Display method and display control device for display control device

Abstract

To provide a display method in a display control device capable of clearly indicating a fact that a first shape line being statically display-controlled and a second shape line being dynamically display-controlled are brought into contact or overlapped, and the display control device.SOLUTION: A display control unit statically display-controls a workpiece contour line B on a display, and dynamically display-controls a grinder contour line A. When the dynamically display-controlled grinder contour line A comes into a state where it contacts with the workpiece contour line B, the display control unit high-light displays a contacted part of the workpiece contour line B.SELECTED DRAWING: Figure 7

Description

[Technical Field]

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

[0002] A conventional CAD system is known from Patent Document 1. In the CAD system of Patent Document 1, a part interference check is performed using a part interference tool. In this method, for each part, the plan view, front view, and side view are grouped together, and part numbers and part names are defined and stored in the graphic database. The quadrant division tool defines dividing lines to separate quadrants and displays the dividing lines on the display. The part interference tool recognizes each element in the graphic database for each part and each quadrant according to the group settings, and determines whether there is an intersection between the elements of two parts. If there is interference, the relevant point is highlighted. This highlighting makes it possible for the operator to clearly see the interference between parts. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-11474 Summary of the Invention [Problem to be solved by the invention]

[0004] As mentioned above, in Patent Document 1, interference checks between parts are performed, but this method is performed based on plan view, front view, and side view of static parts. Therefore, this method is not suitable when, for example, one of the shape lines representing the outline of an object and the other shape line is moving or dynamically changing due to a change in shape on the actual display.

[0005] The object of the present invention is to provide a display method and a display control device in a display control device that can clearly indicate to an operator when a first shape line, which is statically display-controlled, and a second shape line, which is dynamically display-controlled, come into contact or overlap. [Means for solving the problem]

[0006] In order to solve the above problems, the present invention provides a display method in a display control device in which a display control unit statically controls the display of a first shape line on a display and dynamically controls the display of a second shape line, and the display control unit highlights at least a portion of the first shape line that is in contact with the first shape line when the second shape line that is dynamically controlled to be displayed comes into contact with the first shape line, or highlights the area where the first shape line and the second shape line are overlapped when at least a portion of the second shape line that is dynamically controlled to be displayed comes into an overlapping state with the first shape line (Claim 1).

[0007] Here, highlighting refers to emphasis. Highlighting includes changing the color, changing the line thickness, changing the brightness, and changing the line type. When changing the color, it is preferable to change to a brighter color than before. When changing the line thickness, it is preferable to make it thicker than before. When changing the brightness, it is preferable to make it brighter than before.

[0008] The lines displayed on the display include straight lines and curved lines, as well as lines formed by a linear array of points. The shape lines include lines used as elements to represent shapes, and groups of lines that represent the entire shape or part of the shape of an object itself. The lines used as elements to represent shapes include straight lines, dotted lines, chain lines, curved lines, etc.

[0009] According to the above configuration, when the first geometric line, the display of which is statically controlled, and the second geometric line, the display of which is dynamically controlled, come into contact with or overlap with each other, it is possible to clearly indicate this to the operator. In addition, in the display method, it is preferable that the display control device includes a manual operation unit that manually moves the second shape line, and the display control unit dynamically controls the display of the second shape line by moving and displaying the second shape line on the display in accordance with the operation of the manual operation unit (Claim 2).

[0010] According to the method of the above configuration, when the first shape line, which is statically display-controlled, and the second shape line, which is dynamically display-controlled, come into contact or overlap with each other, the operator operating the manual operation unit can be informed of this.

[0011] In addition, in the display method, when the first shape line has at least one change point among a change point between a straight line and a straight line, a change point between a straight line and an arc, or a change point between an arc and an arc, the display control unit may control the extension display of an extension line extending from the change point of the first shape line, and when the second shape line, which is controlled to be moved, comes into contact with the extension line, the contacted extension line may be highlighted (claim 3).

[0012] According to the method configured as above, even when the second shape line that is subjected to the movement display control comes into contact with the extension line, this fact can be clearly indicated. In the display method, the dynamic display control of the second shape line by the display control unit is to perform shape change display control of the second shape line (claim 4).

[0013] According to the method configured as above, when the second shape line that changes shape is superimposed on the first shape line, this fact can be clearly indicated. In addition, the display control device of the present invention is a display control device that includes a display and a display control unit that statically controls the display of a first shape line on the display and dynamically controls the display of a second shape line, and the display control unit highlights at least a contacted portion of the first shape line when the second shape line that is dynamically controlled to be displayed comes into contact with the first shape line, or highlights the overlapping area of ​​the first shape line and the second shape line when at least a portion of the second shape line that is dynamically controlled to be displayed comes into an overlapping state with the first shape line (Claim 5).

[0014] According to the above configuration, when the first geometric line, the display of which is statically controlled, and the second geometric line, the display of which is dynamically controlled, come into contact with or overlap with each other, it is possible to clearly indicate this to the operator. In addition, the display control device is provided with a manual operation unit that manually moves the second shape line, and the dynamic display control of the second shape line by the display control unit is to control the movement and display of the second shape line on the display in accordance with the operation of the manual operation unit (Claim 6).

[0015] According to the display control device of the above configuration and the method of the above configuration, when the first shape line, which is statically display-controlled, and the second shape line, which is dynamically display-controlled, come into contact or overlap with each other, it is possible to clearly indicate this to the operator operating the manual operation unit.

[0016] In addition, when the first shape line has at least one change point among a change point between a straight line and a straight line, a change point between a straight line and an arc, or a change point between an arc and an arc, the display control device may control the extension display of an extension line extending from the change point of the first shape line, and when the second shape line, which is controlled to be moved, comes into contact with the extension line, highlight the contacted extension line (Claim 7).

[0017] According to the display control device having the above configuration, even when the second shape line that is subjected to the movement display control comes into contact with the extension line, this fact can be clearly indicated. The display control device may also include a contact detection unit that detects contact between the first shape line and the second shape line, and when the contact is detected by the contact detection unit, the display control unit may perform the highlighted display (claim 8).

[0018] According to the display control device having the above configuration, when the contact detection section detects contact, the display control section can perform the highlighted display. The display control device may also include an overlap detection unit that detects an overlap state between the first shape line and the second shape line, and when the overlap detection unit detects the overlap state, the display control unit may perform the highlighted display (claim 9).

[0019] According to the display control device having the above configuration, when the overlap detection section detects an overlap state, the display control section can perform a highlighted display. [Effects of the Invention]

[0020] The present invention has an effect of making it possible to clearly indicate to an operator when a first geometric line whose display is controlled statically and a second geometric line whose display is controlled dynamically come into contact with or overlap with each other. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a diagram showing the overall configuration of an image teaching system; [Figure 2] 1 is an explanatory diagram of steps of an image teaching method in an image teaching system. [Figure 3] FIG. 1A is an explanatory diagram of an operation panel displayed on the screen of a display, and FIG. 1B is an explanatory diagram of a highlight display setting menu displayed on the screen of a display. [Figure 4]FIG. 1(a) is an explanatory diagram of two-point teaching in the automatic change point teaching mode, and FIG. 1(b) is an explanatory diagram of three-point teaching in the automatic change point teaching mode. [Figure 5] 10(a) is an explanatory diagram of two-point teaching in the change point direct teaching mode, and FIG. 10(b) is an explanatory diagram of three-point teaching in the change point direct teaching mode. [Figure 6] FIG. 10 is an explanatory diagram showing a workpiece contour line and a grinding wheel contour line displayed on a common screen of a display. [Figure 7] 10A is an explanatory diagram of the highlight display when the grinding wheel contour line contacts the workpiece contour line at one point, and FIG. 10B is an explanatory diagram of the highlight display when the grinding wheel contour line contacts the workpiece contour line at two points. [Figure 8] FIG. 10 is an explanatory diagram of the operation buttons for the "guideline" displayed on the common screen of the display. [Figure 9] 10A is an explanatory diagram showing a state where a reference line is displayed on the workpiece contour line, and FIG. 10B is an explanatory diagram showing a state where a reference line is not displayed on the same workpiece contour line as in FIG. [Figure 10] FIG. 10 is a diagram showing the overall configuration of an image teaching system according to a second embodiment. [Figure 11] 10(a) and 10(b) are explanatory diagrams showing a state in which a workpiece edge line (second shape line) and a reference line (first shape line) are displayed on a display. [Figure 12] 10(a) and 10(b) are explanatory diagrams showing a state in which a workpiece edge line (second shape line) is superimposed on a workpiece contour line (first shape line). [Figure 13] 10(a) to 10(d) are explanatory diagrams of the detection range of the highlight display. [Figure 14] 10(a) to 10(e) are explanatory diagrams of overlap detection. DETAILED DESCRIPTION OF THE INVENTION

[0022] (First embodiment) An embodiment in which the display control device of the present invention is incorporated into an image teaching system 10 will be described below with reference to FIGS. 1 to 9 and 13(a) to 13(d).

