JPH10301612A - Method and apparatus for converting figures into numerical information - Google Patents

Abstract

(57) [Summary] [Problem] To convert a figure (template) into numerical information. A contour line (11) of a template (10) is divided into a straight line (11a) and an arc (11b). A circular mark (12) is attached to each node, a mark (13) is attached to a point on the arc, and a mark (14) is attached to a center point of the arc. First
In a state where the entire template 10 is imaged by the camera 20 and displayed on the display 21a, a mark 12 is
Specify the copying route by specifying ~ 14 with approximate coordinate values. When the second camera 30 is moved toward the designated approximate coordinate value, and an image of a mark is taken by the camera 30, the center of the mark is matched with the origin of the second camera to detect an accurate coordinate value. This operation is performed in accordance with the route specified in the first stage A, and after detecting the coordinate values of a plurality of marks, these marks are connected to each other by a straight line or an arc and converted into numerical information.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image pickup apparatus in which a whole image having a circular mark at a node between a straight line and an arc and a point on the arc or a center point of the arc is captured by a first image pickup tube having a coarse pixel-to-pixel distance. Further, the present invention relates to a method and an apparatus for detecting a mark and converting the figure into numerical information while partially capturing a figure with a second image pickup tube in which the distance between pixels is set densely.

[0002]

2. Description of the Related Art When cutting or drilling structural members in a structure such as a steel frame or a bridge, numerical control (N) is performed in spite of widespread use of computers.
The work according to C) is not entirely adopted, but based on a full-scale drawing and a full-size copying template (template) created for each part, a manual scoring, punching, and optical copying apparatus are used. Generally, a cutting process is performed.

[0003] The processing of cutting the above-mentioned structural members such as steel frames and bridges is often performed by an independent and specialized processor different from the manufacturer that manufactures structures such as steel frames and bridges. It is very difficult for manufacturers and processors to share a unified information system.

[0004] From the standpoint of a processor, an NC which has high processing accuracy and productivity and can increase the material yield by performing part nesting using a computer.
It is self-evident that the processing by is excellent. However, it is necessary to convert analog information as a template supplied from a manufacturer into NC processing information.

As means for converting a figure into numerical information,
Setting a template on a digitizer as a computer peripheral device, manually changing the processing points and lines into geometric data, and editing this data into NC information consisting of codes and formats that can be decoded by the NC device. Done in

[0006]

As described above, a template can be converted into NC information by using a digitizer. However, since the operation of this digitizer is performed manually, it is difficult to accurately point out the coordinate points, and it is not suitable for long-time professional work with significant mental and physical fatigue. There's a problem. Further, when processing a template having a size exceeding the work area of the dominant hand, there is a problem that the whole body is accompanied by walking and the operation becomes more difficult.

In view of the above problems, an object of the present invention is to convert analog information of a template into numerical information (digital information) in a short time, easily, accurately and without mental and physical fatigue. And to provide a device.

[0008]

According to the present invention, there is provided a method of converting a typical graphic into numerical information according to the present invention, wherein a plurality of photoelectric conversion elements are defined and arranged in an xy orthogonal coordinate system. A method of imaging a figure with two image pickup tubes and converting the figure into numerical information, in which a contour of the figure is divided into arcs and straight lines in advance, and each node and a point on the arc or a center point of the arc are circular. A mark is attached, the entire figure is imaged by a first image pickup tube having a wide image pickup area, contours and marks are displayed on a display, and marks in the displayed figure are sequentially designated and copied. The figure is imaged by a second image pickup tube having a predetermined origin, which has a preset origin, and which detects the center of a mark attached to the figure, and the second image pickup tube is moved relative to the figure. While moving to the XY rectangular coordinate system Detecting the mark according to the route,
The coordinate value of the detected mark in the XY orthogonal coordinate system is stored, the coordinate values of the mark attached to the figure are stored in order, and a plurality of marks are stored. The present invention is characterized in that each node is connected by a straight line or a circular arc based on a coordinate value and a character in a coordinate system.

According to the method of converting a graphic into numerical information (hereinafter simply referred to as a "conversion method"), a graphic can be converted into numerical information in a short time.

That is, the outline of the figure is divided into arcs and straight lines in advance, and circular marks are marked on the arcs and straight lines, the arcs and arcs, the nodes where the straight lines intersect, and the center points of the arcs or points on the arcs. In advance, this figure is arranged on a plane defined by an XY orthogonal coordinate system, and the entire figure is arranged with a plurality of photoelectric conversion elements, and a grid array direction of the elements is defined by an xy orthogonal coordinate system. By capturing an image with a first image pickup tube (hereinafter, referred to as a “first camera”) and displaying the image on a display, a contour line and a mark of a figure can be displayed.

Since the image area of the first camera is the whole figure, the distance between the pixels of the first camera becomes a large dimension. When the figure taken by the first camera is displayed on the display, all the outlines of the figure are displayed. Accuracy is not good. However, it is only necessary that the approximate position or direction of the mark can be displayed.

In designating a mark in a figure imaged by the first camera and displayed on a display and designating a route for imitating the figure, at the same time, the character of the mark (whether the mark is a node or a point on an arc) Or the center of the arc, etc.) can be input, and these routes and characteristics can be stored. Also, a plurality of types having different diameters or different colors are prepared according to the character of the mark and attached to the figure, and when the figure is imaged by the second image pickup tube, the actual diameter or color of the mark is detected. Then, the character of the mark can be determined.

As described above, in the case where the mark of the graphic displayed on the display is designated in order and the route to be followed is designated, the mark is designated on the display by using a position designating tool such as a keyboard or a mouse, so that the XY orthogonality is designated. The position of the mark in the coordinate system can be specified by the approximate coordinate value.

