JPH0769150B2 - measuring device - Google Patents
measuring deviceInfo
- Publication number
- JPH0769150B2 JPH0769150B2 JP1121151A JP12115189A JPH0769150B2 JP H0769150 B2 JPH0769150 B2 JP H0769150B2 JP 1121151 A JP1121151 A JP 1121151A JP 12115189 A JP12115189 A JP 12115189A JP H0769150 B2 JPH0769150 B2 JP H0769150B2
- Authority
- JP
- Japan
- Prior art keywords
- measurement
- unit
- measuring
- distance
- dimensional
- Prior art date
- 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.)
- Expired - Fee Related
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】 産業上の利用分野 本発明は測定装置、とりわけ計測ユニットと測定対象と
の干渉を防ぐ構造に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a measuring device, and more particularly to a structure for preventing interference between a measuring unit and an object to be measured.
従来の技術 プレス成形したパネルのような計測対象の形状を三角測
量の原理で測定する場合において、産業用ロボットのア
ームに計測ユニットを取り付け、産業用ロボットのアー
ムを駆動することにより計測ユニットを測定対象に相対
的に移動しながら、計測ユニットから測定対象の測定面
にスリット光を照射，投影し、この投影像を計測ユニッ
トの撮像手段で捕らえて測定対象の立体的な全体形状を
計測する所謂光切断法による測定装置が知られている
（特開昭62−299708号公報参照）。Conventional technology When measuring the shape of a measurement object such as a press-molded panel by the principle of triangulation, the measurement unit is attached to the arm of an industrial robot and the measurement unit is driven by driving the arm of the industrial robot. While moving relative to the object, the measurement unit irradiates and projects slit light on the measurement surface of the measurement object, and the projected image is captured by the imaging means of the measurement unit to measure the three-dimensional overall shape of the measurement object. A measuring device by the light section method is known (see Japanese Patent Laid-Open No. 62-299708).
発明が解決しようとする課題 三角測量の原理から計測ユニットの測定面までの距離を
産業用ロボットの制御機能部で演算して、計測ユニット
が測定面から離れる一定の距離を保ちながら水平移動す
るように、産業用ロボットのアームを駆動制御すること
はできる。しかし計測ユニットの移動方向前方の距離は
計測することはできない。このため、計測ユニットの移
動方向前方の測定対象の部分に計測ユニットが測定面か
ら離間する距離以上の高さを有する膨出部が存在してい
るような場合、計測ユニットが膨出部に干渉するという
不都合がある。Problems to be Solved by the Invention Based on the principle of triangulation, the control unit of the industrial robot calculates the distance to the measurement surface of the measurement unit so that the measurement unit moves horizontally while keeping a certain distance from the measurement surface. In addition, it is possible to drive and control the arm of the industrial robot. However, the distance in the moving direction of the measuring unit cannot be measured. For this reason, when there is a bulging portion having a height equal to or larger than the distance at which the measuring unit is separated from the measurement surface, the measuring unit interferes with the bulging portion in the portion to be measured in front of the moving direction of the measuring unit. There is an inconvenience to do.