[0023] Note that this embodiment is merely an example, and the display control device is not limited to being included in the image teaching system 10 (hereinafter simply referred to as the system 10). For example, the present invention is applicable to any system that has a display control device that displays images on a display, such as a CAD system.

[0024] (1. System Overview) 1, the system 10 includes an image teaching processing device 12, a display 14, and input devices including a console 16, a mouse 18, an X-axis operation device 20, and a Y-axis operation device 22. The image teaching processing device 12 is connected to an NC device 33 so as to be able to communicate with it. The image teaching processing device 12 corresponds to a display control device.

[0025] (2. Image teaching processing device 12) The image teaching processing device 12 is composed of a computer and includes a CPU (Central Processing Unit) 24 and a storage unit 26 including a ROM, RAM, a hard disk, etc. The control program for the system 10 is stored in the storage unit 26 and is loaded when the system is executed. The RAM is a working memory. The hard disk stores shape drawing data of multiple workpieces and grinding wheel contour image data in a writable and readable manner. The shape drawing data of the workpiece is shape drawing data of the workpiece to be ground by a disk-shaped grinding wheel provided in the NC device 33, and is saved, for example, as a DXF file that can be read and written by CAD software. Note that the shape drawing data of the workpiece is not limited to a DXF file and may be in other file formats. Note that in this embodiment, the shape drawing data of the workpiece is formed in DXF format.

[0026] The shape drawing data of the workpiece may also be shape drawing data formed from a template. The shape drawing data formed from a template includes shape data of a combination of predefined shapes such as lines, circles, arcs, rectangles, triangles, etc., or single shape data. The shape drawing data formed from a template is created by selecting and drawing the lines, circles, etc. on the screen 15 of the display 14 using template selection buttons (not shown), etc., and then storing the data in an image memory comprised of the RAM. The display control unit 28 draws the workpiece contour B based on the shape drawing data formed from the template stored in this image memory.

[0027] The workpiece shape contour displayed on the screen 15 of the display 14 based on the workpiece shape drawing data has shape change points, i.e., change points between straight lines, change points between straight lines and arcs, or change points between arcs. Thus, the straight lines and arcs that form the change points are "elements" that form the workpiece shape contour. The arcs correspond to curved lines. The workpiece shape contour is hereinafter referred to as the workpiece contour or DXF line. In this embodiment, the workpiece contour corresponds to the first shape line.

[0028] The grinding wheel contour image data is shape data of the grinding wheel. The shape data of the grinding wheel is obtained by extracting the contour line through image processing, such as edge detection, based on an image of grinding marks on a dummy workpiece ground with the grinding wheel. Note that the contour line of the grinding wheel contour image will be simply referred to as the grinding wheel contour line hereinafter. As shown in FIG. 1, when the CPU 24 executes the control program of the system 10, it performs various processing operations as a display control unit 28, a detection unit 30, and a trajectory generation unit 32. In this embodiment, the grinding wheel contour line corresponds to the second shape line.

[0029] (3. Input Device) The console 16 is an input device for inputting numerical values, characters, etc. to the CPU 24. The mouse 18 is an input device for performing operations such as moving a mouse pointer (not shown) on the screen 15 of an image displayed in the image operation area 15a of the screen 15 shown in Fig. 1. Note that the following explanation will be given on the assumption that various operations or teachings are performed by touch operations. However, it is also possible to perform teaching or various input operations by clicking after operating the mouse 18 to align the mouse pointer (not shown) with various buttons, etc.

[0030] The X-axis operation device 20 is equipped with 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. Based on the operation signal, the display control unit 28 of the CPU 24 moves the grinding wheel contour line A (see FIG. 6) displayed in the image operation area 15a on the screen 15 in the X-axis direction of the machine coordinate system shown in FIG. 1. The machine coordinate system is that of the NC device 33.

[0031] The Y-axis operating device 22 is equipped with 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. Based on the operation signal, the display control unit 28 of the CPU 24 moves the grinding wheel outline A (see FIG. 6) displayed in the image operation area 15a on the screen 15 in the Y-axis direction of the machine coordinate system shown in FIG. 1. The X-axis operating device 20 and the Y-axis operating device 22 correspond to a manual operating unit.

[0032] (4. Display 14) The display 14 is composed of a liquid crystal display device, an organic EL display device, a CRT, or the like. The display 14 is a touch panel display. As shown in Fig. 1, the screen 15 of the display 14 during image teaching has an image operation area 15a, button display areas 15b and 15c, and a switching tab display area 15d. During image teaching, the image operation area 15a displays an image such as the grinding wheel contour line.

[0033] (5. Operation buttons) As shown in Fig. 3(a), various operation buttons used during image teaching are displayed in button display areas 15b and 15c. The various operation buttons in button display areas 15b and 15c can be touched by the operator. Hereinafter, touch operation will be simply referred to as "operation." The various buttons arranged in button display area 15b include a program save button 34, a program load button 36, and a machine transfer button 38.

[0034] When the program save button 34 is operated, a process program in which the grinding wheel moves along a trajectory created based on teaching to perform grinding is saved on the hard disk of the memory unit 26. When the program load button 36 is operated, the process program stored on the hard disk of the memory unit 26 is displayed in a pop-up screen. The process program displayed on this pop-up screen can be read. When the machine transfer button 38 is operated, the loaded process program is transferred to the NC device 33.

[0035] The various buttons in the button display area 15c include a list up button 40, a list down button 42, a point input method selection button 43, a start point button 44, a midpoint button 46, and an end point button 48. The start point button 44, the midpoint button 46, and the end point button 48 correspond to the teaching section.

[0036] As shown in Fig. 3(a), the switching tab display area 15d has display switching tabs such as a shape data tab 67a, a teaching tab 67b, etc. In Fig. 3(a), when the teaching tab 67b is operated, a process list 68 obtained by teaching is displayed in the switching tab display area 15d.

[0037] When the shape data tab 67a is operated, a guide line setting menu 76 shown in FIG. 8 is displayed in the switching tab display area 15d and the button display area 15c. Furthermore, when a highlight display setting tab (not shown) among the display switching tabs is operated, a highlight display setting menu 90 shown in FIG. 3(b) is displayed in the switching tab display area 15d and the button display area 15c.

[0038] The process list 68 includes a teaching process row number column 70, a Type column 72, and an axis movement speed column 74. In each row of the process row number column 70, the CPU 24 writes the process number obtained by teaching in row order, with 0 as the initial value. In each row of the Type column 72, the CPU 24 writes the type of each process, for example, Line (straight line) or Circle (circular arc). In the axis movement speed column 74, the machining speed of each process is written by input by the operator. The process list 68 can be scrolled up or down by operating the list up button 40 or list down button 42.