Further, by rotating the first camera so that the x-axis or the y-axis set for the camera coincides with the line connecting the mark to be reached next, the rotation angle and the starting point of the first camera at this time are determined. The route to follow the figure can be designated by the approximate coordinate value of the mark.

The route and the character of the mark designated as described above are stored, and a second image pickup tube (hereinafter, referred to as a "second camera") is opposed to a target figure, and the figure is set by the second camera. , The center of the mark is detected in accordance with the route while detecting an accurate coordinate value in the XY orthogonal coordinate system.

The second camera improves the mark detection accuracy by setting the imaging area narrow. For this reason,
There is no guarantee that the mark will always move with the view in mind. However, according to the route specified by the image captured by the first camera, X
By moving the second camera under the control of the coordinates in the -Y orthogonal coordinate system or the polar coordinates, the target mark can be put in the field of view. Therefore, the landmark of the target is
When the camera enters the field of view of the camera, the origin can be made to coincide with the target mark while appropriately correcting the moving direction of the camera.

When the optical axis of the second camera coincides with the target mark, the coordinate value of the camera is detected, so that the accurate coordinate value of the mark can be detected and stored. Accordingly, the second camera can detect the mark and store the coordinate value while moving along the route specified below. In addition, it is determined and stored whether the detected mark is a node on a contour line or a center point of a circular arc or a point on a circular arc, and when a plurality of landmarks are stored, the coordinate value and the character of these marks are stored. Each node can be connected by a straight line or a circular arc based on the coordinate values of the outline and the outline.

Therefore, it is possible to determine whether the path from a specific mark to another mark is a straight line or an arc, and to convert these straight lines and arcs into numerical information.

The apparatus for converting a typical figure into numerical information according to the present invention divides a contour line into a straight line and an arc, attaches a circular mark to each node, and sets the center of the arc or on the arc or other points. A figure with a circular mark on each of the processing points,
A first image pickup unit having a plurality of photoelectric conversion elements for picking up the whole image of the figure, a display for displaying the whole image of the figure taken by the first image pickup means, and a display displayed on the display Input means for designating a mark attached to the figure; storage means for storing the order of the marks input by the input means and the approximate coordinate values of the individual marks in the XY orthogonal coordinate system; A second imaging unit that has a plurality of photoelectric conversion elements defined and arranged in a rectangular coordinate system and that captures an image based on a preset resolution;
Moving means for relatively moving the graphic means and the figure, second imaging means rotating means for rotating the second imaging means about the origin of an xy orthogonal coordinate system set for the imaging means, The order of the marks stored in the storage means and the approximate coordinate values of the individual marks in the XY orthogonal coordinate system are read out, and x of the second image pickup means is directed toward the direction of the mark specified on the route. Controlling the second imaging means rotating means so as to make any axis of the y-coordinate system coincide, and controlling the moving means so that the second imaging means reaches a designated mark; When the imaging means reaches the designated mark, the center of the mark is detected, the coordinate value in the XY orthogonal coordinate system is calculated, the calculation result is stored, and the coordinate values of a plurality of marks are stored. Then, the coordinate value of the stored mark in the XY orthogonal coordinate system and the mark It is those composed of each node based on the personality and a control device connected with a straight line or arc.

According to an apparatus for converting the graphic into numerical information (hereinafter simply referred to as a "converter"), the graphic can be converted into apparatus information in a short time by executing the above-described conversion method.

That is, the contour line is previously divided into a straight line and an arc, and a figure having a mark at each node and a center point of the arc or a point on the arc is captured by the first camera and displayed on the display. By designating the route of the graphic displayed by (1) or specifying the route or the character of the route and the mark and storing the route in the storage unit, the moving unit and the second imaging unit rotating unit are driven to drive the second camera. The camera is moved in accordance with the stored route, and when the mark coincides with the origin of the second camera, the coordinate value in the XY orthogonal coordinate system is stored. Then, while moving the second camera toward the next mark, each mark is moved. By detecting and storing the coordinate values, the coordinate values of all the marks attached to the figure can be stored. Therefore, it is possible to call the coordinate values and the characteristics of the plurality of marks stored by the control device and connect the nodes by a straight line or an arc based on these.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a preferred embodiment of a conversion method will be described, and an embodiment of a conversion apparatus will be described with reference to the drawings. FIG. 1 is a flow chart for explaining a work flow in a processing factory employing the conversion method according to the present invention;
FIG. 2 is a perspective view showing the conversion apparatus according to the present embodiment, FIG. 3 is a view for explaining a figure with a mark, and FIG. 4 is a diagram showing a procedure for designating the order of the mark in the figure displayed on the display. 5 is a diagram illustrating an example of a procedure for obtaining an angle between two landmarks, FIG. 6 is a diagram illustrating a principle of detecting a circular landmark, FIG. 7 is a diagram illustrating a method of detecting a circle, FIG. 8 shows the second
FIG. 9 is a view for explaining an example of the operation route of the camera, and FIG. 9 is a diagram showing a guide route of the second camera when detecting a mark in the figure on a designated route.

First, a flow when the conversion method according to the present invention is applied to a production system in which a manufacturer of a steel structure, a bridge or the like and a processing factory for manufacturing these structural members belong to different business entities will be described. This will be schematically described with reference to FIG.

In the figure, a portion 1 surrounded by a dotted line indicates a work range performed by a manufacturer, and another portion indicates a work range performed at a processing factory. Here, 1a is a sketch of a part to be processed, and 1b is numerical data of the part which is outputted by numerals and symbols. Reference numeral 1c denotes a template (template) for setting an accurate shape and dimensions of a member to be manufactured and processing a template serving as a prototype for scoring and copying.

