Patent Publication Number: US-10322483-B2

Title: Tool shape measurement device and tool shape measurement method

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application is a National Stage of International Application No. PCT/JP2014/051566 filed Jan. 24, 2014, the contents of which are incorporated herein by reference in their entirety. 
     FIELD 
     The present invention relates to a tool shape measurement device which measures the shape of a tool, and a tool shape measurement method. 
     BACKGROUND 
     A first tool shape measurement device in the related art acquires a contour of a tool tip end portion by moving an optical non-contact sensor relative to a tool spindle. The first tool shape measurement device selects a correction table corresponding to the contour shape from a plurality of correction tables which are beforehand determined for the respective contour shapes of the tip end portion of the tool. In addition, the first tool shape measurement device obtains a correction amount of the tool dimensions on the basis of the correction table and obtains actual tool dimensions (the length and diameter of the tool) using the correction amount (for example, refer to Patent Literature 1). 
     In addition, a second tool shape measurement device in the related art includes a tool holding mechanism capable of rotating a tool about the center axis. The second tool shape measurement device fits a tool shape imaged while rotating the tool to a cylinder. In addition, the second tool shape measurement device determines a tool model on the basis of the result of pattern matching between the dimensions of the cylinder, the taken image, and tool models, and generates tool dimensional data using the tool model (for example, refer to Patent Literature 2). 
     CITATION LIST 
     Patent Literature 
     Patent Literature 1: Japanese Patent Application Laid-Open No. 2007-185771 
     Patent Literature 2: Japanese Patent Application Laid-Open No. 2006-284531 
     SUMMARY 
     Technical Problem 
     In the related art including the former and the latter, the tool dimensions are measured by using a movement mechanism for rotating or translating a sensor or tool. This is because the tool shape is complex and it is difficult to accurately measure the tool dimensions (diameter and length) from the appearance (tool contour or the like) obtained in a state were the tool and the sensor are fixed to each other. However, when the movement mechanism as in the related art including the former and the latter is used, there is a problem of an increase in costs and installation spaces. 
     The present invention has been achieved in view of the above and an object of the present invention is to provide a tool shape measurement device capable of measuring tool dimensions with a simple configuration, and a tool shape measurement method. 
     Solution to Problem 
     In order to solve the above problem, and in order to attain the above object, a tool shape measurement device of the present invention includes: a contour detection unit that detects a tool contour from an image of a rotating tool that is taken; an axis direction calculation unit that calculates a tool axis direction that is an axis direction of the rotating tool on the basis of the tool contour; a tool diameter measurement unit that calculates an apparent tool diameter of the rotating tool on an imaging surface on the basis of a calibrated positional and postural relationship between an imaging device that takes the image and the rotating tool, the tool axis direction, and the tool contour; and a tool diameter correction unit that calculates a distance between the imaging device and the rotating tool using the tool axis direction, and corrects the apparent tool diameter to an actual tool diameter by correcting distortion in the tool contour on the basis of the distance. 
     Advantageous Effects of Invention 
     According to the present invention, an effect of enabling measurement of tool dimensions with a simple configuration is exhibited. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a view illustrating a tool holding mechanism included in a tool shape measurement device according to a first embodiment. 
         FIG. 2  is a block diagram illustrating the configuration of the tool shape measurement device according to the first embodiment. 
         FIG. 3  is a flowchart illustrating a processing order of the tool shape measurement device according to the first embodiment. 
         FIG. 4  is a view for explaining a correction method of a tool diameter. 
         FIG. 5  is a block diagram illustrating the configuration of a tool shape measurement device according to a second embodiment. 
         FIG. 6  is a flowchart illustrating a processing order of the tool shape measurement device according to the second embodiment. 
         FIG. 7  is a view for explaining a process of fitting a primitive to a tool tip end portion. 
         FIG. 8  is a view for explaining a process of projecting the primitive onto an imaging surface. 
         FIG. 9  is a block diagram illustrating the configuration of a tool shape measurement device according to a third embodiment. 
         FIG. 10  is a flowchart illustrating a processing order of the tool shape measurement device according to the third embodiment. 
         FIG. 11  is a block diagram illustrating the configuration of the tool shape measurement device according to a fourth embodiment. 
         FIG. 12  is a flowchart illustrating a processing order of the tool shape measurement device according to the fourth embodiment. 
         FIG. 13  is a view for explaining a process of determining shape parameters. 
         FIG. 14  is a block diagram illustrating the configuration of the tool shape measurement device according to a fifth embodiment. 
         FIG. 15  is a flowchart illustrating a processing order of the tool shape measurement device according to the fifth embodiment. 
