Automatic measuring systems and control method for automatic measuring systems

A control method for an automatic measuring system, the automatic measuring system including:

• a measuring sensor tool configured to detect a surface of an object to be measured to measure a dimension or a shape of the object to be measured;
• a moving mechanism configured to relatively move the measuring sensor tool with respect to the object to be measured;
• and
• an observation camera configured to image the object to be measured, the control method comprising:
• acquiring a position and a posture of a point to be measured from image data obtained by imaging the object to be measured by the observation camera;
• causing, by the moving mechanism, the measuring sensor tool to approach the point to be measured, taking into account a position and posture offset between the observation camera and the measuring sensor tool;
• and
• acquiring, by the measuring sensor tool, a measurement value of the point to be measured, wherein
• the moving mechanism is one articulated robot,
• the one articulated robot includes a hand part,
• the hand part holds the observation camera and the measuring sensor tool, and
• the hand part of the articulated robot includes an exchange means for moving the observation camera and the measuring sensor tool to exchange a position of the observation camera for a position of the measuring sensor tool by rotating around an axis of the hand part.

An automatic measuring system comprising:

• a measuring sensor tool configured to detect a surface of an object to be measured to measure a dimension or a shape of the object to be measured;
• a moving mechanism configured to relatively move the measuring sensor tool with respect to the object to be measured;
• and
• an observation camera configured to image the object to be measured, wherein
• the moving mechanism is one articulated robot,
• the one articulated robot includes a hand part,
• the hand part includes an exchange means for moving the observation camera and the measuring sensor tool to exchange a position of the observation camera for a position of the measuring sensor tool by rotating around an axis of the hand part, and
• the hand part holds the observation camera and the measuring sensor tool via the exchanging means.

A recording medium storing a control program for an automatic measuring system, the automatic measuring system including:

• a measuring sensor tool configured to detect a surface of an object to be measured to measure a dimension or a shape of the object to be measured;
• a moving mechanism configured to relatively move the measuring sensor tool with respect to the object to be measured;
• an observation camera configured to image the object to be measured;
• and
• a computer, the control program causing the computer to execute:
• a camera calibration mark imaging step of imaging, by the observation camera, a camera calibration mark;
• a sensor calibration part step of measuring, by the measuring sensor tool, a sensor calibration part;
• and
• a step of calibrating a position and posture offset between the observation camera and the measuring sensor tool, based on a position and a posture of the moving mechanism and image data acquired in the camera calibration mark imaging step, and on a position and a posture of the moving mechanism and measurement data acquired in the sensor calibration part step, wherein
• the camera calibration mark and the sensor calibration part are provided in a calibration master,
• the camera calibration mark and the sensor calibration part have a known relative position,
• the moving mechanism is one articulated robot,
• the one articulated robot includes a hand part,
• the hand part holds the observation camera and the measuring sensor tool, and
• the hand part of the articulated robot includes an exchange means for moving the observation camera and the measuring sensor tool to exchange a position of the observation camera for a position of the measuring sensor tool by rotating around an axis of the hand part.

A recording medium storing a control program for an automatic measuring system, the automatic measuring system including:

• a measuring sensor tool configured to detect a surface of an object to be measured to measure a dimension or a shape of the object to be measured;
• a moving mechanism configured to relatively move the measuring sensor tool with respect to the object to be measured;
• an observation camera configured to image the object to be measured;
• and
• a computer, the control program causing the computer to execute:
• acquiring a position and a posture of a point to be measured from image data obtained by imaging the object to be measured by the observation camera;
• causing, by the moving mechanism, the measuring sensor tool to approach the point to be measured, taking into account a position and posture offset between the observation camera and the measuring sensor tool;
• and
• acquiring, by the measuring sensor tool, a measurement value of the point to be measured, wherein
• the moving mechanism is one articulated robot,
• the one articulated robot includes a hand part,
• the hand part holds the observation camera and the measuring sensor tool, and
• the hand part of the articulated robot includes an exchange means for moving the observation camera and the measuring sensor tool to exchange a position of the observation camera for a position of the measuring sensor tool by rotating around an axis of the hand part.