A portion 2 surrounded by a dashed line indicates the working range of the present invention, and indicates a schematic flow of the conversion method. That is, step 2a shows an operation of attaching the marks 12 to 14 to the nodes and points on the arc or the center point of the arc when converting the template into numerical data (see FIG. 3). In step 2b, the template is imaged by the first camera and displayed on a display, and the operator designates the markers 12 to 14 with an input device such as a mouse and / or a keyboard while monitoring the display, or the markers 12 to 14 Is specified, and at the same time, the character of each mark 12-14 is specified.

In step 2c, while the template is partially imaged by the second camera, the camera is moved in accordance with the route specified in step 2b, the markers 12 to 14 are detected, and the origin and the marker 12 of the second camera are detected. This is to detect the exact coordinate value by matching the centers of .about.14. Further, in step 2d, the coordinate values detected in step 2c and the character of the mark are arranged, and points,
The template is converted into numerical data that can be converted into NC information by editing as an arc or a straight line.

Step 3 is an input operation step of the NC program device. Numerical information picked up from the drawing is input for the sketch 1a, the numerical data is directly input for the numerical data 1b, and the template 1c is input. , Numerical data obtained by using the conversion device of the present invention is input. The numerical data input in step 3 is stored in storage step 4.

In the assembling step 5, the stored information of the template is combined in consideration of the material, plate thickness, delivery date, and the like, and sent to the NC program creating step 6, where the NC program is created. The NC program created as described above is actually used in the machining step 7 to machine a target part.

Hereinafter, the conversion method and the conversion apparatus according to the present invention will be specifically described. The conversion method according to the present invention,
As shown in FIG. 2, the template 10 marked with a node and a point on an arc or a center point of the arc is imaged by the first camera 20 having a wide imaging area (the actual distance corresponding to the distance between pixels is large). In a state where the image is displayed on the display 21a, the operator operates the input device such as the mouse 22a.
By designating the marks sequentially in accordance with 22 and specifying the copying route, the position of the designated mark is stored as the approximate coordinates including the resolution of the first camera 20 and the error caused by the mouse 22a, and the copying route is stored. While the template 10 is partially imaged by the second camera 30 in which the imaging area is narrowed based on the approximate coordinate values and the tracing route to improve the detection accuracy of the mark, the camera 30 detects the mark to be detected. After moving to the vicinity and the mark to be detected enters the field of view of the second camera, the center of the mark is detected from the image captured by the second camera regardless of the coordinate value specified based on the image of the first camera. Then, after detecting an accurate coordinate value and detecting an accurate coordinate value of each mark in accordance with the copying route, the template 10 is converted into numerical information based on the detected coordinate value.

Structural members constituting a steel structure, a bridge, and the like often have a shape consisting of only straight lines or a combination of arcs and straight lines. For this reason, in the present embodiment, the template 10
Is set as a shape as shown in FIG. 3 and the shape of the template 10 is converted into numerical information.

First, the contour line 11 of the template 10 is
a and an arc 11b. This is done in template 10
This is done by itself or with reference to the production drawings.
And a node between the straight line 11a and the straight line 11a, a straight line 11a and a circular arc 11b.
, A circular mark is marked on the arc 11b, the node of the arc 11b, the center point of the arc 11b or the arc 11b.

Marks attached to nodes and points on the arc or the center of the arc include those having the same diameter and color, those having different diameters, and those having different colors. When the same mark is used for both the diameter and the color, in the step (2b) in which the operator specifies the order of the marks, the specified mark is a node, a point on an arc, or a center point of the arc. It is essential to enter information as to whether In the case where a mark having a different diameter or color is used as a mark, the characteristics of the nodes, points on the arc, and the center point of the arc are determined in advance for each different diameter or color, and a mark detection step described later is performed. (2c) whether the mark detected by detecting the diameter or color simultaneously with the detection of the mark is a node or a point on an arc;
It is necessary to determine whether it is the center point of the arc.

In the present embodiment, a plurality of marks having different diameters are used, marks 12 (12a to 12l) are attached to the nodes of the contour line 11, and marks 13 (having different diameters from the marks 12 on the arc 11b). 13a to 13d) or a mark 14 (14a to 14) having a diameter different from the marks 12 and 13 at the center of the arc 11b.
Add c). Marks 15 (15a to 15e) having a diameter different from the marks 12 to 14 are attached to a processing portion to be processed by another tool, for example, a drill or the like.

The marks 13 and 14 may be placed on the arc or at the center of the arc. That is, when the template 10 is cut to the actual size, the center point of the arc does not exist, and is attached to the arc. When the template is drawn on paper, it is possible to mark both points on the arc and the center point of the arc.

The marks 12 to 14 are defined as nodes of the contour line 11 and an arc 11b.
When attached to the top or the center point of the arc 11b, it is possible to draw using a template, a compass and ink or black ink having a predetermined diameter, and a mark created by pasting a sticker having a predetermined diameter in advance. It is also possible to set it to 12-14. However, in order to detect the marks 12 to 14 in a stable state, it is preferable to use a seal.

FIG. 2 shows a conversion apparatus for converting a template 10 having marks 12 to 14 having diameters corresponding to the nodes and the points on the arc 11b or the center point of the arc 11b into numerical information as described above. It is a figure which shows typically.

In the figure, a conversion device includes a first stage A in which a first camera 20 captures an entire image of a template 10.
And a second stage B for partially imaging the template 10 with the second camera 30 and detecting accurate coordinate values of the marks 12 to 14. Each of the stages A and B
Are defined by a unified XY orthogonal coordinate system, and are connected by a belt conveyor 40 movably provided in the Y direction.

The template 10 is placed on the belt conveyor 40 and is moved from the first stage A to the second stage B along the Y direction.
Is transported a certain distance. As described above, the belt conveyor 40 transports the template 10 by a fixed distance, so that the first
It is possible to maintain consistency between the coordinate system of the stage and the coordinate system of the second stage.