[0039] (5.1. Change point relationship line extension display) When the shape data tab 67a shown in Fig. 3(a) is operated, a guide line setting menu 76 shown in Fig. 8 is displayed. The guide line setting menu 76 is provided with a radio button-type hide button 77 and a guide line button 78.

[0040] FIG. 9(b) shows an example of a workpiece contour line B. This workpiece contour line B has a pair of straight lines Ba and Bb that intersect at a change point Q1, which is a shape change point. When the reference line button 78 is operated, a reference line Ma is displayed, as shown in FIG. 9(a), starting at the change point Q1 and extending from the line Ba as a straight line of a predetermined length. At the same time, a reference line Mb is displayed, as shown in FIG. 9(a), starting at the change point Q1 and extending from the line Bb as a straight line of a predetermined length. The coordinates of the change point Q1 of the workpiece contour line B are stored in the DXF file. Therefore, the CPU 24, which functions as the display control unit 28, determines whether the coordinates of this change point Q1 and the line forming the change point Q1 are a straight line or an arc, and based on the determination result, displays a straight line or an arc reference line, as described below.

[0041] Although not shown, when the workpiece contour line B has a change point where a straight line and an arc intersect, operating the guide line button 78 displays a guide line of a predetermined length extending from the straight line of the workpiece contour line B with the change point as its origin. At the same time, an arc guide line of a predetermined length extending from the arc with the same radius of curvature and the same center of curvature as the arc of the workpiece contour line B with the change point as its origin is displayed. Furthermore, when the workpiece contour line B has a change point where two arcs intersect, operating the guide line button 78 displays a guide line of a predetermined length extending from one arc with the same radius of curvature and the same center of curvature as the arc. At the same time, a guide line of a predetermined length extending from the other arc with the change point as its origin is displayed.

[0042] The above-mentioned reference lines correspond to extension lines. (5.2. Highlight display setting menu display) When a highlight display setting tab (not shown) is operated in the display switching tab in the switching tab display area 15d shown in FIG. 3(a), a highlight display setting menu 90 shown in FIG. 3(b) is displayed in the button display area 15c.

[0043] As shown in FIG. 3(b), the highlight display setting menu 90 is in a table format with rows for “Work Edge Line” and “Grinding Wheel Contour Line” and columns for “DXF,” “Template,” and “Detection Width Setting Column.”

[0044] That is, the highlight display setting menu 90 has a work edge line·DXF selection button 91 , a work edge line·template selection button 92 , a grinding wheel contour line·DXF selection button 93 , and a grinding wheel contour line·template selection button 94 .

[0045] The highlight display setting menu 90 also has a close button 97. When the close button 97 is turned on, the highlight display setting menu 90 disappears from the button display area 15c.

[0046] The work edge line·DXF selection button 91 and the work edge line·template selection button 92 are toggle buttons, and when one is turned on, the other is automatically turned off.

[0047] This combination is assumed to occur when the work edge line as the second shape line comes into contact with or overlaps with the DXF line created in DXF format as the first shape line, or the template as the first shape line.

[0048] This workpiece edge line relates to the second embodiment described later, and is obtained as a contour line in plan view by edge detection through image processing of the contour of an image captured when the workpiece is viewed in plan, and is stored in the storage unit 26. This will be described in detail in the second embodiment.

[0049] The grinding wheel contour line·DXF selection button 93 and the grinding wheel contour line·template selection button 94 are toggle buttons, and when one is turned on, the other is automatically turned off. This combination is assumed to occur when the wheel contour line as the second shape line comes into contact with or overlaps with the DXF line created in DXF format as the first shape line, or the template as the first shape line.

[0050] The work edge line·DXF selection button 91 and the grinding wheel contour line·DXF selection button 93 are toggle buttons, and when one is turned on, the other is automatically turned off.

[0051] The work edge line template selection button 92 and the grinding wheel contour line template selection button 94 are toggle buttons, and when one is turned on, the other is automatically turned off.

[0052] In this way, highlighting is possible only when any two of the combinations of the work edge line, grinding wheel contour line, and DXF line are combined. Furthermore, in the case of a combination of the work edge line, the grinding wheel contour line, and the template, highlighting is possible only when any two of these are combined.

[0053] In this embodiment, DXF lines are assumed to be saved as DXF files, but this is not limited to DXF lines, and instead of DXF lines, lines may be saved in a file format other than DXF files.

[0054] The detection width setting field 95 is a field for setting the detection width d when the work edge line and the DXF line, or the work edge line and the template, are in contact with or overlap with each other. In this case, the detection width d is based on the DXF line or the template and is the distance from the DXF line or the template.

[0055] The detection width setting field 96 is a field for setting the detection width d when the grinding wheel contour line and the DXF line, or the grinding wheel contour line and the template, are in contact with or overlap with each other. In this case, the detection width d is based on the DXF line or the template and is the distance from the DXF line or the template. Numeric values ​​are input into both setting fields 95 and 96 via the console 16.

[0056] (5.3. Hide extension of change point relationship lines) In the case where the guide lines are not to be displayed, when a hide button 77 shown in FIG. 8 is operated, the CPU 24 as the display control unit 28 hides the guide lines in response to the operation.

[0057] (5.4. Point input button) The point input method selection button 43 shown in Fig. 3(a) is a mode switching button operated to select either the "automatic change point teaching mode" or the "change point direct teaching mode." The start point button 44, midpoint button 46, and end point button 48 are point input buttons. These buttons are operated when the operator determines that the contact point between the grinding wheel contour line A and the workpiece contour line B should be the start point, midpoint, or end point when the operator determines that the contact point should be the start point, midpoint, or end point.

[0058] Here, highlighting and contact or overlap detection will be described. (5.5. Contact Detection) The detection of whether the grinding wheel contour line A has come into contact with the workpiece contour line B or the reference line is as follows.

[0059] The CPU 24 as the detection unit 30 detects whether the tip of the grinding wheel contour line A, which moves based on the operation of the X-axis operation device 20 and the Y-axis operation device 22, is within the workpiece contour line B or a detection range Δ defined by the detection width d of the reference line. The detection range Δ is determined by the detection width d input in the detection width setting field 96 shown in Figure 3(b).

[0060] Fig. 13(a) shows a case where the tip of the grinding wheel contour line A is approaching the workpiece contour line B but has not yet reached the detection range Δ. Fig. 13(b) shows a case where the tip of the grinding wheel contour line A has reached the detection range Δ but has not yet penetrated the workpiece contour line B. Fig. 13(c) shows a case where the tip of the grinding wheel contour line A has reached the detection range Δ but has penetrated the workpiece contour line B. Fig. 13(d) shows a case where the tip of the grinding wheel contour line A has penetrated the workpiece contour line B and the detection range Δ.

[0061] In the examples of Figures 13(a) and 13(d), the tip of the grinding wheel contour line A does not reach the detection range Δ, so it is detected that the grinding wheel contour line A is not in contact with the workpiece contour line B or the reference line. In the examples of Figures 13(b) and 13(c), the tip of the grinding wheel contour line A reaches the detection range Δ, so it is detected that the grinding wheel contour line A is in contact with the workpiece contour line B or the reference line.

[0062] The detection unit 30 of this embodiment corresponds to a contact detection unit. (5.6. Highlighting) Next, as shown in Figures 7(a), 7(b), and 9(a), the CPU 24 as the display control unit 28 highlights a predetermined range including the portion of the workpiece contour line B or the reference line where the tip of the grinding wheel contour line A reaches within the detection range Δ, as contact point J. Note that in Figures 7(a), 7(b), and 9(a), the highlighted portion of the workpiece contour line B or the reference lines Ma, Mb is enclosed in a thin frame W for ease of explanation. In Figures 13(b) and 13(c), the highlighted portion of the workpiece contour line B is drawn with a double line for ease of explanation.

