Display method of display control device and display control device

Abstract

The invention provides a display method of a display control device and the display control device. The display method of the display control device comprises the steps of statically displaying a first shape line on a display and dynamically displaying a second shape line on the display. The display method further includes highlighting at least a portion of a region of the first shape line in contact with the second shape line when the dynamically displayed second shape line is in contact with the first shape line, or highlighting at least a portion of a region of the first shape line in contact with the second shape line when the dynamically displayed second shape line is in an overlapping state with the first shape line. At least a part of a region of the first shape line that overlaps the second shape line is highlighted.

Description

Technical Field

[0001] The present invention relates to a display method of a display control device and a display control device. Background Art

[0002] Currently, as for CAD systems, the technology disclosed in Japanese Patent Application Laid-Open No. 10-11474 is known. In the CAD system disclosed in this publication, a component interference check tool is used to perform component interference check.

[0003] In this method, the group setting tool sets the top view, front view, and side view as a group for each component, and defines the component number and component name, which are stored in the graphic database. The quadrant splitting tool defines the dividing lines used to divide the quadrants and displays the dividing lines on the display. The component interference checking tool identifies each element of the graphic database according to the group setting and for each component and each quadrant, and calculates the intersection between the elements of two components. Moreover, the component interference checking tool determines whether there is interference between components based on the intersection points. As a result, if there is interference between components, the corresponding part is highlighted. This highlighting can clearly indicate the interference between components to the operator. Summary of the Invention

[0004] Problems to be solved by the invention

[0005] While the aforementioned publication performs interference checking between components, this method is based on top, front, and side views of static components. Therefore, the method in the aforementioned publication is not suitable for situations where dynamic changes occur on a display, such as when at least one of a shape line representing an object's outline and another shape line moves or changes shape.

[0006] An object of the present invention is to provide a display method and a display control device capable of clearly notifying an operator when a dynamically displayed second shape line comes into contact with or overlaps with a statically displayed first shape line.

[0007] Solutions to Problems

[0008] To address the aforementioned issues, the present invention provides a display method for a display control device equipped with a display, comprising statically displaying a first shape line on the display and dynamically displaying a second shape line on the display. The display method further comprises: when the dynamically displayed second shape line comes into contact with the first shape line, highlighting at least a portion of the area of ​​the first shape line that comes into contact with the second shape line; or, when the dynamically displayed second shape line overlaps with the first shape line, highlighting at least a portion of the area of ​​the first shape line that overlaps with the second shape line.

[0009] Here, highlighting refers to emphasizing. Emphasizing includes changing color, line thickness, brightness, and line type. When changing color, it is preferable to change to a brighter color than before the change. When changing line thickness, it is preferable to change to a thicker color than before the change. When changing brightness, it is preferable to increase the brightness compared to before the change.

[0010] Lines displayed on a display include straight lines and curved lines. In addition, lines displayed on a display include lines formed by arranging points in a linear shape.

[0011] Shape lines include lines used in shape expression and a group of lines that express all or part of the shape of an object. Lines used in shape expression include straight lines, dotted lines, dashed lines, and curved lines.

[0012] Furthermore, to solve the above-mentioned problem, the display control device of the present invention includes a display and a display control unit configured to statically display a first shape line and dynamically display a second shape line on the display. The display control unit is configured to highlight at least a portion of the area of ​​the first shape line that contacts the second shape line when the dynamically displayed second shape line contacts the first shape line, or to highlight at least a portion of the area of ​​the first shape line that overlaps the second shape line when the dynamically displayed second shape line overlaps the first shape line. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a diagram showing the outline of the image teaching system according to the first embodiment.

[0014] Figure 2 yes Figure 1 This figure illustrates the steps of the image teaching method of the image teaching system.

[0015] Figure 3A Is displayed in Figure 1 This figure illustrates the operation panel on the monitor screen of the image teaching system.

[0016] Figure 3B Is displayed in Figure 1 This figure shows the highlighted setting menu on the monitor screen of the video teaching system.

[0017] Figure 4A This diagram explains two-point teaching in the automatic change point teaching mode.

[0018] Figure 4B This diagram explains three-point teaching in the automatic change point teaching mode.

[0019] Figure 5A This diagram explains two-point teaching in the changing point direct teaching mode.

[0020] Figure 5B This diagram explains three-point teaching in the changing point direct teaching mode.

[0021] Figure 6 The workpiece contour and grinding wheel contour are displayed on Figure 1 This figure shows the case where the shared screen of the monitor of the image teaching system is displayed.

[0022] Figure 7A is Figure 1 Illustration showing the highlighted display on the monitor of the image teaching system when the grinding wheel contour line and the workpiece contour line touch at one point.

[0023] Figure 7B is Figure 1 Illustration of the highlighted display on the monitor of the image teaching system when the grinding wheel contour line and the workpiece contour line are in contact at two points.

[0024] Figure 8 Is displayed in Figure 1 Illustration of the "target line" operation button on the image teaching system's display.

[0025] Figure 9A is Figure 1 This figure illustrates the display of a target line on the workpiece contour on the monitor of the image teaching system.

[0026] Figure 9B is Figure 1 On the monitor of the image teaching system Figure 9A Illustration showing the same workpiece contour line but without the target line.

[0027] Figure 10 This is a diagram showing the outline of the image teaching system according to the second embodiment.

[0028] Figure 11A is Figure 10 An illustration showing the workpiece edge line (second shape line) and the reference line (first shape line) displayed on the monitor of the image teaching system.

[0029] Figure 11B is Figure 10 An illustration showing the workpiece edge line (second shape line) and the reference line (first shape line) displayed on the monitor of the image teaching system.

[0030] Figure 12A This is an explanatory diagram showing a state where a workpiece edge line (second shape line) and a workpiece contour line (first shape line) overlap.

[0031] Figure 12B This is an explanatory diagram showing a state where a workpiece edge line (second shape line) and a workpiece contour line (first shape line) overlap.

[0032] Figure 13A This diagram explains contact detection between the grinding wheel contour and the workpiece contour.

[0033] Figure 13B This diagram explains contact detection between the grinding wheel contour and the workpiece contour.

[0034] Figure 13C This diagram explains contact detection between the grinding wheel contour and the workpiece contour.

[0035] Figure 13D This diagram explains contact detection between the grinding wheel contour and the workpiece contour.

[0036] Figure 14A This is an illustration of the workpiece edge line before processing.

[0037] Figure 14B This is an illustration of the edge line of the workpiece after processing.

[0038] Figure 14C yes Figure 14A The edge line of the workpiece before processing and Figure 14B Illustration of the difference in the edge line of the workpiece after processing.

[0039] Figure 14D yes Figure 14C An illustration of the new shape line in the difference.

[0040] Figure 14E yes Figure 14D Illustration of the overlap detection between the new shape line and the workpiece contour line. DETAILED DESCRIPTION

[0041] (First embodiment)

[0042] Below, refer to Figures 1 to 9B and Figures 13A to 13D A first embodiment in which the display control device of the present invention is embodied as an image teaching system 10 will be described.

[0043] This embodiment is merely an example, and the display control device of the present invention is not limited to being included in the image teaching system 10 (hereinafter simply referred to as the system 10). For example, if a CAD system or the like includes a display control device that displays images on a display, the display control device of the present invention can also be applied to other systems.

[0044] (1. System Overview)

[0045] like Figure 1As shown, the system 10 includes an image teaching processing device 12, a display 14, a control panel 16 as an input device, a mouse 18, an X-axis operating device 20, and a Y-axis operating device 22. The image teaching processing device 12 is communicatively connected to an NC device 33. The image teaching processing device 12 corresponds to a display control device.