The first stage A captures the whole image of the template 10 by the first camera 20 and displays it on the display 21a of the computer 21. The marks 12 to 14 displayed on the display 21a are used by the mouse 22a serving as the input device 22. Alternatively, the copying route of the template 10 by the second camera 30 in the second stage B is designated by sequentially designating with the keyboard 22b.

The first camera 20 is provided at a position sufficiently higher than the mounting surface of the belt conveyor 40 so that the template 10 can be imaged. That is, the support frame 23 is formed in a direction orthogonal to the transfer direction of the belt conveyor 40, and the first camera 20 is mounted on the bracket 24 mounted on the support frame 23. The first camera 20 is configured to be driven by a motor 25 to rotate about an axis perpendicular to the mounting surface of the belt conveyor 40, and to be configured to detect a rotation angle by the computer 21. .

Here, the first camera 20 and the second camera 30 will be described. These cameras 20 and 30 are configured by arranging a plurality of photoelectric conversion elements (for example, a CCD, hereinafter referred to as “pixels” for each photoelectric conversion element) in a matrix in each axis direction of an xy orthogonal coordinate system. I have. In this embodiment, commercially available CCD cameras are used as the first camera 20 and the second camera 30.

It is essential that the first camera 20 can capture the entire image of the template 10, and the resolution is
It is sufficient that the marks 12 to 14 attached to are visible. That is, the image of the template 10 imaged on the first stage and displayed on the display 21a does not need to have a clear outline 11, but may be any as long as the marks 12 to 14 can be confirmed.

The second camera 30 is a mark attached to the template.
Detect the center of 12-14, or detect the center and mark 12-14
This is to detect the diameter of. Therefore, the second camera 30
Is set to such an extent that the above function can be exhibited. In the present embodiment, the resolution of the second camera 30 is set to about 0.1 mm to 0.2 mm.

In the first stage A configured as described above, the entire image of the template 10 captured by the first camera 20 is displayed on the display 21a. Then, while the operator monitors the image on the display 21a and designates the marks 12 to 14 in order by using the mouse 22a, for example, in accordance with the route to follow the template 10, the marks 12 to
The 14 coordinate values in the XY orthogonal coordinate system are stored in the storage unit of the computer 21 in the designated order. The movement path of the second camera 30 in the second stage is controlled based on the stored route as described above.

When designating a copying route for the template 10, it is possible to designate individual marks 12 to 14 by coordinate values in an XY orthogonal coordinate system. Also the first camera
Since the motor 20 is configured to be rotatable around an axis perpendicular to the mounting surface of the belt conveyor 40 by the motor 25, it is also possible to specify the azimuth.

Next, while monitoring the display 21a,
The procedure for designating .about.14 in the XY orthogonal coordinate system and the procedure for designating it in the azimuth will be described with reference to FIGS. Although the entire image of the template 10 is displayed on the display 21a, a part of the image of the template 10 is schematically shown in FIG.

When the marks 12 to 14 are specified in the XY orthogonal coordinate system, as shown in FIG. 4A, the marks 12 to 14 (Pi for convenience) attached to the template 10 displayed on the display 21a. , Pj, Pk and indicated by black circles)
This is performed by designating the positions pi, pj, pk (indicated by white circles) by 22a. In this case, since the resolution of the first camera 20 is coarse, the positions pi, pj, and pk designated by the mouse 22a are replaced with the actual mark positions Pi, Pj, and Pk.
Often different. However, the specified positions pi, p
j, pk are the actual positions Pi, P in the second stage B.
There is no problem at all because it is controlled to match j and Pk.

When the landmarks 12 to 14 are designated by an azimuth as shown in FIG. 4B, an angle Φj between the line Pi connecting the position Pi and the position Pj with the X axis, and a line connecting the position Pj and the position Pk The measurement is performed by sequentially measuring and specifying the angle Φk with respect to the X axis, and storing the measured angle in the storage unit of the computer 21.

To measure the angle, the first camera 20 is rotated by driving the motor 25 while monitoring the display 21a, and the scanning direction of the first camera is changed in the x direction as shown in FIG. The first camera 20 is driven by the motor 25 so that the y-axis constituting an xy orthogonal coordinate system defined as a direction orthogonal to the scanning direction (digit direction) as the y direction is parallel to, for example, the vector PiPj. , The vector becomes a vector perpendicular to the scanning line on the display 21a, it is confirmed that the vector PiPj is parallel to the y-axis, and the vector azimuth is detected. Similarly, the vector Pi
It is also possible to detect the azimuth of the vector PiPj from the rotation angle of the first camera 20 when the image of Pj on the display 21a is made parallel to the scanning line. However, as described above, since the azimuth angle has a phase of 90 degrees depending on whether the image on the display 21a is vertical or horizontal, it is necessary to set either one beforehand.

As described above, the method of designating the route by designating the positions of the marks 12 to 14 attached to the template 10 in the first stage A can be performed in the XY orthogonal coordinate system or the azimuth. is there. Therefore, the drawings described as (A) in the following description show the case in the XY rectangular coordinate system,
The drawing described as (B) shows the case according to the direction.

In the first stage A, as described above, the entire image of the template 10 is captured and displayed on the display 21a. By monitoring this image, the positions of the marks 12 to 14 are designated in order. It is possible to specify a copying route and store it in the storage unit of the computer 21.

In the first stage A, the template
Prior to specifying the copying route by specifying the markers 12 to 14 attached to 10, the starting point 16 of the copying outside the template 10
Is preferably designated as a starting point when the markers 12 to 14 are detected in the second stage B. This starting point
The position of 16 is not particularly limited, and may be, for example, the home position of the second camera 30 on the second stage B, or the position corresponding to the widthwise end of the belt conveyor 40, and the like. Any position on the mounting surface of the belt conveyor 40 may be used.