         FIG. 16  is a view illustrating the hardware configuration of a calculation device according to the fifth embodiment. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Hereinafter, a tool shape measurement device and a tool shape measurement method according to embodiments of the present invention will be described in detail with reference to the drawings. The invention is not limited to the embodiments. 
     First Embodiment 
       FIG. 1  is a view illustrating a tool holding mechanism included in a tool shape measurement device according to a first embodiment.  FIG. 1( a )  illustrates a perspective view of a tool holding mechanism  12  and an imaging device  21  included in the tool shape measurement device. In addition,  FIGS. 1( b ) and 1( c )  illustrate states during measurement of a tool.  FIG. 1( b )  is a perspective view of a rotating tool  11  and the imaging device  21 , and  FIG. 1( c )  is a top view of the rotating tool  11  and the imaging device  21 . In the present embodiment, a case in which an example of the tool is the rotating tool  11  is described. However, the tool may also be a tool other than the rotating tool  11 . 
     The tool holding mechanism  12  is a device that holds the rotating tool  11  as a measurement object. The tool holding mechanism.  12  is configured to enable the rotating tools  11  and a standard  16 , which will be described later, to be detached therefrom. In addition, the tool holding mechanism  12  moves each of the rotating tools  11  to a position at which the corresponding rotating tool  11  can be imaged by the imaging device  21 . Furthermore, the tool holding mechanism  12  moves the standard  16  to a position at which the standard  16  can be detected by the imaging device  21 . 
     The imaging device  21  is disposed in a state of being fixed to the tool holding mechanism  12 . The imaging device  21  images the rotating tools  11  held by the tool holding mechanism  12 . In addition, the imaging device  21  detects the shape and pattern of the standard  16  held by the tool holding mechanism  12 . As the tool holding mechanism  12 , a tool magazine (a device capable of holding a plurality of rotating tools  11  that are used) or the like included in a machine tool may also be used. In this case, it is unnecessary to add a new imaging device (mechanism). 
     The standard  16  is attached to the tool holding mechanism  12  when calibration data, which will be described later, is generated. The calibration data is data calibrated by using the standard  16 , and includes (1) a positional and postural relationship between the imaging device  21  and the tool holding mechanism  12  (the rotating tool  11 ) and (2) information of the scales of imaging device acquisition data and the actual space (dimensional ratio). The tool shape measurement device of the present embodiment measures the shape and dimensions of the rotating tool  11  using a calibrated positional and postural relationship and calibrated scale information. 
     The standard  16  is configured by using a plate-like member having a substantially planar shape. The standard  16  is attached to the tool holding mechanism  12  so that a single principal surface (the upper surface of the plate-like member) included in the standard  16  is on a plane including a straight line that passes through the axis (tool axis  50   z ) of the rotating tool  11  in a case where the rotating tool  11  is attached. In other words, the standard  16  has a reference plane including the straight line that passes through the tool axis  50   z . A regular pattern such as a check pattern is attached to the reference surface (the plane including the tool axis  50   z ) of the standard  16  so as to allow the standard  16  to be easily treated as a known object. Accordingly, a calibration process can be simplified. 
     As illustrated in  FIGS. 1( b ) and 1( c ) , the imaging device  21  is disposed so that the tool axis  50   z  of the rotating tool  11  attached to the tool holding mechanism  12  is perpendicular to an imaging direction (optical axis  52   x ). The tool holding mechanism  12  moves a first rotating tool  11  to the front (imaging position) of the imaging device  21  in order to measure the tool shape of the first rotating tool  11 , and moves a second rotating tool  11  to the front of the imaging device  21  in order to measure the tool shape of the second rotating tool  11 . In addition, the tool holding mechanism  12  moves the standard  16  to the front of the imaging device  21  in order to detect the pattern and the like of the standard  16  (during the calibration process). 
     In the present embodiment, a case where a tool axis direction is a Z direction, the imaging direction of the imaging device  21  is an X direction, and a direction perpendicular to both the tool axis direction and the imaging direction is a Y direction (for example, a vertical direction) will be described. 
       FIG. 2  is a block diagram illustrating the configuration of the tool shape measurement device according to the first embodiment. A tool shape measurement device  20 A according to the first embodiment includes the imaging device  21 , a calculation device  30 A, and an output unit  22 . Although the tool shape measurement device  20 A includes the tool holding mechanism  12 , the illustration of the tool holding mechanism  12  is omitted in  FIG. 2 . 