課題を解決するための手段 産業用ロボットのアームに取り付けられた撮像方式の計
測ユニットを有し、該アームの駆動により計測ユニット
を測定対象に対して移動させることにより三角測量の原
理で前記測定対象の形状を測定するようにした測定装置
において、前記計測ユニットに取り付けられて、測定対
象上の測定面までの距離を計測する第１測距センサおよ
び測定対象上の測定面前方までの距離を計測する第２測
距センサと、測定位置指令信号として与えられる測定対
象の２次元平面内での計測ユニットの位置データと、前
記第1,第２測距センサからの距離データとに基づいて計
測ユニットの３次元の測定位置データを作成する３次元
位置補正手段と、前記３次元位置補正手段からの測定位
置データをもとに産業用ロボットのアームを駆動させて
計測ユニットの３次元方向の位置決めを司る３軸位置決
め制御手段と、前記３軸位置決め制御手段からの計測ユ
ニットの現在位置データと前記計測ユニットからの測定
データとに基づいて、測定結果として測定対象の３次元
の面データを作成する面データ作成手段、とを備えた構
成にしてある。Means for Solving the Problems An imaging-type measurement unit attached to an arm of an industrial robot is provided, and the measurement unit is driven by the arm to move the measurement unit with respect to the measurement target, and the measurement target is measured on the principle of triangulation. In a measuring device configured to measure the shape of the first measuring sensor, which is attached to the measuring unit and measures the distance to the measurement surface on the measurement target, and measures the distance to the front of the measurement surface on the measurement target. Measuring unit based on the second distance measuring sensor, the position data of the measuring unit in the two-dimensional plane of the measuring object given as the measuring position command signal, and the distance data from the first and second distance measuring sensors. 3D position correction means for creating 3D measurement position data of the above, and the arm of the industrial robot is driven based on the measurement position data from the 3D position correction means. Then, the measurement result is measured based on the three-axis positioning control means that controls the three-dimensional positioning of the measurement unit, the current position data of the measurement unit from the three-axis positioning control means, and the measurement data from the measurement unit. And surface data creating means for creating target three-dimensional surface data.
作用 測定対象に対する計測ユニットの位置を確認しながら、
産業用ロボットのアームを駆動し、計測ユニットを倣い
制御して、測定対象の全体形状を測定する。While confirming the position of the measuring unit with respect to the measurement target,
The arm of an industrial robot is driven and the measurement unit is scanned and controlled to measure the overall shape of the measurement target.
実施例 第１〜３図において、１は測定対象であって、例えば平
坦部1aと膨出部1bとを有する所要の形状にプレス成形さ
れたパネルである。２は計測ユニットであって、照射手
段３と撮像手段４とを備えている。照射手段３は光源か
らの光をスリット光Ｌに形成し、このスリット光Ｌを測
定対象１の測定面に照射，投影する構造になっている。
撮像手段４は測定対象１の測定面にスリット光Ｌにより
描かれた投影像を撮像して電気量に変換して出力する構
造になっている。Example In FIGS. 1 to 3, reference numeral 1 is a measurement target, which is a panel press-molded into a desired shape having, for example, a flat portion 1a and a bulging portion 1b. Reference numeral 2 is a measurement unit, which includes an irradiation unit 3 and an imaging unit 4. The irradiation means 3 has a structure in which the light from the light source is formed into slit light L, and the slit light L is irradiated and projected onto the measurement surface of the measurement target 1.
The image pickup means 4 has a structure for picking up a projected image drawn by the slit light L on the measurement surface of the measuring object 1, converting it into an electric quantity, and outputting it.
ここで計測ユニット２は第１図に示すように、X,Y,Zの
３軸を有する産業用ロボットのアーム10に取り付けら
れ、アーム10のX,Y,Zの３軸が駆動することにより、測
定対象１と一定の離間距離を保ちながらスリット光Ｌの
長手方向と直交するＹ方向に移動して、測定対象１の全
体形状を測定するようになっている。具体的には、産業
用ロボットの制御機能部の一部として３次元位置補正回
路12が測定位置指令部11から出力される目標値としての
測定位置指令信号Q11（Q11＝ｄ（X,Y）dt）と位置補正
量演算部13から出力されるフィードバック量としての３
次元の補正信号Q13（Q13＝ε（X,Y,Z））とに基づいて
制御信号Q12（Q12＝ｄ（X,Y,Z）dt）を演算して３軸位
置決め制御部14に出力し、３軸位置決め制御部14が制御
信号Q12に応じてＸ軸モータ15,Y軸モータ16,Z軸モータ1
7を駆動することにより、計測ユニット２が測定対象１
から一定の距離離れてX,Y,Z方向に合成移動するととも
に、３軸位置決め制御部14からの現在位置信号Q14（Q14
＝X,Y,Zの現在位置に相当する電気量）と計測ユニット
２の撮像手段からの測定値信号Q4（Q4＝Y,Zの測定値に
相当する電気量）とを面データ作成手段としての加算演
算部18で演算し、この加算信号Q18を同じく面データ作
成手段としての面データ処理部19に取り込み、面データ
処理部19が加算信号Q18に基づいて面データQ19を演算
し、この面データQ19を測定結果として出力する。Here, as shown in FIG. 1, the measuring unit 2 is attached to an arm 10 of an industrial robot having three axes of X, Y and Z, and by driving the three axes of X, Y and Z of the arm 10, The overall shape of the measurement target 1 is measured by moving in the Y direction orthogonal to the longitudinal direction of the slit light L while maintaining a constant distance from the measurement target 1. Specifically, as a part of the control function unit of the industrial robot, the three-dimensional position correction circuit 12 outputs a measurement position command signal Q 11 (Q 11 = d (X, Y) dt) and 3 as the feedback amount output from the position correction amount calculation unit 13
3-axis positioning control unit by calculating the control signal Q 12 (Q 12 = d (X, Y, Z) dt) based on the dimensional correction signal Q 13 (Q 13 = ε (X, Y, Z)) To the X-axis motor 15, the Y-axis motor 16, the Z-axis motor 1 according to the control signal Q 12.