The second stage B moves in accordance with the designated copying route while partially imaging the template 10 by the second camera 30. In this movement process, the markers 12 to 14 are detected and converted to the XY orthogonal coordinate system. This is to detect the exact coordinate value at the time.

In the second stage B, as shown in FIG.
A pair of traveling rails 31 are installed along the Y axis that constitutes an XY orthogonal coordinate system defined on the stage B, and a cross beam is provided in a direction perpendicular to the traveling rail 31 (X-axis direction).
32 are arranged. The cross beam 32 is configured to be driven by a traveling motor 32a and travel on the traveling rail 31.

The cross beam 32 is provided with a traversing rail 32b along the X-axis.
Is mounted. The carriage 33 is configured to be driven by a driving member 33b such as a ball screw driven by a traversing motor 33a. The second camera 30 mounted on the carriage 33 is configured to be rotated by a motor 34 about an axis perpendicular to the mounting surface of the belt conveyor 40.

Each of the motors 32a, 33a and 34 is constituted by a servomotor equipped with a rotary encoder for detecting a rotation angle, and the position of the second camera 30 is determined by a pulse signal generated from the rotary encoder of each of the motors 32a and 33a. Is transmitted to the control device 35 to be calculated every moment. Further, the image signal of the second camera 30 is also transmitted to the control device 35, and a mark is formed on the device 35 by a method described later.
In addition to detecting the diameter and center of 12 to 14, it is determined whether the detected mark is a mark 12 of a node, a mark 13 of a point on an arc, or a mark 14 of a center point of an arc. It is configured to be able to store coordinate values in a -Y orthogonal coordinate system.

Next, the procedure for detecting the marks 12 to 14 in the second stage B configured as described above will be described with reference to FIGS.

The template 10 whose whole image has been captured by the first camera 20 at the first stage A is displayed on the display 21a.
After the copy route is specified and displayed on the belt conveyor
It is transferred to the second stage B by 40. At this time, it is possible to make the origins of both stages A and B coincide by making the transfer amount by the belt conveyor 40 constant. A non-contact type sensor such as a photoelectric tube or a contact type sensor such as a microswitch is arranged on a frame constituting the first stage A and a frame constituting the second stage B, and the belt conveyor 40 is provided by these sensors.
By detecting and stopping the start point set in advance, it is possible to maintain the consistency of the coordinate systems of the two stages A and B.

When the template 10 is transferred to the second stage B, the second camera 30 has been retracted to the home position. That is, the cross beam 32 is located on the first stage A side of the traveling rail 31, and the carriage 33 is located on the left traveling rail 31 side.

The second camera in the retracted position as described above
The movement of the template 30 is controlled according to the copying route for the template 10 set in the first stage A. That is, in the first stage A, the copying route of the template 10 is the starting point.
Starting from 16, mark 12a to mark 12b, 13a, 12c, 12
When designated in the order of d, the positions of these marks are designated by approximate coordinate values in the XY orthogonal coordinate system according to the resolution of the first camera 20.

First, the image of the belt conveyor 40 taken by the second camera 30 is displayed on the display 21a, and the operator manually operates the driving motor 32a and the traversing motor 33a while monitoring the image on the display 21a. 2 The camera 30 is moved to a position where the start point 16 can be imaged.

As described above, the operator operates the display
The second camera 30 is moved to a position where the start point 16 can be imaged while monitoring 21a, and then the operation mode is switched to the automatic operation mode. Mark on template 10 as
The operations such as the detection of 12 to 14 and the determination of the character can be automatically performed according to a program written in the control device 35.

Here, the principle of detecting the start point 16 and the center point P of the marks 12 to 14 (representatively, the center point P of the mark 12a) by the second camera 30 will be described with reference to FIGS. (The procedure for detecting a circular mark and specifying the center point is the same as the method described in Japanese Patent Application No. 5-273493 (Japanese Patent Application Laid-Open No. 7-129743) filed by the present applicant.

The second camera 30 is configured to be rotatable about a preset point as a center (rotation center). The rotation center coincides with the optical axis of the second camera 30 and the second camera 30
The origin o of the xy orthogonal coordinate system defined for the pixel array arranged in the following manner (hereinafter referred to as “origin o” representing the rotation center, optical axis, and origin of the second camera 30). Accordingly, a straight line connecting the origin o and the center point P of the mark 12a is defined as 51, and this straight line
When straight lines 52 and 53 that are symmetrical with respect to 51 and intersect with the mark 12a are set, the points where the straight lines 52 and 53 intersect with the circumference of the mark 12a are set to
a, 52b, 53a, 53b, strings 52a52b, strings 53a53
b are equal in length and parallel to each other.

That is, when the parallel lines 52 and 53 symmetrical and equidistant from the origin o intersect at the mark 12a at the points 52a, 52b, 53a and 53b, and the strings 52a52b and 53a53b are equal, the origin o
And the line 51 parallel to the lines 52 and 53 passes through the center point P of the mark 12a.

Therefore, as shown in FIG.
Mark the x-axis or y-axis (x-axis in the figure) from the pixels of
Pixel column 3 at a distance less than the radius of 12 to 14 and at a symmetric position
When 6 and 37 are selected and the mark 12a is captured, this mark 1
The traveling motor 32a and the traversing motor 33a are controlled so as to bring the 2a closer to the x-axis, and as shown in FIG.
The pixels 36a and 37a between the circumferences of the mark 12a are counted, and when they match, or when the count value of each pixel 36a and 37a is within a preset allowable range, the center point P of the mark 12a is counted.
Are recognized as being on the x-axis.

Further, the traveling motor 32a and the traversing motor 33a
When the center point P of the mark 12a coincides with the origin o of the second camera 30, a signal is generated to control the coordinate value of the second camera 30 at this time, as shown in FIG. By storing it in the storage unit of the device 35, it is possible to detect an accurate coordinate value even though the approximate coordinate value is specified in the first stage A.