[0046] (2. Image Teaching Processing Device 12)

[0047] The image teaching processing device 12 is composed of a computer, and has a CPU (central processing unit) 24 and a storage unit 26 having a ROM (read-only memory), a RAM (random access memory) and a hard disk. The control program of the system 10 is stored in the storage unit 26. The control program is read when the system 10 is executed. RAM is a working memory. On the hard disk, shape drawing data of a plurality of workpieces and grinding wheel contour line image data are stored in a writable and readable manner. The shape drawing data of the workpiece is data of the workpiece ground by the disc-shaped grinding wheel possessed by the NC device 33. The shape drawing data of the workpiece is stored in, for example, a file in a DXF format that can be read and written by CAD software. In addition, the shape drawing data of the workpiece is not limited to files in the DXF format, and can also be other file formats. In addition, in the present embodiment, the shape drawing data of the workpiece is formed in the DXF format.

[0048] Alternatively, the workpiece shape drawing data may be data generated from a template. The shape drawing data generated from the template includes shape data for a combination of pre-set shapes such as lines, circles, arcs, quadrilaterals, and triangles, or individual shape data. The shape drawing data generated from the template is created by selecting and drawing a shape such as a straight line or circle on the screen 15 of the display 14 using a template selection button (not shown). The created shape drawing data is stored in an image memory formed of RAM. The CPU 24 draws the workpiece contour line B based on the shape drawing data generated from the template stored in the image memory.

[0049] The workpiece shape outline displayed on screen 15 of display 14 based on the workpiece shape drawing data includes shape change points, namely, change points between straight lines, change points between straight lines and circular arcs, or change points between circular arcs. The straight lines and circular arcs that form these change points are the "elements" that form the workpiece shape outline. Furthermore, circular arcs are equivalent to curves. The workpiece shape outline is sometimes referred to as a workpiece outline or a DXF line. In this embodiment, the workpiece outline corresponds to the first shape line.

[0050] The grinding wheel contour image data is the shape data of the grinding wheel. The grinding wheel shape data is obtained by extracting its contour from an image of the grinding marks of a virtual workpiece after grinding by the grinding wheel through image processing such as edge detection. In addition, the contour of the grinding wheel contour image is sometimes simply referred to as the grinding wheel contour. In this embodiment, the grinding wheel contour is equivalent to the second shape line. Figure 1 As shown, the CPU 24 functions as a display control unit 28 , a detection unit 30 , and a trajectory generation unit 32 by executing a control program of the system 10 , and performs various processing operations.

[0051] (3. Input device)

[0052] The control panel 16 is an input device for inputting numerical values ​​and text to the CPU 24. The mouse 18 is an input device for moving a mouse pointer (not shown) on the screen 15. The following description assumes that various operations and teaching are performed by touch operation. However, after the mouse pointer (not shown) is aligned with various buttons by operating the mouse 18, teaching and various input operations can also be performed by tapping.

[0053] The X-axis operation device 20 includes a manual handle 20a and an encoder 20b. When the manual handle 20a is operated, the encoder 20b outputs an operation signal corresponding to the operation to the CPU 24 of the image teaching processing device 12. The display control unit 28 adjusts the grinding wheel contour line A (see FIG. 1 ) displayed in the image operation area 15a of the screen 15 based on the operation signal. Figure 6 )along Figure 1 The X-axis direction of the mechanical coordinate system shown is moved. Note that the mechanical coordinate system is the mechanical coordinate system of the NC device 33.

[0054] The Y-axis operation device 22 includes a manual handle 22a and an encoder 22b. When the manual handle 22a is operated, the encoder 22b outputs an operation signal corresponding to the operation to the CPU 24 of the image teaching processing device 12. The display control unit 28 adjusts the grinding wheel contour line A (see FIG. 1 ) displayed in the image operation area 15a of the screen 15 based on the operation signal. Figure 6 )along Figure 1 The X-axis operation device 20 and the Y-axis operation device 22 correspond to manual operation units.

[0055] (4. Display 14)

[0056] The display 14 is composed of a liquid crystal display device, an organic EL display device, or a CRT (cathode ray tube). The display 14 is a touch panel display. Figure 1As shown, the screen 15 of the display 14 during image teaching includes an image operation area 15a, button display areas 15b and 15c, and a switching label display area 15d. The image operation area 15a during image teaching displays an image such as a grinding wheel outline.

[0057] (5. Operation button)

[0058] like Figure 3A As shown, the button display areas 15b and 15c during image teaching display various operation buttons used during image teaching. The various operation buttons in the button display areas 15b and 15c can be operated by touch by the operator. Touch operations are sometimes simply referred to as "operations." The various buttons arranged in the button display area 15b include a program save button 34, a program load button 36, and a mechanical transfer button 38.

[0059] Pressing the program save button 34 stores a process program for grinding by moving the grinding wheel along the trajectory created based on the teaching on the hard disk of the storage unit 26. Pressing the program read button 36 displays the process program stored on the hard disk of the storage unit 26 on a pop-up screen. The process program displayed on this pop-up screen can be read. Pressing the machine transfer button 38 transfers the read process program to the NC device 33.

[0060] The various buttons in button display area 15c include list up button 40, list down button 42, point input method selection button 43, start button 44, midpoint button 46, and end button 48. Start button 44, midpoint button 46, and end button 48 correspond to the teaching section.

[0061] like Figure 3A As shown, the switching label display area 15d includes a plurality of labels that are switched and displayed, such as a shape data label 67a and a teaching label 67b. By operating the teaching label 67b, a process list 68 obtained by teaching is displayed in the switching label display area 15d.

[0062] When the shape data tag 67a is operated, the switch tag display area 15d and the button display area 15c are displayed. Figure 8 The target line setting menu 76 is shown.

[0063] In addition, if a highlight setting tab (not shown) among the plurality of tabs is operated, a button is displayed in the switching tab display area 15d and the button display area 15c. Figure 3B The settings menu 90 is shown highlighted.

[0064] The process list 68 includes a taught process row number column 70, a type column 72, and an axis movement speed column 74. In each row in the same column as the process row number column 70, the CPU 24 writes the process number obtained through teaching in row order, with 0 as the initial value. In each row in the same column as the type column 72, the CPU 24 writes the type of process in the process program, such as Line or Circle. In each row in the same column as the axis movement speed column 74, the processing speed of the process is written by the operator. The process list 68 can be scrolled upward or downward by operating the list up button 40 and the list down button 42.

[0065] (5.1. Extended display of relationship line of change point)

[0066] If the operation Figure 3A The shape data tag 67a shown in FIG. Figure 8 The target line setting menu 76 is shown. The target line setting menu 76 includes a radio button type non-display button 77 and a target line button 78.

[0067] Figure 9B An example of a workpiece contour line B is shown. The workpiece contour line B has two straight lines Ba and Bb intersecting at a change point Q1 as a shape change point. If the target line button 78 is operated, Figure 9A As shown in FIG, a target line Ma is shown as a straight line extending from the straight line Ba with a predetermined length starting from the change point Q1. Figure 9A As shown, a target line Mb, which is a straight line extending from straight line Bb with a predetermined length starting at change point Q1, is displayed. The coordinates of change point Q1 on workpiece contour line B are stored in a DXF file. Therefore, the display control unit 28 determines whether the line forming change point Q1 is a straight line or an arc, and based on this determination and the coordinates of change point Q1, displays the target line, which is a straight line or an arc as described below.

[0068] Although not shown, if workpiece contour line B has a transition point between a straight line and an arc, operating target line button 78 displays a target line extending from the straight line of workpiece contour line B with the transition point as its starting point and having a predetermined length. Simultaneously, a target line extending from the arc with the transition point as its starting point and having a predetermined length is displayed. The arc constituting the target line has the same radius of curvature and the same center of curvature as the arc of workpiece contour line B. Furthermore, if workpiece contour line B has a transition point between two arcs, operating target line button 78 displays a first target line extending from one arc with the transition point as its starting point and having a predetermined length. The arc constituting the first target line has the same radius of curvature and the same center of curvature as the arc of the first arc. Simultaneously, a second target line extending from the other arc with the transition point as its starting point and having a predetermined length is displayed. The arc constituting the second target line has the same radius of curvature and the same center of curvature as the arc of the second arc.