By driving 7, the measuring unit 2 can measure 1
And a combined movement in the X, Y, and Z directions at a certain distance from the current position signal Q 14 (Q 14
= Electric quantity corresponding to the current position of X, Y, Z) and a measured value signal Q 4 (Q 4 = electric quantity corresponding to the measured value of Y, Z) from the image pickup means of the measuring unit 2 The addition signal Q 18 is calculated by the addition calculation unit 18 serving as a means, and the addition signal Q 18 is also taken into the surface data processing unit 19 serving as the surface data creating unit, and the surface data processing unit 19 calculates the surface data Q 19 based on the addition signal Q 18. This surface data Q 19 is calculated and output as the measurement result.
一方、計測ユニット２には第１測距センサ20と第２測距
センサ21とを取り付けてある。第１測距センサ20は超音
波ビームａを測定対象１上に照射されたスリット光Ｌの
略中央部を含む測定面に向けて発射するとともに、この
測定面からの反射波を受信し、超音波ビームａの発射時
刻t1と反射波の受信時刻t2との差Δt3を演算して、測定
対象１上にスリット光Ｌによる測定面までの距離を計測
する。第２測距センサ21は前述とは別の周波数の超音波
ビームｂをスリット光Ｌによる測定面の前方、つまり計
測ユニット２の移動方向前方に存在する測定対象１の部
分に向けて発射し、この部分からの反射波を受信し、超
音波ビームｂの発射時刻t4と反射波の受信時刻t5との差
Δt6を演算して、測定対象１上のスリット光Ｌによる測
定面の前方までの距離を計測する。これら第1,第２測距
センサ20,21から出力される測定距離信号Q20,Q21は産業
用ロボットの制御機能部に組み込まれた加重平均演算部
24に増幅器22,23を介して取り込まれる。加重平均演算
部24は上記両測定距離信号Q20,Q21に基づいて加重平均
を演算し、この演算結果を３次元位置補正演算部13に出
力する。位置補正量演算部13は上記加重平均に基づいて
産業用ロボットのＸ軸モータ15,Y軸モータ16,Z軸モータ
17への３次元の補正信号Q13を演算する。On the other hand, a first distance measuring sensor 20 and a second distance measuring sensor 21 are attached to the measuring unit 2. The first distance measuring sensor 20 emits the ultrasonic beam a toward the measurement surface including the substantially central portion of the slit light L irradiated onto the measurement target 1, and receives the reflected wave from this measurement surface, The difference Δt 3 between the emission time t 1 of the sound wave beam a and the reception time t 2 of the reflected wave is calculated, and the distance to the measurement surface by the slit light L on the measurement target 1 is measured. The second distance measuring sensor 21 emits an ultrasonic beam b having a frequency different from that described above toward the portion of the measurement target 1 existing in front of the measurement surface by the slit light L, that is, in the moving direction of the measurement unit 2. The reflected wave from this part is received, the difference Δt 6 between the emission time t 4 of the ultrasonic beam b and the reception time t 5 of the reflected wave is calculated, and the front side of the measurement surface by the slit light L on the measurement target 1 is calculated. Measure the distance to. The measured distance signals Q 20 and Q 21 output from the first and second distance measuring sensors 20 and 21 are the weighted average calculation unit incorporated in the control function unit of the industrial robot.