When it is detected that the origin o coincides with the center point P, the marks 12 to 14 are determined in advance in accordance with the diameters of the marks 12 to 14.
The number of pixels (the number of 36a and 37a) of the pixel rows 36 and 37 when the center point P of 14 coincides with the origin o of the second camera 30 is set, and detection is performed in the images of the marks 12 to 14. When the number of pixels coincides with the set value, it is determined that the center point P of the marks 12 to 14 coincides with the origin o, and an accurate coordinate value is detected, and the detected mark 12a is a nodal mark 12 or an arc mark. It is possible to determine whether the mark 13 is the mark 13 or the mark 14 at the center of the arc.

Accordingly, the drive motor 32a and the traverse motor 33a are driven by the drive signal from the computer 21,
When the second camera 30 is moved toward the coordinate position where the mark 12a is present, the second camera 30 captures an image of a partial area corresponding to the resolution on the mounting surface of the belt conveyor 40 and sends an image to the control device 35. When the mark 12a is imaged by the camera 30, the coordinate value of the center point P of the mark 12a imaged as described above is stored and the character is stored, and then the second camera 30 is moved to the next position. The travel motor 32a and the traverse motor 33a are controlled so as to move toward the mark 12b to be reached.

The procedure for detecting the next designated mark 12b (position Pj) starting from the mark 12a (position Pi) will be described with reference to FIG.

First, the detection procedure when the scanning path is specified in the XY orthogonal coordinate system will be described with reference to FIGS. 8 (1A) to 8 (4A). In the figure, a position Pi is a position (for example, a mark 12a) where an image is captured by the second camera 30 and the center point P is detected, and is accurate in the XY orthogonal coordinate system according to the resolution of the second camera 30. Are detected, and the coordinate values are stored in the temporary storage unit of the control device 35.

The position Pj to be detected next by the second camera 30
The approximate coordinate value (position pj specified in the first stage A) of the (marker 12b) is read, and the traveling motor 32a and the traverse motor 33a are driven based on the coordinate values. Therefore, when the mark 12b is not imaged, the second camera 30 moves toward the designated position pj.

FIG. 1A shows a method of guiding the y-axis (digit direction) of the second camera 30 along the vector Pipj. In order to widen the search range at the time of guidance, the path Pipj is used.
The figure shows that the y-axis is swung right and left (the second camera 30 is reciprocated about the origin o). Qj in the figure
The point indicates the position where the mark 12b enters the field of view in the process of guiding the second camera 30, and from this point Qj, the guidance course is defined as Pipj.
Is changed to QjPj, and the position Pj is detected. Therefore, the path from the position Pi to the position Pj is synthesized by PiQj + QjPj.

FIG. 2A shows that the y-axis of the second camera 30 is guided toward the vector Pipj, and the mark 12b enters the visual field.
When the mark 12b coincides with the x-axis at the point Rj,
The method of detecting the position Pj by PiRj + RjPj by changing the guiding route at j will be described. The figure (3A) is the second
A method of guiding the camera 30 in a state where the x-axis and the y-axis of the camera 30 are fixed so as to be coincident with the X-axis and the Y-axis of the second stage B is shown. After entering, when the mark 12b coincides with the x-axis at the point Rj, the point Rj
To change the guidance course and use PiRj + RjPj to move to position P.
j is detected. Further, FIG. 4A shows a method of guiding the x-axis and y-axis of the second camera 30 with a phase difference of 90 degrees with respect to the x-axis and y-axis of the second stage B. After 12b enters the field of view, the mark 12b becomes x at the point Rj.
When coincident with the axis, the guidance course is changed at the point Rj and Pi is changed.
The position Pj is detected by Rj + RjPj.

FIGS. (1B) to (4B) show the guidance system when the copying route is designated by the direction. That is, a rotation angle Φi from the current position Pi to the designated position pj corresponding to the mark 12b to be detected next is designated, and the motor 34 is driven based on the rotation angle Φi, and at the same time, the traveling motors 32a, The traversing motor 33a is driven. And the second
When the mark 12b enters the field of view of the camera 30, it is guided in the same manner as above.

The mark 12b imaged by the second camera 30 guided as described above is controlled by detecting the center point Pj and detecting the exact coordinate value in the same manner as in the case of the mark 12a described above. The information is stored in the temporary storage unit of the device 35, and at the same time, the character of the mark 12b is determined based on the diameter of the mark 12b.

As described above, when comparing the case where the route from the mark 12a to the mark 12b is designated by the XY orthogonal coordinate system and the case where the route is designated by the azimuth, the coordinate value Pi (Xi, Y
i), the coordinate value Pj (Xj, Yj) of the mark 12b, and the angle between them is Tan ^-1 {(Yj-Yi) / (Xj-Xi)}, which is equal to Φi. Therefore, the route is X-
There is no substantial difference between designation in the Y orthogonal coordinate system and designation in the azimuth.

Next, a procedure for sequentially detecting the marks 12l to 12n and 13o on the route designated by the guidance system shown in FIGS. 8A and 8B will be described with reference to FIG. Incidentally, in the first stage A, the routes are designated so as to be in the order of the marks 12l, 13o, 12m, 12n. Also in the figure,
Pl to Po indicate the positions of the center points of the marks 12l to 12n and 13o, and pl to po indicate the positions of the marks 12l to 12n and 13o specified in the first stage A. Also Ql ~
Qo indicates a conversion point guided in a direction from the direction toward the designated position by the second camera 30 to the center point of the mark captured.

Therefore, the conversion points Ql to Qo and the positions Pl to P
The line 38 connecting o indicates the trajectory of the second camera 30, and the line 26 connecting the designated positions pl to po is used to designate the marks 12l to 12n and 13o on the display 21a in the first stage A. Of the mouse 22a.