[0069] The above-mentioned target lines are equivalent to extension lines.

[0070] (5.2. Highlight the Settings menu display)

[0071] exist Figure 3A If a highlight setting tab (not shown) is operated among the multiple tabs in the switching tab display area 15d, a button is displayed in the button display area 15c. Figure 3B The settings menu 90 is shown highlighted.

[0072] like Figure 3B As shown, the highlight display setting menu 90 is in a table format having rows for "workpiece edge line" and "grinding wheel contour line" and columns for "DXF", "template", and "inspection width setting column".

[0073] That is, the highlight display setting menu 90 includes a workpiece edge line·DXF selection button 91 , a workpiece edge line·template selection button 92 , a grinding wheel outline·DXF selection button 93 , and a grinding wheel outline·template selection button 94 .

[0074] The highlight display setting menu 90 also includes a close button 97. When the close button 97 is turned on, the highlight display setting menu 90 is removed from the button display area 15c.

[0075] The workpiece edge line DXF selection button 91 and the workpiece edge line template selection button 92 are switching buttons. When one of the workpiece edge line DXF selection button 91 and the workpiece edge line template selection button 92 is turned on, the other is automatically turned off.

[0076] This combination assumes that the workpiece edge line, which is the second shape line, is in contact with or overlaps with the DXF line created in the DXF format, which is the first shape line, or the template, which is the first shape line.

[0077] This workpiece edge line is acquired as a planar outline of an image captured while looking down on the workpiece by edge detection, and is stored in the storage unit 26. The workpiece edge line is related to the second embodiment and will be described below.

[0078] The wheel outline / DXF selection button 93 and the wheel outline / template selection button 94 are switching buttons. When one of the wheel outline / DXF selection button 93 and the wheel outline / template selection button 94 is turned on, the other is automatically turned off.

[0079] This combination assumes that the grinding wheel contour line as the second shape line is in contact with or overlaps with the DXF line created in the DXF format as the first shape line or the template as the first shape line.

[0080] The workpiece edge line DXF selection button 91 and the grinding wheel contour line DXF selection button 93 are switching buttons. When one of the workpiece edge line DXF selection button 91 and the grinding wheel contour line DXF selection button 93 is turned on, the other is automatically turned off.

[0081] The workpiece edge line template selection button 92 and the grinding wheel outline template selection button 94 are switching buttons. When one of the workpiece edge line template selection button 92 and the grinding wheel outline template selection button 94 is turned on, the other is automatically turned off.

[0082] In this way, only one of the combination of the workpiece edge line and the DXF line and the combination of the grinding wheel contour line and the DXF line can be highlighted.

[0083] In addition, only one of the combination of the workpiece edge line and the template and the combination of the grinding wheel contour line and the template can be highlighted.

[0084] In addition, in the present embodiment, the DXF lines are lines stored in the DXF format, but may be lines stored in a file format other than the DXF format.

[0085] The inspection width setting field 95 is used to set the inspection width d for determining whether the workpiece edge line and the DXF line or the workpiece edge line and the template are in contact or overlap. The inspection width d is the separation distance from the DXF line or template to the workpiece edge line, based on the DXF line or template.

[0086] Verification width setting field 96 is used to set the inspection width d, which is used to determine whether the grinding wheel outline and the DXF line, or the grinding wheel outline and the template, are in contact or overlap. Verification width d is the distance from the DXF line or template to the grinding wheel outline, relative to the DXF line or template. Values ​​in setting fields 95 and 96 are input via the control panel 16.

[0087] (5.3. Extension of the relationship line of the change point is not displayed)

[0088] If the target line is not displayed, Figure 8 If the non-display button 77 shown is pressed, the display control unit 28 does not display the target line according to this operation.

[0089] (5.4. Click the input button)

[0090] Figure 3A The point input method selection button 43 shown is a mode switching button that is operated when either the "automatic change point teaching mode" or the "change point direct teaching mode" is selected. The start point button 44, midpoint button 46, and end point button 48 are point input buttons. When the grinding wheel contour line A and the workpiece contour line B are in contact, the operator operates these buttons when they determine that the contact point is the start point, midpoint, or end point.

[0091] Here, highlighting and detection of contact or overlap are described.

[0092] (5.5. Contact Detection)

[0093] Whether the grinding wheel contour line A contacts the workpiece contour line B or the target line is detected as follows.

[0094] The detection unit 30 detects whether the tip of the grinding wheel contour line A moved by the operation of the X-axis operation device 20 and the Y-axis operation device 22 is within the inspection range Δ specified by the inspection width d relative to the workpiece contour line B or the target line. The inspection range Δ is used in Figure 3B The test width d is input in the test width setting column 96 shown in FIG.

[0095] Figure 13A The figure shows the situation where the top of the grinding wheel contour line A is approaching the workpiece contour line B but has not yet reached the inspection range Δ. Figure 13B This shows the situation where the top end of the grinding wheel contour line A reaches the inspection range Δ and does not penetrate the workpiece contour line B. Figure 13C The figure shows the situation where the top end of the grinding wheel contour line A reaches the inspection range Δ and penetrates the workpiece contour line B. Figure 13D It shows the situation where the top of the grinding wheel contour line A penetrates the workpiece contour line B and the inspection range Δ.

[0096] exist Figure 13A and Figure 13D In the example, the top of the grinding wheel contour line A does not exist within the inspection range Δ, so it is detected that the grinding wheel contour line A does not contact the workpiece contour line B or the target line. Figure 13B and Figure 13C In the example shown in FIG, the top of the grinding wheel contour line A exists within the inspection range Δ, so it is detected that the grinding wheel contour line A contacts the workpiece contour line B or the target line.

[0097] The detection unit 30 of this embodiment corresponds to a contact detection unit.

[0098] (5.6. Highlight)

[0099] Next, if Figure 7A 、 Figure 7B 、 Figure 9A As shown in FIG. 1 , if the tip of the grinding wheel contour line A reaches within the inspection range Δ, the display control unit 28 sets the portion (coordinates) of the workpiece contour line B or the portion (coordinates) of the target line corresponding to the tip of the grinding wheel contour line A as the contact point J. Furthermore, the display control unit 28 highlights a predetermined range of the workpiece contour line B or the target line including the contact point J. Figure 7A 、 Figure 7B 、 Figure 9A In the figure, for convenience of explanation, the highlighted portion of the workpiece contour line B or the target lines Ma and Mb is surrounded by a long and narrow frame W. Figure 13B and Figure 13C In FIG. 1 , for ease of explanation, the highlighted portion of the workpiece contour line B is depicted with a double line.

[0100] Figure 7A The figure shows the situation where the grinding wheel contour line A and the workpiece contour line B contact each other at one point. Figure 7B This shows the grinding wheel contour line A and the workpiece contour line B contacting at two locations. The following description of "contact points" should be understood to refer to both contact detection and highlighting, even if it is not mentioned that contact is detected and the result is highlighted within a predetermined range including the contact point. Furthermore, it is possible to highlight only the contact points, rather than the predetermined range.

[0101] The "automatic change point teaching mode" and "change point direct teaching mode" are explained.

[0102] (5.7. Start point button 44, midpoint button 46, end point button 48)

[0103] <5.7.1. Automatic change point teaching mode>

[0104] If the automatic change point teaching mode is selected using the point input method selection button 43, the "element" forming the workpiece contour line B is determined to be a straight line or an arc by using the start point button 44, the midpoint button 46, and the end point button 48. In the automatic change point teaching mode, the "element" is taught to be a straight line by two-point teaching, and the "element" is taught to be an arc by three-point teaching.

[0105] <5.7.1-1. Calculation of the coordinates of the change point between two straight lines and the trajectory formed by two straight lines>

[0106] Figure 4A The workpiece contour line has straight lines D1 and D2 as “elements”, and the straight lines D1 and D2 intersect each other at the change point Qa.