[0063] Figure 7(a) shows a case where the grinding wheel contour line A contacts the workpiece contour line B at one point. Figure 7(b) shows a case where the grinding wheel contour line A contacts the workpiece contour line B at two points. Regarding the "contact point" described in the following text, even if there is no explanation that the contact is detected and, as a result, a predetermined range including the contact point is highlighted, it should be understood that the contact is detected and highlighted. Note that it is also possible to highlight only the contact point rather than the predetermined range.

[0064] The "automatic change point teaching mode" and the "change point direct teaching mode" will now be described. (5.7. Start point button 44, midpoint button 46, end point button 48) <5.7.1. Automatic change point teaching mode> When the automatic change point teaching mode is selected by the point input method selection button 43, the "element" forming the workpiece contour line B is specified as being a straight line or an arc by using the start point button 44, midpoint button 46, and end point button 48. In the automatic change point teaching mode, two-point teaching is used to teach that the "element" is a straight line, and three-point teaching is used to teach that the "element" is an arc.

[0065] <5.7.1-1. Calculating the trajectory of a straight line and the coordinates of change points between straight lines> The workpiece contour line in FIG. 4(a) has straight lines D1 and D2 as "elements" and intersects at a change point Qa.

[0066] The operator brings the grinding wheel contour line A (not shown) into contact with any two points on the straight line D1. Of the two contact points Ja and Ra, the start point button 44 is operated at contact point Ja, and the end point button 48 is operated at contact point Ra. Based on the operation of the start point button 44 and the end point button 48, the CPU 24 calculates the machine coordinate system positions of the grinding wheel contour line at each contact point, i.e., the machine coordinate system coordinates of the start point Ka and end point Ea of the grinding wheel contour line in FIG. 4(a).

[0067] Based on this two-point teaching, the CPU 24 determines that the start point Ka and the end point Ea are on the straight line H1. Next, the operator brings the grinding wheel contour A (not shown) into contact with two arbitrary points on the straight line D2. Of these two contact points Jb and Rb, the start point button 44 is operated at the contact point Jb closest to the contact point Ra, and the end point button 48 is operated at the contact point Rb. Based on the operation of the start point button 44 and the end point button 48, the CPU 24 calculates the machine coordinate system positions of the grinding wheel contour A at each contact point, i.e., the machine coordinate system coordinates of the start point Kb and the end point Eb of the grinding wheel contour A shown in FIG. 4(a). Based on this two-point teaching, the CPU 24 determines that the start point Kb and the end point Eb are on the straight line H2.

[0068] Furthermore, by consecutively teaching the start point Ka and the end point Ea, and the start point Kb and the end point Eb, the CPU 24 calculates the coordinates of the trajectory change point Fa of the two straight lines H1 and H2 based on the linear equations of the straight lines H1 and H2, which are the trajectory of the grinding wheel contour line.

[0069] In this embodiment, the trajectory of the grinding wheel contour line is a machining path at the center of the perfect circle when the tip shape of the grinding wheel contour line is an arc of a perfect circle, for example. Note that the trajectory is not limited to the center of the perfect circle, and may be a machining path at any point, such as a point in the vicinity of the center.

[0070] The trajectory change point Fa is the position of the grinding wheel contour line when the grinding wheel contour line A (not shown) hypothetically comes into contact with the change point Qa of the workpiece contour line. By this two-point teaching, the CPU 24, i.e., the trajectory generating unit 32, calculates a trajectory on the grinding wheel contour line, including the straight lines H1 and H2 and the coordinates of the change point between the straight lines H1 and H2. Based on the start point and end point taught in this way and the calculated trajectory change point Fa, the CPU 24 functions as the trajectory generating unit 32 to create a trajectory, and functions as the display control unit 28 to display the trajectory on the screen 15 of the display 14.

[0071] <5.7.1-2. Calculating the locus of an arc and the coordinates of the intersection between a line and an arc> The workpiece profile in FIG. 4(b) has a straight line D1 and an arc D3 as "elements," which intersect at a transition point Qb. The contact points Ja and Ra, the start point Ka, the end point Ea, and the line H1 associated with the straight line D1 of the workpiece profile are the same as those described above, and therefore will not be described here. The operator brings the grinding wheel profile (not shown) into contact with any three points on the arc D3. Of the three contact points Jc, Lc, and Rc, the start point button 44 is operated at the contact point Jc closest 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 the buttons 44, 46, and 48, the CPU 24 calculates the machine coordinate system positions of the grinding wheel profile at each contact point, i.e., the machine coordinate system coordinates of the start point Kc, midpoint Tc, and end point Ec of the grinding wheel profile in FIG. 4(b). Furthermore, based on this three-point teaching, the CPU 24 determines that the start point Kc, the midpoint Tc, and the end point Ec are on the arc H3.

[0072] Furthermore, by continuing two-point teaching and three-point teaching, the CPU 24 calculates the coordinates of the trajectory change point Fb of the line H1 and the arc H3 based on the equation of the line H1, which is the trajectory of the grinding wheel profile line, and the equation of the circle of the arc H3. The trajectory change point Fb is the position of the grinding wheel profile line when the grinding wheel profile line (not shown) hypothetically contacts the change point Qb of the workpiece profile line B. Note that if three-point teaching is first performed to identify the arc, and then two-point teaching is subsequently performed to identify the straight line, it is obvious that it is possible to obtain the equation of the circle that is the trajectory of the grinding wheel profile line and the equation of the straight line. Therefore, in this case as well, the CPU 24 calculates the coordinates of the change points of both lines based on the equation of the circle and the equation of the straight line.

[0073] When such two-point teaching is followed by three-point teaching, or three-point teaching is followed by two-point teaching, a trajectory including straight lines, arcs, and change points between straight lines and arcs on the grinding wheel contour line A is calculated by the trajectory generating unit 32. Based on the start point, end point, and midpoint thus taught and the calculated trajectory change point Fb, the CPU 24 functions as the trajectory generating unit 32 to create a trajectory, and functions as the display control unit 28 to display the trajectory on the screen 15 of the display 14.

[0074] <5.7.1-3. Calculating coordinates of points between arcs and between arcs> Although not shown, when the workpiece contour line has arcs and points where the arcs change places, the operator brings the grinding wheel contour line into contact with any three points on each arc, and performs three-point teaching at each contact point using the start point button 44, midpoint button 46, and end point button 48. As a result, the CPU 24, as the trajectory generating unit 32, creates a trajectory based on the coordinates in the machine coordinate system of the start point, midpoint, and end point of the grinding wheel contour line that comes into contact at the contact points of each arc, and displays the trajectory on the screen 15 of the display 14 as the display control unit 28.

[0075] Furthermore, as the three-point teaching for the arcs continues, the CPU 24 calculates the coordinates of the change points between the arcs based on the equations for each circle that forms the trajectory of the grinding wheel contour line. These change points are positions on the trajectory of the grinding wheel contour line when the grinding wheel contour line (not shown) hypothetically comes into contact with the change point of the workpiece contour line. As the three-point teaching continues in this manner, the trajectory generating unit 32 calculates a trajectory that includes the coordinates of the change points between adjacent arcs and between arcs on the grinding wheel contour line, and the display control unit 28 displays the trajectories on the screen 15 of the display 14.

[0076] <5.7.2. Change Point Direct Teaching Mode> When the change point direct teaching mode is selected by the point input method selection button 43, the start point button 44, midpoint button 46, and end point button 48 are used when the grinding wheel contour line is brought into contact with the end point of a straight line, end point of an arc, a change point, etc. included in the workpiece contour line.