In FIG. 9A, the second camera 30 detects the mark 12l at present, and the origin o of the camera 30 coincides with the center point Pl of the mark 12l. The correct coordinate value of the center point Pl in the system is detected and the detected coordinate value is stored in the storage unit of the control device 35, and it is determined that the detected mark is the node mark 12l and stored in the storage unit. Let it.

Next, based on the route specified in advance,
The coordinate value of the designated position po of the mark 13o to be detected next by the second camera 30 is read, and the traveling motor 32a and the traverse motor 33 are driven in accordance with the coordinate value. As a result, the second camera 30 moves from the position Pl toward the designated position po, and follows the line segment PlQo in the figure.

A mark 13o enters the field of view of the camera 30 with the movement of the second camera 30, and when the mark 13o is picked up, the image signal is monitored by the controller 35. And the motor
By driving the second camera 30 to rotate the second camera 30 to determine the center of the circle described above,
Is aligned with the position Po of the center point of the mark 13o, and the traveling motor 32a and the traverse motor 33 are maintained such that the position Po coincides with the origin o of the second camera 30.
a is driven to guide the second camera 30. As a result, the second
The camera 30 changes in the direction from the position Qo toward the mark 13o (position Po), and follows the line segment QoPo in the figure.

When the origin o of the second camera 30 coincides with the position Po of the center point of the mark 13o, the coordinate value of the position Po is detected by detecting the coordinate value of the position of the camera 30. The value is stored in the storage unit of the control device 35. At the same time, the diameter of the mark 13o is measured to determine that the mark is a mark 13 attached to a point on an arc, and stored in the storage unit of the control device 35.

In the same manner, the markers 12m and 12n are similarly detected and the coordinate values are stored, and the respective markers 12m and 12n are determined and stored as nodes, and the template 10 is rotated around the designated route in accordance with the designated route. By doing so, the coordinate values of the mark 12 of the node, the mark 13 of the point on the arc, the mark 14 of the center point of the arc,
It is possible to memorize the character of each landmark 12-14.

FIG. 9 (B) shows a mark 12l to a mark 13o and a mark.
This shows a procedure for detecting each of the marks 12l to 12n and 13o when the direction of the route from 13o to the mark 12m and the direction from the mark 12m to the mark 12n are specified in the respective directions.

In the figure, when the current position of the second camera 30 is at the position Pl, when detecting the mark 13o, the rotation angle Φo is designated, and the motor 34 is determined based on the designated angle.
Is driven to rotate the second camera by an angle Φo. As a result, the x-axis (y-axis) of the xy orthogonal coordinate system defined for the second camera 30 is changed to the X-axis defined for the second stage B.
Rotate an angle Φo with respect to the Y orthogonal coordinate system. Thereafter, the traveling motor 32a and the traversing motor 33a are driven, and the second camera
30 moves in the direction of the angle φo with respect to the second stage B. In the moving process, the second camera 30 is driven by the motor 34, and can reciprocate in a predetermined angle range around the origin o (rotation center, optical axis) to expand the search range.

When the mark 13o enters the visual field of the second camera 30 with the movement of the second camera 30 and the image pickup is started, the image signal is monitored by the control device 35 and the second camera 30 reaches the point Ro. At this time, by driving the motor 34 and rotating the second camera 30 to determine the center of the circle described above, the x-axis (y-axis) of the camera 30 is moved to the position Po of the center point of the mark 13o. And maintain this state to maintain the position Po.
And the traveling motor so that the origin o of the second camera 30 matches
The second camera 30 is guided by driving the traverse motor 33a and the traverse motor 33a. As a result, the second camera 30 moves from the position Ro to the mark 13o.
(Position Po), the line segment R in the figure changes.
Follow oPo.

When the origin o of the second camera 30 coincides with the position Po of the center point of the mark 13o, the coordinate value of the position Po is detected by detecting the coordinate value of the position of the camera 30, and the detected coordinates The value is stored in the storage unit of the control device 35. At the same time, the diameter of the mark 13o is measured to determine that the mark is a mark 13 attached to a point on an arc, and stored in the storage unit of the control device 35.

In the same manner, the markers 12m and 12n are similarly detected and their coordinate values are stored, while the markers 12m and 12n are determined and stored as nodes, and the template 10 is rotated around the template 10 according to the designated route. By doing so, the coordinate values of the mark 12 of the node, the mark 13 of the point on the arc, the mark 14 of the center point of the arc,
It is possible to memorize the character of each landmark 12-14.

After detecting all or a predetermined number of the marks 12 to 14 attached to the template 10 as described above, the control unit 35 sets the straight line 11a and the arc 11 written in the storage unit in advance.
A program for creating numerical data by connecting b is executed.

When the landmarks 15a to 15e are detected,
The coordinate values of the respective marks 15a to 15e are stored, and the fact that these marks are other processing points is stored.

[0092]

As described above in detail, in the method for converting a graphic into numerical information according to the present invention, after marking nodes on the graphic and points on the circular arc or the center point of the circular arc, the graphic is first converted to numerical information. An image is taken by the first camera having a wide imaging range, a mark is designated by this image, a route is designated, and then a figure is partially imaged while moving along the route designated by the second camera for detecting the center of the mark. Then, by detecting the center of the mark, an accurate coordinate value according to the resolution of the second camera can be obtained. Then, after obtaining the coordinate values of a plurality of landmarks, by connecting these landmarks to each other with a straight line or a straight line and an arc,
Figures can be converted to numerical information.

In the apparatus for converting a graphic into numerical information according to the present invention, the graphic can be converted into numerical information by rationally performing the above conversion method.

[Brief description of the drawings]

FIG. 1 is a flowchart illustrating a work flow in a processing factory that employs a conversion method according to the present invention.