[0107] The operator makes the grinding wheel contour line A (not shown) contact any two points on the straight line D1. Of the two contact points Ja and Ra, the operator operates the start button 44 at the contact point Ja and the end button 48 at the contact point Ra. Based on the operations of the start button 44 and the end button 48, the CPU 24 calculates the position of the grinding wheel contour line in the machine coordinate system at each contact point, i.e., Figure 4A The coordinates of the starting point Ka and end point Ea of the grinding wheel contour line in the mechanical coordinate system.

[0108] Furthermore, based on the two-point teaching, the CPU 24 determines that the starting point Ka and the end point Ea are on the straight line H1. Next, the operator makes the grinding wheel contour line A (not shown) contact any two points on the straight line D2. Of the two contact points Jb and Rb, the operator operates the starting point button 44 at the contact point Jb that is closer to the contact point Ra, and operates the end point button 48 at the contact point Rb. Based on the operations of the starting point button 44 and the end point button 48, the CPU 24 calculates the position of the grinding wheel contour line A in the mechanical coordinate system at each contact point, i.e., Figure 4A The coordinates of the starting point Kb and the end point Eb of the grinding wheel contour line A in the machine coordinate system. In addition, based on this two-point teaching, the CPU 24 recognizes that the starting point Kb and the end point Eb are on the straight line H2.

[0109] Furthermore, the CPU 24 continuously performs two-point teaching of the start point Ka and the end point Ea, and the start point Kb and the end point Eb, thereby calculating the coordinates of the trajectory change point Fa of the two straight lines H1 and H2 based on the straight line equations of the straight lines H1 and H2 forming the trajectory of the grinding wheel contour line.

[0110] In this embodiment, for example, when the top of the grinding wheel contour is an arc of a perfect circle, the trajectory of the grinding wheel contour is a machining path at the center of the perfect circle. Furthermore, the trajectory is not limited to the center of the perfect circle, but may be a machining path at any point, such as a point near the center of the perfect circle.

[0111] The trajectory change point Fa is the position of the grinding wheel contour line when the grinding wheel contour line A (not shown) temporarily contacts the workpiece contour line at the change point Qa. Through this two-point teaching, the CPU 24, or trajectory generation unit 32, calculates a trajectory including the coordinates of the straight lines H1 and H2 and the change point between the straight lines H1 and H2. Based on the thus taught start and end points and the calculated trajectory change point Fa, the trajectory generation unit 32 creates a trajectory, and the display control unit 28 displays this trajectory on the screen 15 of the display 14.

[0112] <5.7.1-2. Calculation of coordinates of the trajectory formed by straight lines and circular arcs, and the changing points between straight lines and circular arcs>

[0113] Figure 4B The workpiece contour line has a straight line D1 and an arc D3 as "elements", and the straight line D1 and the arc D3 intersect each other at the change point Qb. In addition, the contact points Ja, Ra, the starting point Ka, the end point Ea, and the straight line H1 related to the straight line D1 of the workpiece contour line are the same as those described above, so the description is omitted. The operator makes the grinding wheel contour line (not shown) contact any three points on the arc D3. Among the three contact points Jc, Lc, and Rc, the starting point button 44 is operated at the contact point Jc closer to the contact point Ra, the midpoint button 46 is operated at the contact point Lc, and the end point button 48 is operated at the contact point Rc. Based on the operation of buttons 44, 46, and 48, CPU24 calculates the position of the mechanical coordinate system of the grinding wheel contour line at each contact point, that is, Figure 4B The coordinates of the starting point Kc, midpoint Tc and end point Ec of the grinding wheel contour line in the machine coordinate system are shown in FIG. In addition, based on the three-point teaching, the CPU 24 determines that the starting point Kc, midpoint Tc and end point Ec are on the arc H3.

[0114] Furthermore, by performing three-point teaching after two-point teaching, the CPU 24 calculates the coordinates of the trajectory change points Fb of the straight line H1 and the arc H3 based on the linear equation of the straight line H1, which forms the trajectory of the grinding wheel contour, and the circular equation of the arc H3. The trajectory change point Fb is the position of the grinding wheel contour line (not shown) when the grinding wheel contour line temporarily contacts the change point Qb of the workpiece contour line B. Furthermore, if three-point teaching is first performed to identify the circular arc, followed by two-point teaching to identify the straight line, it is obvious that the circular equation and the linear equation, which form the trajectory of the grinding wheel contour line, can be obtained. Therefore, even in this case, the CPU 24 calculates the coordinates of the change points of the two based on the circular equation and the linear equation.

[0115] When three-point teaching is performed after two-point teaching, or when two-point teaching is performed after three-point teaching, the trajectory generation unit 32 calculates a trajectory including straight lines, circular arcs, and transition points between straight lines and circular arcs. Based on the thus-taught start point, end point, and midpoint, as well as the calculated trajectory transition point Fb, the trajectory generation unit 32 creates a trajectory, and the display control unit 28 displays the trajectory on the screen 15 of the display 14.

[0116] <5.7.1-3. Calculation of the coordinates of the trajectory formed by two arcs and the changing point between the arcs>

[0117] Although not shown, when the workpiece contour line has transition points between arcs, the operator brings the grinding wheel contour line into contact with any three points in each arc and performs three-point teaching by operating the start point button 44, the midpoint button 46, and the end point button 48 at each contact point. Thus, the trajectory generation unit 32 creates a trajectory based on the coordinates of the start point, midpoint, and end point of the grinding wheel contour line in contact with each arc at the contact point in the machine coordinate system, and the display control unit 28 displays the trajectory on the screen 15 of the display 14.

[0118] Furthermore, the CPU 24 continuously performs three-point teaching, calculating the coordinates of the transition point between the arcs based on the equations of the circles that form the trajectory of the grinding wheel contour. This transition point is the position on the trajectory of the grinding wheel contour when the grinding wheel contour (not shown) temporarily contacts the transition point of the workpiece contour. By continuously performing three-point teaching in this manner, the trajectory generator 32 calculates a trajectory containing the two arcs and the coordinates of the transition point between the arcs, and the display controller 28 displays it on the screen 15 of the display 14.

[0119] <5.7.2. Changing point direct teaching mode>

[0120] When the change point direct teaching mode is selected by the point input method selection button 43, the start point button 44, the midpoint button 46, and the end point button 48 are used to make the grinding wheel contour line contact the end point of a straight line, the end point of an arc, the change point, etc. included in the workpiece contour line.

[0121] <5.7.2-1. Calculation of coordinates of a trajectory formed by two straight lines and the changing point between the straight lines>

[0122] Figure 5A The workpiece contour line and Figure 4AThere are straight lines D1 and D2, which intersect each other at the change point Qa. The operator makes the grinding wheel contour line (not shown) contact the contact point Jd, which is one end point of the straight line D1, and the change point Qa, which is the other end point. The operator operates the start button 44 at the contact point Jd and the end button 48 at the change point Qa. Based on the operation of the start button 44 and the point button 48, the CPU 24 calculates the position of the grinding wheel contour line A in the machine coordinate system that contacts the contact point Jd and the change point Qa. Figure 5A The coordinates of the starting point Kd and end point Ee of the grinding wheel contour line in the mechanical coordinate system.

[0123] Furthermore, based on this two-point teaching, the CPU 24 recognizes the start point Kd and the end point Ee as the endpoints of the straight line H1. Next, the operator brings the grinding wheel contour line (not shown) into contact with the end point Rf on the straight line D2 and operates the end point button 48. Based on the operation of the end point button 48 at the end point Rf as the contact point, the CPU 24 calculates the position of the grinding wheel contour line in the machine coordinate system that is in contact with the end point Rf, i.e., Figure 5A The coordinates of the end point Ef of the grinding wheel contour line in the mechanical coordinate system.