It is taken into 24 via amplifiers 22 and 23. The weighted average calculation unit 24 calculates a weighted average based on the two measured distance signals Q 20 and Q 21 , and outputs the calculation result to the three-dimensional position correction calculation unit 13. The position correction amount calculation unit 13 calculates the X-axis motor 15, the Y-axis motor 16 and the Z-axis motor of the industrial robot based on the weighted average.
The three-dimensional correction signal Q 13 to 17 is calculated.
以上の実施例構造によれば、照射手段３から発射するス
リット光Ｌの長手方向を産業用ロボットのＸ軸方向と平
行にセットし、スリット光Ｌが産業用ロボットのＹ軸方
向と平行に移動するように、産業用ロボットのアーム10
を駆動しながらスリット光Ｌを測定対象１に照射，投影
し、この投影像を撮像手段４で捕らえて測定対象１の全
体形状を測定する場合において、第１測距センサ20と第
２測距センサ21とで測定対象１に対する計測ユニット２
の位置を正確に把握する。したがって、第３図に示すよ
うに計測ユニット２が測定対象１の平坦部1aから膨出部
1bに近づいて第２測距センサ21が膨出部1bの存在を認識
し、この第２測距センサ21からの測定距離信号Q21の変
化量に応じて位置補正量演算部13から出力される補正信
号Q13が変化し、産業用ロボットのＺ軸モータ17が回転
駆動する。このＺ軸モータ17の回転駆動とＹ軸モータ16
の回転駆動との合成により、計測ユニット２は第３図に
実線で示す位置から仮想線で示す軌跡を描くように倣い
移動して膨出部1bを逃げる。According to the above embodiment structure, the longitudinal direction of the slit light L emitted from the irradiation means 3 is set parallel to the X-axis direction of the industrial robot, and the slit light L moves parallel to the Y-axis direction of the industrial robot. Industrial robot arm 10 to
In the case of irradiating and projecting the slit light L onto the measurement target 1 while driving the, and measuring the entire shape of the measurement target 1 by capturing the projected image by the imaging means 4, the first distance measurement sensor 20 and the second distance measurement Measuring unit 2 for sensor 1 with sensor 21
Know exactly where. Therefore, as shown in FIG. 3, the measurement unit 2 has the bulging portion from the flat portion 1a of the measuring object 1.
The second distance measuring sensor 21 is aware of the existence of the bulge portion 1b approaching 1b, output from the position correction amount calculating unit 13 according to the change of the measured distance signal Q 21 from the second distance measuring sensor 21 The correction signal Q 13 is changed, and the Z-axis motor 17 of the industrial robot is rotationally driven. The rotation drive of this Z-axis motor 17 and the Y-axis motor 16
In combination with the rotational driving of the measurement unit 2, the measurement unit 2 moves in a tracing manner from the position shown by the solid line in FIG.
発明の効果 以上のように本発明によれば、第1,第２測距センサで測
定対象と計測ユニットとの位置関係を的確に把握し、計
測ユニットを測定対象から一定間隔で離して倣い移動す
ることができるので、測定対象の一部に上記一定間隔よ
りも大きな膨出部分が存在するような場合でも、産業用
ロボットの制御機能部に予め設定された目標値を変更せ
ずに、計測ユニットの膨出部との干渉を阻止できる。EFFECTS OF THE INVENTION As described above, according to the present invention, the positional relationship between the measurement object and the measurement unit is accurately grasped by the first and second distance measuring sensors, and the measurement unit is moved at a constant interval from the measurement object to perform the scanning movement. Therefore, even if a part of the measurement object has a bulge larger than the above-mentioned fixed interval, the measurement is performed without changing the target value preset in the control function unit of the industrial robot. Interference with the bulging part of the unit can be prevented.