FIG. 2 is a perspective view illustrating a conversion device according to the present embodiment.

FIG. 3 is a diagram illustrating a figure with a mark.

FIG. 4 is a diagram showing a procedure for designating the order of the marks in the graphic displayed on the display.

FIG. 5 is a diagram illustrating an example of a procedure for obtaining an angle between two landmarks.

FIG. 6 is a diagram illustrating the principle of detecting a circular mark.

FIG. 7 is a diagram illustrating a method for detecting a circle.

FIG. 8 is a diagram illustrating an example of an operation route of a second camera.

FIG. 9 is a diagram showing a guidance route of a second camera when detecting a mark in a graphic on a designated route.

[Explanation of symbols]

 A 1st stage B 2nd stage 10 Template 11a Straight line 11b Arc 12 Mark of node 13 Mark of point on arc 14 Mark of center of arc 15 Mark of other machining points 16 Start point 20 First camera 21 Computer 21a Display 22 input device 22a mouse 22b keyboard 24 bracket 25 motor 30 second camera 31 running rail 32 cross beam 32a running motor 32b traversing rail 33 carriage 33a traversing motor 34 motor 40 belt conveyor 51-53 straight line 52a, 52b, 53a, 53b straight line Point where circles intersect

Claims (9)

[Claims] 1. A method of imaging a figure by two image pickup tubes in which a plurality of photoelectric conversion elements are defined and arranged in an xy orthogonal coordinate system and converting the figure into numerical information, wherein a contour line of the figure is previously formed into an arc. Each of the nodes and points on the circular arc or the center point of the circular arc is marked with a circular mark, and the entire figure is imaged by a first image pickup tube having a wide image pickup area, and the outline is drawn. And displaying the mark on the display, designating the mark in the displayed figure in order to specify a route to be followed, and then detecting the center of the mark having a preset origin and attached to the figure. The figure is imaged by a second image pickup tube, and the second image pickup tube is moved in X-Y relative to the figure.
While moving to the rectangular coordinate system, a mark is detected in accordance with the designated route, the coordinate value of the detected mark in the XY rectangular coordinate system is stored, and the coordinate value of the mark attached to the figure is stored in the following order. After storing a plurality of landmarks, the X-
A method of converting a graphic into numerical information characterized by connecting each node with a straight line or an arc based on a coordinate value and a character in a Y orthogonal coordinate system. 2. The method according to claim 1, wherein the character of each mark is designated when designating a route to be followed by the mark in the figure displayed on the display. Method. 3. A circular mark having a different diameter or a different color is provided in correspondence with a node in a contour line of a figure and a point on an arc or a center point of the arc, and a second image pickup tube is provided. 2. The method according to claim 1, wherein when the landmark is imaged, the character or characteristics of the landmark is determined by determining the diameter or color of the landmark that has been imaged. 4. The method according to claim 1, wherein, when designating a mark in the graphic displayed on the display in order and designating a route to be followed, the mark is designated by an approximate coordinate value in an XY orthogonal coordinate system. A method of converting the graphic according to any one of claims 1 to 3 into numerical information. 5. The method according to claim 1, wherein, when designating a route in the figure displayed on the display in order and designating a route to be followed, a next mark to be reached on the route is designated by an azimuth. A method of converting a graphic described in any one of the above items into numerical information. 6. A figure in which a contour is divided into a straight line and a circular arc, each node is marked with a circular mark, and a center point of the circular arc or a circle marked on the circular arc or another processing point is a plurality of figures. A first imaging unit having a photoelectric conversion element for imaging the entire image of the figure, a display for displaying the entire image of the figure imaged by the first imaging unit, and a graphic displayed on the display. Input means for designating the attached mark; storage means for storing the order of the marks input by the input means and the approximate coordinate values of the individual marks in the XY orthogonal coordinate system; and xy orthogonal coordinates. A second imaging unit that has a plurality of photoelectric conversion elements defined and arranged in a system and captures a graphic based on a preset resolution; and a movement that relatively moves the graphic with the second imaging unit. Means and the second imaging means. A second imaging means rotating means for rotating about an origin of an xy orthogonal coordinate system set in the image means, and an order of marks stored in the storage means and an XY rectangular coordinate system of each mark. The second image pickup means rotating means so as to match any axis of the xy orthogonal coordinate system of the second image pickup means toward the direction of the mark designated on the route. Controlling the moving means so that the second image pickup means reaches the designated mark, and detecting the center of the mark when the second image pickup means reaches the designated mark. After calculating the coordinate values in the rectangular coordinate system and storing the calculation result, storing the coordinate values of the plurality of marks, and then based on the coordinate values of the stored marks in the XY rectangular coordinate system and the character of the mark. And a control device that connects each node with a straight line or an arc. Apparatus for converting a graphic and wherein the numerical information. 7. The input means designates a mark attached to a figure displayed on a display and designates the character of the mark, and the storage means stores the character of each designated mark. 7. An apparatus for converting a graphic according to claim 6 into numerical information. 8. The control device according to claim 1, wherein the control device stores in advance the diameter or color of a circular mark to be attached to each of the nodes in the outline of the figure and the points on the arc or the center of the arc. 7. The apparatus according to claim 6, wherein when a mark is imaged by a tube, the character or the mark is determined by determining the diameter or color of the mark. 9. A first image pickup means rotating means for rotating the first image pickup means, and when a mark in a figure displayed on a display is designated in order and a route to be followed is designated, the first image pickup means rotation means is provided. The rotation of the imaging unit is controlled by controlling the rotation unit so that the mark to be reached next coincides with any axis of the xy orthogonal coordinate system of the first imaging unit, and the rotation angle is stored. 9. An apparatus for converting a figure into numerical information according to claim 6, wherein said apparatus controls a second image pickup means rotating means.