[0124] Based on a one-point teaching of the end point Ef on the straight line H2, which forms the trajectory of the grinding wheel contour, the CPU 24 determines that the end points Ee and Ef are on the straight line H2. Thus, when the workpiece contour B includes a first straight line and a second straight line continuous with the first, two-point teaching is first performed, followed by one-point teaching. The CPU 24, i.e., the trajectory generation unit 32, calculates a trajectory including the straight lines H1 and H2. Subsequently, when the workpiece contour B includes a third straight line continuous with the second straight line, the trajectory generation unit 32 similarly calculates (creates) a straight line trajectory by performing a one-point teaching. The display control unit 28 displays the created trajectory on the display 14.

[0125] <5.7.2-2. Calculation of coordinates of the trajectory formed by straight lines and circular arcs, and the changing points between straight lines and circular arcs>

[0126] Figure 5B The workpiece contour line and Figure 4B Similarly, there are straight line D1 and arc D3, which intersect at the change point Qb. The contact point Jd, starting point Kd, end point Ee, and straight line H1 related to the straight line D1 of the workpiece contour are the same as above, so their description is omitted.

[0127] When the operator uses the change point Qb on the arc D3 as one endpoint, he uses two points including the other endpoint Rg and the point Ld between the change point Qb and the other endpoint Rg as contact points, and makes the grinding wheel contour line (not shown) contact with each other. Then, he operates the midpoint button 46 at the point Ld and the end point button 48 at the endpoint Rg. Based on the operations of the buttons 46 and 48, the CPU 24 calculates the position of the grinding wheel contour line A in the machine coordinate system at each contact point, that is, Figure 5B The coordinates of the midpoint Tg and the end point Eg of the grinding wheel contour line in the machine coordinate system are shown in FIG. Furthermore, based on the two-point teaching at point Ld and end point Rg, and the change point Qb, the CPU 24 determines that the end point Ee, the midpoint Tg, and the end point Eg are on the arc H3.

[0128] Furthermore, based on the linear equation of the straight line H1 and the circular equation of the arc H3, the CPU 24, i.e., the trajectory generating unit 32, calculates (creates) a trajectory including the straight line and the circular arc. The display control unit 28 displays the created trajectory on the display 14. Figure 5A When the same point is taught and a straight line is identified, it is obvious that the circle equation and the straight line equation can be obtained. Therefore, even in this case, the trajectory generating unit 32 calculates a trajectory including a straight line and an arc based on the circle equation and the straight line equation.

[0129] <5.7.2-3. Calculation of coordinates of a trajectory formed by two arcs and the changing point between the arcs>

[0130] Although not shown, when the workpiece contour line has a change point between arcs, the operator brings the grinding wheel contour line into contact with three points: the endpoints of each arc and the midpoint between the endpoints of each arc, thereby performing three-point teaching. Specifically, first, the endpoint, midpoint, and endpoint (change point) of one side of the first arc are used as contact points, and buttons 44, 46, and 48 are operated at these contact points. Next, since the endpoint of one side of the second arc is a change point with the first arc, the button operation here is omitted. Then, when the grinding wheel contour line A contacts the midpoint and the endpoint of the other side of the second arc, buttons 46 and 48 are operated respectively to perform two-point teaching. Thereafter, when the arc continues, two-point teaching is performed in the same manner. Thus, the trajectory generation unit 32 calculates (creates) the trajectory of the arcs in the grinding wheel contour line formed by each arc along the workpiece contour line. The display control unit 28 displays the created trajectory on the display 14.

[0131] <5.7.2-4. Cases where the grinding wheel contour line A cannot directly contact the changing point of the workpiece contour line B>

[0132] In the above description, the case where the grinding wheel contour line A and the workpiece contour line B are in direct contact at the changing point is described. Figure 9B As shown in the example, if the workpiece contour line B has a sharp shape change point at change point Q1, the trajectory to be traced by the grinding wheel contour line A must also be a trajectory change point at change point Q1. Therefore, in this example, the operator operates the X-axis operating device 20 and the Y-axis operating device 22 so that the grinding wheel contour line A contacts both target lines Ma and Mb while the target lines Ma and Mb are displayed.

[0133] In this state, operate the start point button 44 or the end point button 48. This operation teaches the position of the grinding wheel contour line A that simultaneously contacts the target lines Ma and Mb as the start point or end point. Furthermore, examples of sharp change points in the workpiece contour line B include not only the change points between straight lines, but also the change points between straight lines and circular arcs, or the change points between circular arcs. Even in such cases, when a pair of target lines are displayed, teaching is performed at the position where the grinding wheel contour line A simultaneously contacts both target lines, as described above.

[0134] Figure 9A 、 Figure 9B The transition point between straight lines is shown. Although not shown, even when the transition point between a straight line and an arc, or between an arc and an arc, is a sharp point, a pair of target lines are displayed. With this pair of target lines displayed, teaching is performed at the position where the grinding wheel contour line A contacts both target lines simultaneously, as described above.

[0135] in addition, Figure 7B , another example is shown in which the grinding wheel contour line A has a change point Q3 that it cannot contact. The change point Q3 between straight lines Be and Bf is located at a recessed position in the workpiece contour line B. Even in this case, the trajectory change point of the trajectory to be traced by the grinding wheel contour line A must correspond to the change point Q3. Therefore, in this example, the operator operates the X-axis operating device 20 and the Y-axis operating device 22 so that the grinding wheel contour line A contacts the straight lines Be and Bf simultaneously. Furthermore, the operator operates the start point button 44 or the end point button 48. This operation teaches the position of the grinding wheel contour line A that contacts the straight lines Be and Bf simultaneously as the start point or end point. Furthermore, examples of workpiece contour line B having a change point at a recessed position include, in addition to the change point between straight lines, the change point between a straight line and an arc, or the change point between arcs. Even in this case, teaching is performed at the position where the grinding wheel contour line A contacts the straight line and the arc, or both arcs, as described above.

[0136] (Function of the First Embodiment)

[0137] Reference Figure 2 and Figure 6 The system 10 and the display method constructed as above will be described. Figure 3B In the highlight display setting menu 90, the grinding wheel outline line DXF selection button 93 is turned on and the workpiece edge line DXF selection button 91 is automatically turned off. This allows the combination of the grinding wheel outline A and the workpiece outline B (DXF line) to be highlighted.

[0138] exist Figure 2 In S10 shown, the operator operates Figure 3A The shape data label 67a shown in the figure displays various operation buttons such as a shape data reading button (not shown) in the switching label display area 15d and the button display area 15c. When the operator operates the shape data reading button (not shown), the CPU 24 reads the shape drawing data of the workpiece from the hard disk of the storage unit 26. The display control unit 28 displays the shape drawing data of the workpiece based on the read shape drawing data of the workpiece. Figure 6 As shown, the workpiece contour is displayed in the image operation area 15a of the display 14. Figure 2 In S20, the operator operates the shape data reading button (not shown) to cause the CPU 24 to read the grinding wheel contour image data from the hard disk of the storage unit 26. The display control unit 28 displays the grinding wheel contour image data based on the read grinding wheel contour image data. Figure 6 As shown, the grinding wheel contour line A is displayed in the image operation area 15a of the display 14. In this way, the screen 15 of the display 14 is a common screen that displays both the workpiece contour line and the grinding wheel contour line.

[0139] exist Figure 2 In S30, the operator operates Figure 3A The teaching label 67b shown is displayed by the display control unit 28 as shown in FIG. Figure 3A As shown, various operation buttons are displayed in the switching label display area 15d and the button display area 15c. After that, the operator moves the grinding wheel contour line A by operating the X-axis operating device 20 and the Y-axis operating device 22. Then, the detection unit 30 detects whether the top of the grinding wheel contour line A is within the inspection range Δ specified by the workpiece contour line B or the inspection width d of the target line. Based on this detection, Figure 7A As shown, the display control unit 28 highlights the contact portion of the workpiece contour line B.

[0140] The operator teaches the highlighted area by pressing the start point button 44, midpoint button 46, or end point button 48. The grinding wheel contour line A is then moved in the same manner, and teaching is repeated for the area where it contacts the workpiece contour line B. The trajectory generation unit 32 generates a trajectory for the grinding wheel contour line A each time teaching is repeated as described above. This trajectory contains information such as the type and axis movement speed, entered for each taught process line number.