[0077] <5.7.2-1. Calculating the trajectory of a straight line and the coordinates of change points between straight lines> The workpiece contour line in FIG. 5(a) has straight lines D1 and D2, similar to FIG. 4(a), which intersect at a change point Qa. The operator brings the grinding wheel contour line (not shown) into contact with a contact point Jd, which is one end point of the line D1, and with a change point Qa, which is the other end point of the line D1. The start point button 44 is operated at the contact point Jd, and the end point button 48 is operated at the change point Qa. Based on the operation of the start point button 44 and the end point button 48, the CPU 24 calculates the machine coordinate system position of the grinding wheel contour line A that contacts the contact point Jd and the change point Qa, i.e., the machine coordinate system coordinates of the start point Kd and the end point Ee of the grinding wheel contour line in FIG. 5(a).

[0078] Based on this two-point teaching, the CPU 24 also determines that the start point Kd and the end point Ee are line H1 and that these points are the end points of line H1. Next, the operator brings the grinding wheel contour line (not shown) into contact with end point Rf on line D2 and operates the end point button 48. Based on the operation of the end point button 48 at the contact point, end point Rf, the CPU 24 calculates the machine coordinate system position of the grinding wheel contour line that is in contact with end point Rf, i.e., the machine coordinate system coordinates of end point Ef of the grinding wheel contour line in FIG. 5(a).

[0079] Based on the one-point teaching at the end point Ef on the straight line H2, which is the trajectory of the grinding wheel contour line, the CPU 24 determines that the previous end points Ee and Ef are on the straight line H2. In this way, when the workpiece contour line B first has a straight line and then a straight line, two-point teaching is performed first, followed by the one-point teaching, and the trajectory including the straight lines H1 and H2 on the grinding wheel contour line A is calculated by the CPU 24, i.e., the trajectory generating unit 32. Furthermore, when a straight line continues on the workpiece contour line after this, the one-point teaching is performed, and the trajectory of the straight line on the grinding wheel contour line is similarly calculated (created) by the CPU 24 as the trajectory generating unit 32. The created trajectory is displayed on the display 14 by the CPU 24 as the display control unit 28.

[0080] <5.7.2-2. Calculating the locus of an arc and the coordinates of the intersection between a line and an arc> The workpiece contour line in Fig. 5(b) has a straight line D1 and an arc D3, similar to Fig. 4(b), which intersect at a change point Qb. Note that the contact point Jd, start point Kd, end point Ee, and straight line H1 related to the straight line D1 of the workpiece contour line are the same as those described above, and therefore will not be described here.

[0081] The operator contacts the grinding wheel contour line (not shown) on the arc H3, with the change point Qb as one end point and the other end point Rg and point Ld between the change point Qb and the other end point Rg as contact points. The midpoint button 46 is operated at point Ld, and the end point button 48 is operated at end point Rg. Based on the operation of buttons 46 and 48, the CPU 24 calculates the machine coordinate system positions of the grinding wheel contour line A at each contact point, i.e., the machine coordinate system coordinates of the midpoint Tg and end point Eg of the grinding wheel contour line shown in FIG. 5(b). Based on the two-point teaching at point Ld and end point Rg and the change point Qb, the CPU 24 determines that end point Ee, midpoint Tg, and end point Eg are on the arc H3.

[0082] Furthermore, the CPU 24 calculates (creates) a trajectory including a straight line and an arc on the grinding wheel contour line A based on the equation of the straight line H1 and the equation of the circle of the arc H3 by the CPU 24, i.e., the trajectory generating unit 32. The created trajectory is displayed on the display 14 by the CPU 24, which functions as the display control unit 28. Note that if three-point teaching is first performed to identify an arc, and then one-point teaching similar to that shown in FIG. 5(a) is performed to identify a straight line, it is obvious that the equation of the circle and the equation of the straight line can be obtained. Therefore, in this case as well, the trajectory including the straight line and the arc is calculated by the CPU 24 of the trajectory generating unit 32 based on the equation of the circle and the equation of the straight line.

[0083] <5.7.2-3. When two arcs are connected> Although not shown, if the workpiece contour line has arcs and transition points, the operator performs three-point teaching by contacting the grinding wheel contour line with three points on each arc: the end points of each arc and the midpoint between the end points of each arc. Specifically, for the first arc, one end point, the midpoint, and the other end point (transition point) are set as contact points, and buttons 44, 46, and 48 are operated at these contact points. For the next second arc, one end point is a transition point with the first arc, so button operation here is omitted. Then, when the grinding wheel contour line A contacts the midpoint and the other end point of the second arc, buttons 46 and 48 are operated to perform two-point teaching. For subsequent arcs, two-point teaching is performed in the same manner. As a result, the CPU 24, which functions as the trajectory generating unit 32, calculates (creates) the arc trajectories of the grinding wheel contour line along each arc of the workpiece contour line. The created trajectory is displayed on the display 14 by the CPU 24 acting as a display control unit 28.

[0084] <5.7.2-4. When the grinding wheel contour line A cannot come into direct contact with the change point of the workpiece contour line B> The above describes the case where the grinding wheel contour line A directly contacts the change point of the workpiece contour line B. However, as shown in the example of Figure 9(b), if the workpiece contour line B has a change point Q1 as a shape change point at a point where it is pointed by straight lines Ba and Bb, the point where the grinding wheel contour line A should trace a trajectory must also be a trajectory change point. For this reason, in such an example, the operator operates the X-axis operating device 20 and the Y-axis operating device 22 while the reference lines Ma and Mb are displayed so that the grinding wheel contour line A contacts both the reference lines Ma and Mb simultaneously.

[0085] In this state, the start point button 44 or the end point button 48 is operated. This operation teaches that the position of the grinding wheel contour line A that simultaneously contacts the guide lines Ma and Mb is the start point or the end point. In addition to the above-mentioned points of change between straight lines, examples of a change point at a sharp point on the workpiece contour line B include a change point between a straight line and an arc, or a change point between arcs. Even in such cases, with a pair of guide lines displayed, teaching is performed in the same manner as described above at the position where the grinding wheel contour line A simultaneously contacts both guide lines.

[0086] 9(a) and 9(b) show cases where the transition points are between straight lines. Although not shown, a pair of reference lines is also displayed when the transition point between a straight line and an arc, or between arcs, is a sharp point where the shape transitions. With this pair of reference lines displayed, teaching is performed in the same manner as described above at the position where the grinding wheel contour line A contacts both reference lines at the same time.

[0087] FIG. 7(b) shows another example in which there is a transition point Q3 where the grinding wheel contour line A cannot make contact. The transition point Q3 between the lines Be and Bf is located in a recessed portion of the workpiece contour line B. Even in this case, the trajectory transition point where the grinding wheel contour line A should trace must correspond to the transition 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 simultaneously contacts the lines Be and Bf. The operator then 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 simultaneously contacts the lines Be and Bf as the start point or end point. Examples of transition points that are recessed in the workpiece contour line B include, in addition to the transition points between straight lines, a transition point between a straight line and an arc, or a transition point between two arcs. Even in such cases, teaching is performed in the same manner as described above at the position where the grinding wheel contour line A simultaneously contacts the straight line and the arc, or both arcs.

[0088] (Operation of the first embodiment) The system 10 and the display method configured as described above will be described with reference to Figures 2 and 6. In this embodiment, in the highlight display setting menu 90 of Figure 3(b), the grinding wheel contour line / DXF selection button 93 is turned on, and the workpiece edge line / DXF selection button 91 is automatically turned off. This makes it possible to highlight the combination of the grinding wheel contour line A and the workpiece contour line B (DXF line).

[0089] In S10 shown in FIG. 2, the operator operates the shape data tab 67a shown in FIG. 3(a) to display various operation buttons, such as a shape data read button (not shown), in the switching tab display area 15d and the button display area 15c. The operator operates the shape data read button (not shown) to cause the CPU 24 to read workpiece shape drawing data from the hard disk of the storage unit 26. The CPU 24, functioning as the display control unit 28, displays a workpiece contour in the image operation area 15a of the display 14, as shown in FIG. 6, based on the read workpiece shape drawing data. In S20 shown in FIG. 2, the operator operates the shape data read button (not shown) to cause the CPU 24 to read grinding wheel contour image data from the hard disk of the storage unit 26. The CPU 24, functioning as the display control unit 28, displays a grinding wheel contour A in the image operation area 15a of the display 14, as shown in FIG. 6, based on the read grinding wheel contour image data. In this way, the screen 15 of the display 14 is a common screen that displays both the workpiece contour and the grinding wheel contour.