第１図は本発明の一実施例を示す構成図、第２図は同実
施例の作用を説明する斜視図、第３図は同実施例の作用
を説明する側面図である。 １……測定対象、２……計測ユニット、10……アーム、
11……測定位置指令部、12……３次元位置補正回路（３
次元位置補正手段）、13……位置補正量演算部、14……
３軸位置決め制御部（３軸位置決め制御手段）、18……
加算演算部（面データ作成手段）、19……面データ処理
部（面データ作成手段）、20……第１測距センサ、21…
…第２測距センサ。FIG. 1 is a configuration diagram showing an embodiment of the present invention, FIG. 2 is a perspective view for explaining the operation of the embodiment, and FIG. 3 is a side view for explaining the operation of the embodiment. 1 ... Object to be measured, 2 ... Measuring unit, 10 ... Arm,
11 …… Measurement position command unit, 12 …… Three-dimensional position correction circuit (3
Dimensional position correction means), 13 ... Position correction amount calculation unit, 14 ...
3-axis positioning control section (3-axis positioning control means), 18 ...
Addition calculation unit (surface data creating means), 19 ... Surface data processing unit (surface data creating means), 20 ... First distance measuring sensor, 21 ...
… Second distance measuring sensor.
Claims (1)
撮像方式の計測ユニットを有し、該アームの駆動により
計測ユニットを測定対象に対して移動させることにより
三角測量の原理で前記測定対象の形状を測定するように
した測定装置において、 前記計測ユニットに取り付けられて、測定対象上の測定
面までの距離を計測する第１測距センサおよび測定対象
上の測定面前方までの距離を計測する第２測距センサ
と、 測定位置指令信号として与えられる測定対象の２次元平
面内での計測ユニットの位置データと、前記第1,第２測
距センサからの距離データとに基づいて計測ユニットの
３次元の測定位置データを作成する３次元位置補正手段
と、 前記３次元位置補正手段からの測定位置データをもとに
産業用ロボットのアームを駆動させて計測ユニットの３
次元方向の位置決めを司る３軸位置決め制御手段と、 前記３軸位置決め制御手段からの計測ユニットの現在位
置データと前記計測ユニットからの測定データとに基づ
いて、測定結果として測定対象の３次元の面データを作
成する面データ作成手段、 とを備えていることを特徴とする測定装置。1. A shape of an object to be measured according to a principle of triangulation, comprising an imaging type measuring unit attached to an arm of an industrial robot, and moving the measuring unit with respect to the object to be measured by driving the arm. A measuring device attached to the measuring unit for measuring a distance to a measurement surface on a measurement target and a first distance measuring sensor for measuring a distance to the front of the measurement surface on the measurement target. 2 distance measuring sensors, 3 of the measuring units based on the position data of the measuring unit in the two-dimensional plane of the measurement target given as the measurement position command signal and the distance data from the first and second distance measuring sensors. Three-dimensional position correction means for creating three-dimensional measurement position data, and an arm of an industrial robot is driven based on the measurement position data from the three-dimensional position correction means to measure the position. 3 of unit
A three-axis positioning control unit that controls the positioning in the dimensional direction, and a three-dimensional surface to be measured as a measurement result based on the current position data of the measurement unit from the three-axis positioning control unit and the measurement data from the measurement unit. A surface data creating means for creating data, and a measuring device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1121151A JPH0769150B2 (en) | 1989-05-15 | 1989-05-15 | measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1121151A JPH0769150B2 (en) | 1989-05-15 | 1989-05-15 | measuring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02298807A JPH02298807A (en) | 1990-12-11 |
| JPH0769150B2 true JPH0769150B2 (en) | 1995-07-26 |
Family
ID=14804111
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1121151A Expired - Fee Related JPH0769150B2 (en) | 1989-05-15 | 1989-05-15 | measuring device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0769150B2 (en) |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59114405A (en) * | 1982-12-21 | 1984-07-02 | Nippon Steel Corp | Automatic measurement of shape of steel member |
| JPS62261040A (en) * | 1986-05-07 | 1987-11-13 | Nissan Motor Co Ltd | Inspection of surface defect |
| JPS632686A (en) * | 1986-06-18 | 1988-01-07 | 日本電信電話株式会社 | Remote control method of robot |
-
1989
- 1989-05-15 JP JP1121151A patent/JPH0769150B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH02298807A (en) | 1990-12-11 |
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