[0141] Figure 6 The approach point P0 to the retreat point P10 obtained by the change point direct teaching mode are shown. The one-dot chain line passing through these points is the locus of the grinding wheel contour line A. Figure 6 In the figure, "K", "E" and "T" on the workpiece contour line B are the positions where the grinding wheel contour line A contacts the workpiece contour line B, and are the positions where the start button 44, the end point button 48 and the midpoint button 46 are operated respectively.

[0142] Thus, S30 corresponds to a moving step in which the display control unit 28 moves the grinding wheel contour line toward the workpiece contour line, and a teaching step in which the teaching unit teaches. Furthermore, S30 includes a step in which the trajectory generating unit generates a trajectory including the position of the grinding wheel contour line obtained by repeating the moving step and the teaching step.

[0143] If the program save button 34 is operated in S40, the process program including the taught process line number, type, axis moving speed and other information and trajectory is stored in the hard disk of the storage unit 26. Figure 3A If the program read button 36 is pressed, the process program stored in the hard disk of the storage unit 26 is displayed on a pop-up screen. The process program displayed on this pop-up screen can be read. If the mechanical transfer button 38 is operated, the read process program is transferred to the NC device 33. The NC device 33 performs the grinding process of the workpiece by executing the transferred process program. In this embodiment, the grinding wheel contour line A and the workpiece contour line B can be displayed on a common screen. Therefore, a trajectory including the position of the grinding wheel contour line A can be generated in the mechanical coordinate system. Therefore, the process program transferred to the NC device 33 can be used without coordinate conversion.

[0144] This embodiment has the following features.

[0145] (1-1) The display method of the image teaching processing device 12 of this embodiment includes statically displaying a workpiece contour line B (a first shape line) and dynamically displaying a grinding wheel contour line A (a second shape line) on the display 14. Furthermore, in the display method, when the dynamically displayed grinding wheel contour line A comes into contact with the workpiece contour line B, a portion of the workpiece contour line B that is in contact with the grinding wheel contour line A is highlighted. The image teaching processing device 12 includes a CPU 24 that functions as a display control unit 28 for executing the above-described display method.

[0146] As a result, the image teaching processing device 12 and the display method thereof have an effect of being able to clearly inform the operator when the dynamically displayed second shape line contacts the statically displayed first shape line.

[0147] (1-2) The image teaching processing device 12 of this embodiment includes an X-axis operating device 20 and a Y-axis operating device 22 (manual operating unit) for manually moving the grinding wheel contour line A (second shape line). Dynamically displaying the grinding wheel contour line A (second shape line) includes moving the grinding wheel contour line A on the display 14 in accordance with operations of the X-axis operating device 20 and the Y-axis operating device 22 (manual operating unit).

[0148] As a result, when the dynamically displayed second shape line comes into contact with the statically displayed first shape line, this fact can be clearly notified to the operator who is operating the manual operation unit.

[0149] (1-3) When the workpiece contour line B has at least one of a change point between straight lines, a change point between straight lines and arcs, or a change point between arcs, the display control unit 28 displays a target line (extension line) extending from the change point of the workpiece contour line B (first shape line).

[0150] Furthermore, in the image teaching processing device 12 and the display method thereof, when the moving grinding wheel outline A (second shape line) comes into contact with the target line (extension line), the target line (extension line) is highlighted.

[0151] As a result, even when the moving second shape line contacts the extension line, this fact can be clearly indicated.

[0152] (1-4) The image teaching processing device 12 (display control device) of this embodiment includes the detection unit 30 as a contact detection unit. When the detection unit 30 detects contact, the display control unit 28 performs highlighting.

[0153] As a result, when the contact detection unit detects contact, the display control unit 28 can perform highlighting.

[0154] (Second embodiment)

[0155] Reference Figures 10 to 12B as well as Figures 14A to 14E The system 10 and the image teaching method according to the second embodiment will be described.

[0156] The system 10 of this embodiment is the same as the system 10 of the first embodiment. However, in this embodiment, the NC device 33 is involved, so the structure of the NC device 33 will be further described.

[0157] (NC device 33)

[0158] like Figure 10 As shown, the NC device 33 includes a grinding mechanism 131 , a workpiece holding mechanism 132 , a moving mechanism 133 , an XY table 134 , and an imaging unit 139 .

[0159] The grinding mechanism 131 includes a disc-shaped grinding wheel 135. During grinding, the grinding mechanism 131 grinds the workpiece 124 held by the workpiece holding mechanism 132. The grinding mechanism 131 rotates the grinding wheel 135 during grinding. The workpiece holding mechanism 132 detachably holds the workpiece 124. The workpiece holding mechanism 132 can also detachably hold a virtual workpiece (not shown) in place of the workpiece 124. The workpiece holding mechanism 132 is mounted on the XY table 134 and can move the workpiece 124 in the X and Y directions.

[0160] The input device of this embodiment includes an X-axis operation device 120 and a Y-axis operation device 122 for operating the XY stage 134 to move in the X direction and the Y direction.

[0161] The X-axis operating device 120 includes a manual handle 120a and an encoder 120b. When the manual handle 120a is operated, the encoder 120b outputs an operation signal corresponding to the operation to the CPU 24 of the image teaching processing device 12. In this embodiment, the CPU 24 executes the control program of the system 10, functioning as the display control unit 28, the detection unit 30, the NC control unit 29, and the image processing unit 31, performing various processing operations.

[0162] The NC control unit 29 operates the XY table 134 based on the operation signal, thereby moving the workpiece holding mechanism 132 in the X-axis direction of the machine coordinate system.

[0163] The Y-axis operation device 122 includes a manual handle 122a and an encoder 122b. When the manual handle 122a is operated, the encoder 122b outputs an operation signal corresponding to the operation to the CPU 24 of the image teaching processing device 12. Based on the operation signal, the NC control unit 29 operates the XY table 134, moving the workpiece holding mechanism 132 along the Y-axis of the machine coordinate system.

[0164] The grinding mechanism 131 is mounted on a moving mechanism 133. The moving mechanism 133 causes the grinding wheel 135 to move relative to the workpiece 124. The moving mechanism 133 includes an X-axis motor 137, a Y-axis motor 138, and a Z-axis motor 136. The NC control unit 29 controls the X-axis motor 137 and the Y-axis motor 138, allowing the grinding wheel 135 to move in the X and Y directions. Furthermore, the NC control unit 29 controls the Z-axis motor 136, allowing the grinding wheel 135 to swing vertically (in the Z direction) within a predetermined range.

[0165] (Photography Unit 139)

[0166] The imaging unit 139 is disposed above the workpiece 124 or the virtual workpiece held by the workpiece holding mechanism 132. The imaging unit 139 is composed of a CMOS (Complementary Metal Oxide Semiconductor) camera or a CCD (Charge Coupled Device) camera.

[0167] The imaging unit 139 transmits an imaging signal of a moving image of the grinding wheel 135 and the workpiece 124 being machined, or an imaging signal of a still image of a grinding mark on a virtual workpiece cut by the grinding wheel 135 , to the CPU 24 .

[0168] (Image Processing Unit 31)

[0169] The image processing unit 31 performs various image processing such as edge detection on an image based on a captured signal of a moving image of the grinding wheel 135 and the workpiece 124 .

[0170] Through edge detection, the workpiece edge line of the workpiece 124 can be acquired in real time.

[0171] The workpiece 124 moves in the same direction as the XY-direction movement of the XY table 134. Furthermore, the workpiece edge line formed based on the image of the workpiece 124 captured by the imaging unit 139 is moved in the same direction in the image operation area 15a of the display 14 by the display control unit 28 instead of the image of the workpiece 124.