[0090] In S30 of Fig. 2, the operator operates the teaching tab 67b shown in Fig. 3(a) to cause the display control unit 28 to display various operation buttons as shown in Fig. 3(a) in the switching tab 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 operation device 20 and the Y-axis operation device 22. Then, when the detection unit 30 detects that the tip of the grinding wheel contour line A is within the workpiece contour line B or the detection range Δ defined by the detection width d of the reference line, based on this detection, the display control unit 28 highlights the contact point of the workpiece contour line B, as shown in Fig. 7(a).

[0091] The operator performs teaching for this highlighted portion by operating the start point button 44, midpoint button 46, or end point button 48. Thereafter, the grinding wheel contour line A is moved in the same manner, and teaching is repeated for the portion that comes into contact with the workpiece contour line B. The trajectory generating unit 32 generates the trajectory of the grinding wheel contour line A each time teaching is repeated as described above. Information such as the type and axis movement speed is input into this trajectory for each teaching process line number.

[0092] Figure 6 shows the points obtained by teaching approach point P0 to retreat point P10 in the change point direct teaching mode. The dashed line passing through these points is the path of the grinding wheel contour line A. In Figure 6, "K," "E," and "T" on the workpiece contour line B are the points where the grinding wheel contour line A contacts the workpiece contour line B, and are the points where the start point button 44, end point button 48, and midpoint button 46 were operated, respectively.

[0093] Thus, S30 corresponds to a moving step of moving the grinding wheel contour line to the workpiece contour line under the control of the display control unit 28, and a teaching step of teaching by the teaching unit. S30 also includes a step of repeating the moving step and teaching step to obtain a trajectory including the position of the obtained grinding wheel contour line by the trajectory generating unit.

[0094] When the program save button 34 is operated in S40, a process program including information such as the teaching process line number, type, and axis movement speed, as well as the trajectory, is saved to the hard disk of the storage unit 26. Then, in S40, when the program load button 36 in FIG. 3(a) is operated, the process program stored on the hard disk of the storage unit 26 is displayed in a pop-up screen. The process program displayed on this pop-up screen can be read. When the machine transfer button 38 is operated, the loaded process program is transferred to the NC device 33. The NC device 33 executes the transferred process program to grind the workpiece. 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 machine coordinate system. Therefore, the process program transferred to the NC device 33 can be used without coordinate conversion.

[0095] This embodiment has the following features. (1) In the image teaching processing device 12 and its display method of this embodiment, the display control unit 28 statically controls the display of the workpiece contour line B (first shape line) on the display 14, and dynamically controls the display of the grinding wheel contour line A (second shape line). Then, when the grinding wheel contour line A, which is dynamically displayed and controlled, comes into contact with the workpiece contour line B, the display control unit 28 highlights the contacted portion of the workpiece contour line B.

[0096] As a result, the image teaching processing device 12 and its display method have the effect of clearly indicating to the operator when a first shape line, which is statically display-controlled, and a second shape line, which is dynamically display-controlled, come into contact.

[0097] (2) In the image teaching processing device 12 and its display method of this embodiment, the image teaching processing device 12 (display control device) is provided with an X-axis operation device 20 and a Y-axis operation device 22 (manual operation unit) for manually moving the grinding wheel contour line A (second shape line). Dynamic display control of the grinding wheel contour line A (second shape line) by the display control unit 28 means that the grinding wheel contour line A is moved and displayed on the display 14 in accordance with the operation of the X-axis operation device 20 and the Y-axis operation device 22 (manual operation unit).

[0098] As a result, when the first shape line, the display of which is statically controlled, and the second shape line, the display of which is dynamically controlled, come into contact with each other, this fact can be clearly indicated to the operator operating the manual operation unit. (3) In this embodiment, when the workpiece contour line B has at least one change point among a change point between a straight line and a straight line, a change point between a straight line and an arc, or a change point between an arc and an arc, the display control unit 28 controls the extension display of a guide line (extension line) extending from the change point of the first shape line.

[0099] In the image teaching processing device 12 and its display method, when the grinding wheel contour line A (second shape line) that is controlled to move and display comes into contact with the reference line (extension line), the contacted reference line (extension line) is highlighted.

[0100] As a result, even when the second shape line that controls the movement display comes into contact with the extension line, this fact can be clearly indicated. (Second embodiment) The system 10 and image teaching method of the second embodiment will be described with reference to FIGS. 10, 11(a), 11(b), 12(a), and 12(b).

[0101] The system 10 of this embodiment is the same as the system 10 of the first embodiment. However, since the present embodiment involves an NC device 33, the configuration of the NC device 33 will be further described.

[0102] (NC device 33) As shown in FIG. 10, 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.

[0103] The grinding mechanism 131 is equipped with a disk-shaped grinding wheel 135, and during grinding, 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 dummy workpiece (not shown) instead of the workpiece 124. The workpiece holding mechanism 132 is mounted on an XY table 134 and is movable in the X and Y directions.

[0104] The input device of this embodiment is provided with an X-axis operation device 120 and a Y-axis operation device 122 for operating and moving an XY table 134 in the X and Y directions. The X-axis operation 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.

[0105] Based on the operation signal, the NC control unit 29 of the CPU 24 operates the XY table 134 to move the workpiece holding mechanism unit 132 in the X-axis direction of the machine coordinate system. The Y-axis operation device 122 is equipped with 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 of the CPU 24 operates the XY table 134 to move the workpiece holding mechanism 132 in the Y-axis direction of the machine coordinate system.

[0106] The grinding mechanism 131 is provided in a moving mechanism 133, and moves the grindstone 135 relative to the workpiece 124. The moving mechanism 133 is equipped with an X-axis motor 137, a Y-axis motor 138, and a Z-axis motor 136. The rotation of the X-axis motor 137 and the Y-axis motor 138 is controlled by an NC control unit 29, which will be described later, so that the moving mechanism 133 can move the grindstone 135 in the X and Y directions. Furthermore, by driving the Z-axis motor 136, the grindstone 135 can be oscillated in a predetermined range in the vertical direction (Z direction).

[0107] (Image capture unit 139) The imaging unit 139 is disposed above the workpiece 124 or a dummy workpiece held by the workpiece holding mechanism unit 132. The imaging unit 139 is configured by a CMOS camera or a CCD camera.

[0108] The imaging unit 139 transmits to the CPU 24 imaging signals of a moving image of the grindstone 135 and the workpiece 124 during processing, or imaging signals of a still image of the grinding marks on the dummy workpiece cut by the grindstone 135 .

[0109] (Image processing unit 31) The CPU 24 has the function of an image processing unit 31 . The image processing unit 31 performs various image processing such as edge detection on the images based on the moving image pickup signals of the grinding wheel 135 and the workpiece 124 .

[0110] By image processing using the edge detection, it is possible to obtain the work edge line of the workpiece 124 in real time. The workpiece 124 moves in the X and Y directions along with the movement of the XY table 134. Then, the display control unit 28 controls the display of a workpiece edge line based on an image acquired by the imaging unit 139 that images the workpiece 124, so that the line moves in the same direction in the image operation area 15a of the display 14 instead of the image of the workpiece 124.

[0111] The workpiece 124 changes its outer shape when viewed in plan view after being ground by the grindstone 135. For this reason, the display control unit 28 controls the display of the workpiece edge line based on the image acquired by the imaging unit 139 that images the workpiece 124 in the image operation area 15a of the display 14 in place of the image of the workpiece 124.

