrating a processing procedure of the processing apparatus according to the present embodiment. This flowchart is executed by the CPU 510 in FIG. 5 using the RAM 540, and implements the functional components of the processing apparatus 700 in FIG. In step S901, the processing device 700 determines whether the camera needs to be replaced. If it is determined that the camera does not need to be replaced (NO in step S901), the processing device 700 proceeds to step S603. If it is determined that the camera needs to be replaced (YES in step S901), the processing device 700 proceeds to step S903. In step S <b> 903, the processing apparatus 700 selects a camera according to the application from a plurality of types of cameras and replaces the camera.

　本実施形態によれば、カメラを選択的に交換できるので、様々な用途に合わせた計測を行える。 According to the present embodiment, the camera can be selectively replaced, so that measurement suitable for various uses can be performed.

　［他の実施形態］
　以上、実施形態を参照して本願発明を説明したが、本願発明は上記実施形態に限定されるものではない。本願発明の構成や詳細には、本願発明のスコープ内で当業者が理解し得る様々な変更をすることができる。また、それぞれの実施形態に含まれる別々の特徴を如何様に組み合わせたシステムまたは装置も、本発明の範疇に含まれる。 [Other embodiments]
Although the present invention has been described with reference to the exemplary embodiments, the present invention is not limited to the above exemplary embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention. In addition, a system or an apparatus in which different features included in each embodiment are combined in any way is also included in the scope of the present invention.

　この出願は、２０１８年９月６日に出願された日本出願特願２０１８－１６７０８１を基礎とする優先権を主張し、その開示の全てをここに取り込む。 This application claims priority based on Japanese Patent Application No. 2018-167081 filed on Sep. 6, 2018, the entire disclosure of which is incorporated herein.

Claims (7)

　少なくとも１つの移動カメラを含む少なくとも２つのカメラと、
　前記少なくとも２つのカメラで取得した画像を用いて、撮影対象物の立体形状を計測する計測手段と、
　を備えた加工装置。 At least two cameras including at least one moving camera;
Using an image acquired by the at least two cameras, measuring means for measuring the three-dimensional shape of the imaging target,
Processing equipment equipped with 　前記少なくとも２つのカメラは、前記加工装置の内部に取り付けられた固定カメラを含み、
　前記固定カメラを用いて前記移動カメラの位置を検出する検出手段をさらに備えた請求項１に記載の加工装置。 The at least two cameras include a fixed camera mounted inside the processing device;
The processing apparatus according to claim 1, further comprising a detection unit configured to detect a position of the mobile camera using the fixed camera. 　前記移動カメラは、工具主軸に取り付けられる請求項１または２に記載の加工装置。 The processing device according to claim 1 or 2, wherein the movable camera is mounted on a tool spindle. 　前記計測手段は、前記立体形状として、前記撮影対象物に加工された穴の深さおよび前記撮影対象物に加工された段差の大きさのうち少なくとも１つを計測する請求項１乃至３のいずれか１項に記載の加工装置。 4. The apparatus according to claim 1, wherein the measuring unit measures at least one of a depth of a hole processed in the imaging target and a size of a step processed in the imaging target as the three-dimensional shape. 5. The processing apparatus according to claim 1. 　複数の工具とともに複数種類のカメラを収容する工具マガジンと、
　収容された前記複数種類のカメラを選択的に交換するカメラ交換手段と、
　をさらに備えた請求項１乃至４のいずれか１項に記載の加工装置。 A tool magazine that houses multiple types of cameras with multiple tools,
Camera exchange means for selectively exchanging the plurality of types of stored cameras,
The processing apparatus according to any one of claims 1 to 4, further comprising: 　少なくとも１つの移動カメラを含む少なくとも２つのカメラを備えた加工装置の制御方法であって、
　前記少なくとも２つのカメラで撮影した画像を取得する取得ステップと、
　取得した前記画像を用いて、撮影対象物の立体形状を計測する計測ステップと、
　を含む加工装置の制御方法。 A method for controlling a processing apparatus including at least two cameras including at least one moving camera,
An obtaining step of obtaining an image captured by the at least two cameras;
Using the acquired image, a measurement step of measuring the three-dimensional shape of the imaging target,
A method for controlling a processing apparatus including: 　少なくとも１つの移動カメラを含む少なくとも２つのカメラを備えた加工装置の制御プログラムであって、
　前記少なくとも２つのカメラで撮影した画像を取得する取得ステップと、
　取得した前記画像を用いて、撮影対象物の立体形状を計測する計測ステップと、
　をコンピュータに実行させる加工装置の制御プログラム。 A control program for a processing apparatus provided with at least two cameras including at least one moving camera,
An obtaining step of obtaining an image captured by the at least two cameras;
Using the acquired image, a measurement step of measuring the three-dimensional shape of the imaging target,
Control program for a processing apparatus that causes a computer to execute the processing.
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