[0172] The workpiece 124 changes its outer shape when viewed from above while being ground by the grinding wheel 135. Therefore, the workpiece edge line formed based on the image of the workpiece 124 captured by the imaging unit 139 is displayed in the image operation area 15a of the display 14 via the display control unit 28 instead of the image of the workpiece 124.

[0173] The workpiece edge line is equivalent to the second shape line.

[0174] (Image teaching processing device 12)

[0175] When the manual handle 20a of the X-axis operating device 20 is operated, the NC control unit 29 controls the X-axis motor 137 based on the operation signal from the encoder 20b, thereby moving the grinding wheel 135 in the X direction. In this case, the display control unit 28 moves the grinding wheel contour line A along the X direction based on the operation signal as in the first embodiment. Figure 10 The machine coordinate system shown moves in the X-axis direction.

[0176] When the manual handle 22a of the Y-axis operating device 22 is operated, the NC control unit 29 drives and controls the Y-axis motor 138 based on the operation signal from the encoder 22b, thereby moving the grinding wheel 135 in the Y direction. In this case, the display control unit 28 moves the grinding wheel contour line A along the Y direction based on the operation signal as in the first embodiment. Figure 10 The Y-axis direction of the mechanical coordinate system shown.

[0177] Here, the XY coordinates of the grinding wheel outline A are updated in accordance with the operation of the manual handles 20a and 22a in the same manner as the XY coordinates of the grinding wheel 135 which are updated every time the grinding wheel 135 moves in the X and Y directions in accordance with the operation of the manual handles 20a and 22a.

[0178] The XY coordinates of the workpiece edge line are updated similarly to the XY coordinates of the workpiece 124 which are updated each time the workpiece 124 moves in the X and Y directions by operating the manual handles 120a and 122a.

[0179] In this embodiment, the detection unit 30 (see Figure 10 ) to perform overlap detection. The overlap state is detected using Figure 3B The numerical value shown is input in the inspection width setting field 95. The detection unit 30 corresponds to an overlap detection unit.

[0180] (Function of the Second Embodiment)

[0181] Next, the operation of the second embodiment will be described.

[0182] (1.1. When the workpiece 124 is placed at the reference position)

[0183] In the following description, the reference lines Nx and Ny are DXF lines, so Figure 3B In the highlighted setting menu 90, operate the workpiece edge line DXF selection button 91 to turn it on. Figure 3B As shown, a combination of the workpiece edge line S and the reference lines Nx and Ny (DXF lines) can be highlighted.

[0184] In addition, when the reference lines Nx and Ny are created using the template, Figure 3B The operator may simply turn on the workpiece edge line template selection button 92 in the highlight display setting menu 90. This allows highlighting of a combination of the workpiece edge line S and the reference lines Nx and Ny (template).

[0185] Here, the reference lines Nx and Ny described in (1.1. When the workpiece 124 is placed at the reference position) correspond to the first shape lines.

[0186] Figure 11A The following state is shown: based on the image of the workpiece 124 captured by the imaging unit 139, the image processing unit 31 generates the workpiece edge line S, and the display control unit 28 displays the workpiece edge line S in the image operation area 15a of the display 14. In this embodiment, the outer shape of the workpiece formed by the workpiece edge line S is as follows Figure 11A The land shown is rectangular.

[0187] Meanwhile, reference lines Nx and Ny are pre-displayed in the image operation area 15a. Reference lines Nx and Ny are DXF lines. In this embodiment, reference line Nx is parallel to the X-axis. Reference line Ny is parallel to the Y-axis. The intersection of reference lines Nx and Ny serves as the target setting position for the corner of the workpiece's outer shape, as defined by the workpiece edge line S. For ease of explanation, the bottom and left sides of the workpiece, as defined by the workpiece edge line S, are parallel to reference lines Nx and Ny, respectively.

[0188] like Figure 11A As shown, with the workpiece edge line S and reference lines Nx and Ny arranged, the operator operates the X-axis operating device 120 and the Y-axis operating device 122 so that the corner of the workpiece's outer shape, which is defined by the workpiece edge line S, is positioned at a target set position. This causes the workpiece's outer shape, defined by the workpiece 124 and the workpiece edge line S, to move.

[0189] (1.2. Overlap Detection)

[0190] The detection unit 30 determines whether, within the workpiece's outer shape as depicted by the workpiece edge line S, the upper side parallel to the reference line Nx and the lower side closer to the reference line Nx are within the numerical value set in the inspection width setting field 95 with reference to the reference line Nx. If the lower side is within the numerical value set in the inspection width setting field 95 with reference to the reference line Nx, the detection unit 30 determines that the lower side overlaps with the reference line Nx. If the lower side is not within the numerical value set in the inspection width setting field 95 with reference to the reference line Nx, the detection unit 30 determines that the lower side does not overlap with the reference line Nx.

[0191] Then, when it is determined that the lower side is overlapping with the reference line Nx, the display control unit 28 highlights the region where the lower side and the reference line Nx are overlapping.

[0192] Furthermore, the detection unit 30 determines whether, within the outer shape of the workpiece as depicted by the workpiece edge line S, the left side parallel to the reference line Ny and the left side of the right side closer to the reference line Ny are within the values ​​set in the inspection width setting field 95 based on the reference line Ny. If the left side is within the values ​​set in the inspection width setting field 95 based on the reference line Ny, the detection unit 30 determines that the left side overlaps with the reference line Ny. If the left side is not within the values ​​set in the inspection width setting field 95 based on the reference line Ny, the detection unit 30 determines that the left side does not overlap with the reference line Nx.

[0193] Then, when it is determined that the left side is in a state of overlapping with the reference line Ny, the display control unit 28 highlights the area of ​​the left side and the reference line Ny in the overlapping state.

[0194] The overlap detection is not limited to determining whether a side closer to a reference line overlaps the reference line, but may also determine whether a side farther from the reference line overlaps the reference line.

[0195] Figure 11B The figure shows a state where the entire lower side overlaps with the reference line Nx and the entire left side overlaps with the reference line Ny. Figure 11B As shown, the display control unit 28 highlights the entire lower side and the area corresponding to the lower side of the reference line Nx, and the entire left side and the area corresponding to the left side of the reference line Ny in the overlapped state. Figure 11B In the figure, for the convenience of explanation, the highlighted portion of the workpiece edge line S is surrounded by a long and narrow frame W.

[0196] By performing highlighting in this manner, the operator can easily confirm that the corner portion of the outer shape of the workpiece described by the workpiece edge line S is located at the target setting position.

[0197] (2.1. Grinding wheel 135 during and after machining)

[0198] In the following description, since the workpiece contour line B is a DXF line, Figure 3B In the highlighted setting menu 90, operate the workpiece edge line DXF selection button 91 to turn it on. Figure 3B As shown, a combination of the workpiece edge line S and the workpiece contour line B (DXF line) can be highlighted.

[0199] In addition, when the workpiece contour line B is created using a template, Figure 3B The operator may simply turn on the workpiece edge line template selection button 92 in the highlight display setting menu 90. This allows highlighting of a combination of the workpiece edge line S and the workpiece contour line B (template).

[0200] Figure 12A The following state is shown: while the grinding wheel 135 is grinding the workpiece 124, the image processing unit 31 generates a workpiece edge line S based on an image of the workpiece captured by the imaging unit 139, and the display control unit 28 displays the workpiece edge line S in the image operation area 15a of the display 14. The workpiece edge line S, which shows the shape of the workpiece 124 before processing, is rectangular in a plan view. Figure 12A In FIG. 1 , the workpiece 124 is shown in the middle of being machined by the grinding wheel 135 , and thus a workpiece edge line S is shown that depicts the workpiece 124 in a state where a portion of the workpiece 124 has been ground.

[0201] Figure 12A The symbol "TK" shown is the grinding wheel outline of the grinding wheel 135. Similar to the first embodiment, this outline data is extracted from an image of the grinding marks on the virtual workpiece after grinding by the grinding wheel 135, captured using edge detection or the like. The display control unit 28 displays the grinding wheel outline TK in the image operation area 15a of the display 14, replacing the image of the grinding wheel 135 captured by the imaging unit 139 during machining. Therefore, the XY coordinates of the grinding wheel outline TK are updated in the same manner as the XY coordinates of the grinding wheel 135, which are updated each time the grinding wheel 135 moves in the X and Y directions in response to operation of the manual handles 20a and 22a.