[0112] The workpiece edge line corresponds to the second shape line. (Image teaching processing device 12) The CPU 24 of the image teaching processing device 12 of this embodiment also operates as an NC control unit 29. When the manual handle 20a of the X-axis operation device 20 is operated, the grinding wheel 135 is moved in the X direction by driving and controlling the X-axis motor 137 based on an operation signal from the encoder 20b. In this case, the display control unit 28 moves the grinding wheel contour line A in the X-axis direction of the machine coordinate system shown in Fig. 10 based on the operation signal, as in the first embodiment.

[0113] When the manual handle 22a of the Y-axis operating device 22 is operated, the Y-axis motor 138 is driven and controlled based on an 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 in the Y-axis direction of the machine coordinate system shown in Fig. 10 based on the operation signal, as in the first embodiment.

[0114] Here, the XY coordinates of the grinding wheel contour line A are updated in response to the operation of the manual handles 20a, 22a so as to be the same 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 the operation of the manual handles 20a, 22a.

[0115] In addition, the XY coordinates of the work edge line are updated in response to the operation of the manual handles 120a, 122a so as to be equivalent to the XY coordinates of the work 124, which are updated each time the work moves in the X and Y directions in response to the operation of the manual handles 120a, 122a.

[0116] In this embodiment, overlap detection is performed by the detection unit 30 (see FIG. 10). The overlap state is detected using the numerical value input in the detection width setting field 95 shown in FIG. 3(b). The detection unit 30 corresponds to the overlap detection unit.

[0117] (Operation of the second embodiment) Next, the operation of the second embodiment will be described. (1.1. When setting the workpiece 124 to the reference position) In the following explanation, since the reference lines Nx and Ny are DXF lines, the work edge line DXF selection button 91 is turned on in the highlight display setting menu 90 in Fig. 3(b). This makes it possible to highlight the combination of the work edge line S and the reference lines Nx and Ny (DXF lines) as shown in Fig. 3(b).

[0118] If the reference lines Nx and Ny are created using a template, the operator simply turns on the work edge line / template selection button 92 in the highlight display setting menu 90 in Fig. 3(b). This enables highlight display in combination with the work edge line S and the reference lines Nx and Ny (template).

[0119] Here, the reference lines Nx and Ny described in (1.1. When the workpiece 124 is set at the reference position) correspond to the first shape lines. 11(a) shows a state in which the display control unit 28 displays the work edge line S generated by the image processing unit 31 in the image operation area 15a of the display 14 based on an image of the workpiece 124 captured by the imaging unit 139. In this embodiment, the outer shape of the workpiece defined by the work edge line S is rectangular, as shown in FIG.

[0120] Meanwhile, reference lines Nx and Ny are pre-displayed in this image operation area 15a. The reference lines Nx and Ny are DXF lines. In this embodiment, the reference line Nx is parallel to the X-axis. The reference line Ny is parallel to the Y-axis. The intersection of the reference lines Nx and Ny is the target setting position of the corner of the outer shape of the workpiece on the work edge line S. Here, for convenience of explanation, it is assumed that the bottom side and left side drawn by the work edge line S are parallel to the reference lines Nx and Ny, respectively.

[0121] 11(a), with the workpiece edge line S and reference lines Nx and Ny positioned, the operator operates the X-axis operating device 120 and the Y-axis operating device 122 so that the corner of the outer shape of the workpiece on the workpiece edge line S is positioned at the target setting position. As a result, the workpiece 124 and the outer shape of the workpiece on the workpiece edge line S move.

[0122] (1.2. Overlap detection) The detection unit 30 determines whether the proximal lower edge of the workpiece edge line S, which is an outer shape of the workpiece and is parallel to the reference line Nx, is located within the numerical value set in the detection width setting field 95 based on the reference line Nx. If the proximal lower edge is located within the numerical value set in the detection width setting field 95 based on the reference line Nx, it is determined that the proximal lower edge is overlapping with the reference line Nx. If the proximal lower edge is not located within the numerical value set in the detection width setting field 95 based on the reference line Nx, it is determined that the proximal lower edge is not overlapping with the reference line Nx.

[0123] Then, when it is determined that the lower side on the proximal side overlaps the reference line Nx, the display control unit 28 highlights the area where the lower side and the reference line Nx overlap.

[0124] Furthermore, the detection unit 30 determines whether the proximal left side of the left and right sides of the workpiece edge line S that are parallel to the reference line Ny in the outer shape of the workpiece is located within the numerical value set in the detection width setting field 95 based on the reference line Ny. If the proximal left side is located within the numerical value set in the detection width setting field 95 based on the reference line Ny, it is determined that the proximal left side is overlapping with the reference line Ny. If the proximal left side is not located within the numerical value set in the detection width setting field 95 based on the reference line Ny, it is determined that the proximal left side is not overlapping with the reference line Nx.

[0125] If it is determined that the left side on the proximal side overlaps the reference line Ny, the display control unit 28 highlights the overlapping region of the left side and the reference line Ny.

[0126] It should be noted that the determination is not limited to whether the side on the proximal side is superimposed on the reference line, but it may be determined whether the side on the far-sighted side is superimposed on the reference line. 11(b) shows a case where the entire bottom edge of the proximal side is overlapped with the reference line Nx and the entire left edge of the proximal side is overlapped with the reference line Ny. As shown in FIG. 11(b), the display control unit 28 highlights the overlapping areas of the entire bottom edge and reference line Nx, and the entire left edge and reference line Ny. In FIG. 11(b), the highlighted portion of the workpiece edge line S is enclosed in a thin frame W for ease of explanation.

[0127] By highlighting the workpiece edge line S in this manner, the operator can easily confirm that the corner of the workpiece edge line S is positioned at the target position. (2.1. During and after processing with grinding wheel 135) In the following explanation, since the workpiece contour line B is a DXF line, the workpiece edge line DXF selection button 91 is turned on in the highlight display setting menu 90 in Fig. 3(b). This makes it possible to highlight the combination of the workpiece edge line S and the workpiece contour line B (DXF line) as shown in Fig. 3(b).

[0128] If the workpiece contour line B is created using a template, the operator simply turns on the workpiece edge line / template selection button 92 in the highlight display setting menu 90 in Fig. 3(b). This makes it possible to highlight the combination of the workpiece edge line S and the workpiece contour line B (template).

[0129] 12(a) shows a state in which the display control unit 28 displays the workpiece edge line S, which is generated by the image processing unit 31 based on an image of the workpiece captured by the imaging unit 139, in the image operation area 15a of the display 14 while the grinding wheel 135 is grinding the workpiece 124. Note that the workpiece edge line S has a rectangular shape in a plan view before processing, but in FIG. 12(a) it is shown in a state in which a part of it has been ground away because it is still being processed by the grinding wheel 135.

[0130] 12(a) is the grinding wheel contour line of the grinding wheel 135, and similarly to the first embodiment, this contour line is extracted by edge detection or the like based on an image of grinding marks on a dummy workpiece ground with the grinding wheel 135. The display control unit 28 controls the display of the grinding wheel contour line TK in the image operation area 15a of the display 14, in place of the image of the grinding wheel 135 captured by the imaging unit 139 during machining. Therefore, the X and Y coordinates of the grinding wheel contour line TK are updated in response to the operation of the manual handles 20a and 22a so as to be the same as the X and Y 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 the operation of the manual handles 20a and 22a.

[0131] On the other hand, the workpiece contour line B shown in Figure 12(a) is a line extending left and right, and is arranged so that its left end is located on the left side of the pre-machining workpiece edge line S, and its right end is located on the right side of the pre-machining workpiece edge line S. A substantially triangular recess is formed in the center of the workpiece contour line B. The position of the pre-machining workpiece edge line S can be set, for example, by the method described in Figure 11(b).

[0132] The workpiece contour line B described in (2.1. During machining by the grindstone 135 and after machining is completed) corresponds to the first shape line, and the workpiece edge line S corresponds to the second shape line. 12(a), the imaging unit 139 captures an image having grinding marks while the grindstone 135 is processing the workpiece 124. Furthermore, the image processing unit 31 generates a workpiece edge line S based on this image.

[0133] (2.2. Overlap detection) The detection unit 30 stores the pre-machining workpiece edge line S0(S) (see FIG. 14(a)) in advance in the memory unit 26, and obtains the difference between this pre-machining workpiece edge line S0 and the post-machining workpiece edge line S (see FIG. 14(b)) acquired from time to time. As shown in FIG. 14(c), the difference S01 is made up of the new shape line Sa and the shape line Sb of the removed portion. Note that, for ease of explanation, FIG. 14(b) shows the workpiece edge line S after machining is completed. The detection unit 30 determines whether the new shape line Sa (see FIG. 14(d)) from the difference S01 is located within the numerical value set in the detection width setting field 95 based on the workpiece contour line B. If the new shape line Sa is located within the numerical value set in the detection width setting field 95 based on the workpiece contour line B, the detection unit 30 determines that the new shape line Sa is overlapping the workpiece contour line B.

[0134] Furthermore, if the new shape line Sa is not located within the numerical value set in the detection width setting field 95 based on the workpiece contour line B, it is determined that the new shape line Sa is not overlapped with the workpiece contour line B.

[0135] Then, when it is determined that the new shape line Sa is overlapped with the workpiece contour line B, the display control unit 28 highlights the overlapping area of ​​the new shape line Sa and the workpiece contour line B as shown in Fig. 11(a) In Fig. 11(a) , the highlighted portion of the workpiece edge line S is surrounded by a thin frame W for ease of explanation.

[0136] Fig. 12(b) shows a highlight display when the workpiece edge line S corresponding to the grinding marks after machining is completed is superimposed on the entire area of ​​the workpiece contour line B. In Fig. 11(b), the highlighted portion of the workpiece edge line S is enclosed in a long, thin frame W for ease of explanation.

[0137] This embodiment has the following features. (1) In this embodiment, the display method when the workpiece 124 is set at the reference position is as follows: When at least a portion of the dynamically display-controlled workpiece edge line S (second shape line) is superimposed on the reference lines Nx and Ny (first shape line), the superimposed area of ​​the first shape line and the second shape line is highlighted.

[0138] As a result, when the workpiece edge line S (second shape line) that is controlled to be moved and displayed on the display is superimposed on the reference lines Nx and Ny (first shape line), this fact can be clearly indicated. (2) In this embodiment, the display method during processing by the grinding wheel 135 and after processing is completed is such that the display control unit 28 dynamically controls the display of the work edge line S (second shape line) by controlling the display of shape changes to the work edge line S (second shape line).

[0139] As a result, when the second shape line, which changes shape, is superimposed on the workpiece contour line B (first shape line), this fact can be clearly indicated. (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 a highlight display.

[0140] As a result, when the contact detection section detects contact, the display control section can perform a highlighted display. This embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility.

[0141] In the first embodiment, when the grinding wheel contour line A comes into contact with the workpiece contour line B, the display highlights a predetermined area including the contact point with the grinding wheel contour line A, or the workpiece contour line B at the contact point, but the entire workpiece contour line B may also be highlighted.

[0142] In the first embodiment, the elements of the workpiece contour line include circular arcs, but the curves used as elements are not limited to circular arcs. In addition to circular arcs, partial curves contained in spline curves, cycloid curves, ellipses, etc. may also be included. When an element is a partial curve of one of these curves and is extended from a change point as a reference line, the reference line may be extended as part of the curve described above.

[0143] The NC device of the second embodiment is a removal processing device that performs grinding, and uses a grinding wheel as the removal tool. However, the NC device may be embodied in other removal processing devices. Examples of other removal processing devices include cutting processing devices and polishing processing devices. In the case of a cutting processing device, the removal tool may be a cutting tool. In the case of a polishing processing device, the removal tool may be a polishing tool. [Explanation of symbols]

[0144] 10...Image teaching system 12...Image teaching processing device (display control device) 14...Display 15...Screen (common screen) 20...X-axis operating device 22...Y-axis operating device 24...CPU 26...Storage section 28...Display control unit 30...Detection unit (contact detection unit, overlap detection unit) 31...Image processing unit 32...Trajectory generation section 33…NC device 34...Save program button 36...Program load button 38...Machine transfer button 44...Start point button (teaching section) 46...Center button (teaching section) 48...End point button (teaching section) 54...Whetstone outline display ON button 78...Guideline button 131...Grinding mechanism 134...XY table 139...imaging unit A...Wheel outline B: Workpiece outline Ba, Bb...straight line Bc...Circular arc Be, Bf...straight line D1, D2…straight line D3...Arc Ea, Eb, Ec, Ee, Ef, Eg, ... end point Fa, Fb...Trajectory change points Gg...Grinding stone image Gb...Bokeh area H1, H2…straight line H3...Arc J…Contact point Ja, Jb, Jc…Contact point Ka, Kb, Kc, Kd...Starting point Lc…Contact point Ma, Mb...reference line (extension line) N…Trajectory Qa, Qb, Q1, Q2, Q3...change points Ra, Rb, Rc…Contact point Rf, Rg…end points Tc, Tg…midpoint S...Work edge line

Claims

1. A display method in a display control device, in which a display control unit statically controls the display of a first shape line on a display and dynamically controls the display of a second shape line, the display control unit, when the second shape line whose display is dynamically controlled comes into contact with the first shape line, highlights at least a part of the first shape line that is in contact with the second shape line; Alternatively, when at least a part of the second shape line whose display is dynamically controlled is superimposed on the first shape line, the superimposed area of ​​the first shape line and the second shape line is highlighted; the display control device includes a manual operation unit for manually moving the second shape line, the dynamic display control of the second shape line by the display control unit is to control the movement of the second shape line on the display in response to an operation of the manual operation unit; When the first shape line has at least one change point among a change point between a straight line and a straight line, a change point between a straight line and a circular arc, or a change point between a circular arc and a circular arc, A display method in a display control device, in which the display control unit controls the extension display of an extension line extending from the change point of the first shape line, and when the second shape line, which is controlled for moving display, comes into contact with the extension line, the contacted extension line is highlighted.

2. The display method for a display control device according to claim 1 , wherein the dynamic display control of the second shape line by the display control unit is shape-changing display control of the second shape line.

3. The display and a display control device including a display control unit that statically controls the display of a first shape line and dynamically controls the display of a second shape line on the display, the display control unit, when the second shape line whose display is dynamically controlled comes into contact with the first shape line, highlights at least a part of the first shape line that is in contact with the first shape line, or, when at least a part of the second shape line whose display is dynamically controlled comes into an overlapping state with the first shape line, highlights the overlapping state of the first shape line and the second shape line; a manual operation unit for manually moving the second shape line; the dynamic display control of the second shape line by the display control unit is to control the movement of the second shape line on the display in response to an operation of the manual operation unit; When the first shape line has at least one change point among a change point between a straight line and a straight line, a change point between a straight line and a circular arc, or a change point between a circular arc and a circular arc, The display control unit controls the extension display of an extension line extending from the change point of the first shape line, and when the second shape line, which is controlled for moving display, comes into contact with the extension line, the display control device highlights the contacted extension line.

4. a contact detection unit that detects contact between the first shape line and the second shape line, The display control device according to claim 3 , wherein the display control unit performs the highlighted display when the contact is detected by the contact detection unit.

5. an overlap detection unit that detects an overlap state between the first shape line and the second shape line; 5. The display control device according to claim 3, wherein the display control unit performs the highlighted display when the overlap state is detected by the overlap detection unit.

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