[0202] on the other hand, Figure 12A The workpiece contour line B shown is a line extending left and right. The left end of the workpiece contour line B is arranged to be located on the left side of the workpiece edge line S before processing, and the right end of the workpiece contour line B is arranged to be located on the right side of the workpiece edge line S before processing. A substantially triangular recess is formed in the center of the workpiece contour line B. In addition, the position of the workpiece edge line S before processing is set, for example, according to Figure 11B Just follow the method described in .

[0203] The workpiece contour line B described in (2.1. During and After Machining of the Grinding Wheel 135 ) corresponds to the first shape line. The workpiece edge line S corresponds to the second shape line.

[0204] like Figure 12A As shown, while the grinding wheel 135 is processing the workpiece 124, the imaging unit 139 acquires an image having grinding marks. In addition, the image processing unit 31 generates a workpiece edge line S based on the image.

[0205] (2.2. Overlap Detection)

[0206] The detection unit 30 detects the workpiece edge line S0 (S) before processing (refer to Figure 14A ) is stored in advance in the storage unit 26, and the workpiece edge line S0 before processing and the workpiece edge line S obtained during processing are obtained (refer to Figure 14B ) differences. Figure 14C As shown, the difference S01 is composed of the new shape line Sa and the shape line Sb of the removed part. Figure 14B For the sake of convenience, the edge line S of the workpiece after machining is shown. The detection unit 30 determines the new shape line Sa (refer to Figure 14D ) is within the value set in the inspection width setting column 95 based on the workpiece contour line B. If the new shape line Sa is within the value set in the inspection width setting column 95 based on the workpiece contour line B (refer to Figure 14E ), the detection unit 30 determines that the new shape line Sa is in a state of overlapping with the workpiece contour line B.

[0207] Furthermore, when the new shape line Sa is not within the numerical value set in the inspection width setting field 95 based on the workpiece contour line B, it is determined that the new shape line Sa does not overlap with the workpiece contour line B.

[0208] Furthermore, when it is determined that the new shape line Sa is overlapping with the workpiece contour line B, the display control unit 28 displays the shape line Sa as shown in FIG. Figure 12A As shown, the area where the new shape line Sa and the workpiece contour line B are superimposed is highlighted. Figure 12A In the figure, for the convenience of explanation, the highlighted portion of the workpiece edge line S is surrounded by a long and narrow frame W.

[0209] Figure 12B The workpiece edge line S corresponding to the grinding mark after the machining is completed is highlighted when it overlaps the entire area of ​​the workpiece contour line B. Figure 12B In the figure, for the convenience of explanation, the highlighted portion of the workpiece edge line S is surrounded by a long and narrow frame W.

[0210] This embodiment has the following features.

[0211] (2-1) The display method for the present embodiment when the workpiece 124 is placed at the reference position is as follows. When the dynamically displayed workpiece edge line S (second shape line) overlaps with the reference lines Nx and Ny (first shape lines), at least a portion of the area of ​​the reference lines Nx and Ny (first shape lines) that overlaps with the workpiece edge line S (second shape line) is highlighted.

[0212] As a result, when the workpiece edge line S (second shape line) moving on the display overlaps with the reference lines Nx and Ny (first shape lines), this fact can be clearly indicated.

[0213] (2-2) In the machining of the grinding wheel 135 and the display method after the machining is completed in the present embodiment, dynamically displaying the workpiece edge line S (second shape line) includes changing the shape relative to the workpiece edge line S (second shape line).

[0214] As a result, when the second shape line having a changed shape overlaps with the workpiece contour line B (first shape line), this fact can be clearly indicated.

[0215] (2-3) The image teaching processing device 12 (display control device) of this embodiment includes the detection unit 30 as an overlap detection unit. When the detection unit 30 detects an overlap state, the display control unit 28 performs highlighting.

[0216] As a result, when the overlap detection unit detects the overlap state, the display control unit 28 can perform highlighting.

[0217] The above-mentioned embodiments can be implemented by being modified as follows: The above-mentioned embodiments and the following modified examples can be implemented by being combined with each other within a range that does not cause technical contradictions.

[0218] In the first embodiment, when the grinding wheel outline A contacts the workpiece outline B, a predetermined range or contact point of the workpiece outline B including the contact point with the grinding wheel outline A is highlighted. However, the entire workpiece outline B may be highlighted.

[0219] In the first embodiment, the workpiece contour line includes arcs as elements, but the curves used as elements are not limited to arcs. In addition to arcs, curves such as splines, cycloids, and partial curves of ellipses may also be included. When extending the target line from a change point of the workpiece contour line including a partial curve such as one of these, the target line can be extended so that it becomes part of the curve.

[0220] The NC device of the second embodiment performs grinding as a removal processing device, using a grinding wheel as a removal tool. Alternatively, the NC device may be embodied as another removal processing device. Examples of other removal processing devices include cutting devices and grinding devices. In cutting devices, the removal tool may also be a cutting tool. Alternatively, in grinding devices, the removal tool may also be a grinding tool.

Claims

1. A display method for a display control device, wherein the display control device includes a display, The display method comprises statically displaying a first shape line on the display and dynamically displaying a second shape line on the display, The display method further comprises: When the dynamically displayed second shape line comes into contact with the first shape line, at least a portion of the area of ​​the first shape line that comes into contact with the second shape line is highlighted. Alternatively, when the dynamically displayed second shape line overlaps with the first shape line, at least a portion of the region where the first shape line overlaps with the second shape line is highlighted.

2. The display method of the display control device according to claim 1, wherein: The display control device further includes a manual operation unit configured to manually move the second shape line. Dynamically displaying the second shape line includes moving the second shape line on the display according to an operation of the manual operation unit.

3. The display method of the display control device according to claim 2, wherein: The first shape line has at least one of a change point between straight lines, a change point between a straight line and an arc, or a change point between an arc and an arc. The display method further comprises: displaying an extension line extending from the change point of the first shape line, When the moved second shape line contacts the extension line, at least a portion of the extension line is highlighted.

4. The display method of the display control device according to any one of claims 1 to 3, wherein: Dynamically displaying the second shape line includes changing the shape of the second shape line.

5. A display control device comprising a display and a display control unit configured to statically display a first shape line and dynamically display a second shape line on the display, wherein: The display control unit is configured as follows: When the dynamically displayed second shape line comes into contact with the first shape line, at least a portion of the area of ​​the first shape line that comes into contact with the second shape line is highlighted. Alternatively, when the dynamically displayed second shape line overlaps with the first shape line, at least a portion of the region where the first shape line overlaps with the second shape line is highlighted. The display control device according to claim 5 , wherein: further comprising a manual operation portion configured to manually move the second shape line, The display control unit dynamically displaying the second shape line includes moving the second shape line on the display according to the operation of the manual operation unit.

7. The display control device according to claim 6, wherein: The first shape line has at least one of a change point between straight lines, a change point between a straight line and an arc, or a change point between an arc and an arc. The display control unit is configured to display an extension line extending from the change point of the first shape line, and highlight at least a portion of the extension line when the moving second shape line contacts the extension line.

8. The display control device according to any one of claims 5 to 7, wherein: further comprising a contact detection unit configured to detect contact between the first shape line and the second shape line, When the contact detection unit detects the contact, the display control unit is configured to highlight at least a portion of a region where the first shape line contacts the second shape line.

9. The display control device according to any one of claims 5 to 7, wherein: further comprising an overlap detection unit configured to detect an overlapping state between the first shape line and the second shape line, When the overlap detection unit detects the overlap state, the display control unit is configured to highlight at least a portion of an overlapping region between the first shape line and the second shape line.

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