     The imaging device  21  takes an image of the rotating tool  11  held by the tool holding mechanism  12  and inputs the taken image (imaged tool data) to the calculation device  30 A. In addition, the imaging device  21  detects the shape and pattern of the standard  16  and generates calibration data using the detected shape and pattern. The imaging device  21  inputs the generated calibration data to the calculation device  30 A. 
     The calculation device  30 A is a computer or the like that calculates the tool shape of the rotating tool  11 . The calculation device  30 A of the present embodiment performs various operations using the contour of the tool of the rotating tool  11 , the calibration data, and the like. 
     The calculation device  30 A includes a contour detection unit  31 , an axis direction calculation unit  32 , a tool diameter measurement unit  33 , and a tool diameter correction unit  34 . The imaging device  21  inputs the image of the rotating tool  11  to the contour detection unit  31 , and inputs the calibration data to the axis direction calculation unit  32 . 
     The contour detection unit  31  detects the contour of the rotating tool  11  (hereinafter, referred to as a tool contour) on the basis of the image of the rotating tool  11  taken by the imaging device  21 . For example, in a case were the contour detection unit  31  detects the tool contour from an image taken by a visible camera, a light source is installed on the rear surface of the rotating tool  11  when viewed from the imaging device  21 . In addition, the contour detection unit  31  detects the tool contour using the difference in the brightness between pixels in which the rotating tool  11  is imaged and pixels in which the light source is imaged, from the taken image. 
     Otherwise, the contour detection unit  31  may also detect the tool contour using a background image in this case, the contour detection unit  31  beforehand acquires the background image in a state in which the rotating tool  11  is installed on the tool holding mechanism.  12 . The contour detection unit  31  detects the tool contour by subtracting the background image from the taken image of the rotating tool  11 . The contour detection unit  31  transmits the detected tool contour to the axis direction calculation unit  32 . 
     The axis direction calculation unit  32  calculates the tool axis direction which is the axis direction of the rotating tool  11 . The contour line of a cylindrical portion of the rotating tool  11  excluding effective blades is imaged as two straight lines in two-dimensional scan data. Therefore, the axis direction calculation unit  32  regards a set of points having the same distant to the two straight lines as the tool axis  50   z  on the imaging plane. In addition, the axis direction calculation unit  32  converts the two-dimensional coordinates of the points that represent the tool axis  50   z  into three-dimensional coordinates using the calibration data (the positional and postural relationship) acquired beforehand. Furthermore, the axis direction calculation unit  32  calculates the three-dimensional direction (the tool axis direction) of the tool axis  50   z  on the basis of the set of the three-dimensional coordinates (points). The axis direction calculation unit  32  transmits the calibration data, the tool contour, and the calculated tool axis direction to the tool diameter measurement unit  33 . 
     The tool diameter measurement unit  33  measures the tool diameter (diameter) of the rotating tool  11  using the tool contour, the tool axis direction, and the calibration data (the positional and postural relationship and the scale information). The tool diameter is the shortest distance between the tool contour on the upper side of the taken image and the tool contour on the lower side thereof. Therefore, the tool diameter is calculated as the length of a line segment that connects two points on the tool contours that intersect when scanning in a direction perpendicular to the tool axis direction from the points on the tool axis  50   z  in the taken image. The tool diameter measurement unit  33  converts the two points on the tool contours into three-dimensional coordinates using the calibration data (the scale information), thereby obtaining the tool diameter at the scale of the actual space. The tool diameter measurement unit  33  transmits the tool diameter and the tool contours to the tool diameter correction unit  34 . 
     The tool diameter correction unit  34  corrects a dimensional error in the tool diameter. Specifically, the tool diameter correction unit  34  corrects a dimensional error caused by a distortion of the contour of the image for the tool diameter (an apparent tool diameter on the imaged screen) transmitted from the tool diameter measurement unit  33 . 
     The rotating tool  11  is imaged to be distorted to be thicker than an actual rotating tool  11 . In other words, the tool contour on the taken image acquired by the imaging device  21  is distorted to be thicker than the contour of the actual rotating tool  11 . Therefore, the length (the tool diameter on the image) of a line segment that connects two points on the tool contour obtained by the tool diameter measurement unit  33  is different from an actual tool diameter. 
     Accordingly, the tool diameter correction unit  34  of the present embodiment estimates a contour distortion, and corrects the tool diameter using the estimated contour distortion amount, thereby reducing a measurement error in the tool diameter. The tool diameter correction unit  34  transmits the tool diameter (actual tool diameter) in which the dimensional error is corrected to the output unit  22 . The output unit  22  outputs the tool diameter in which the dimensional error is corrected to an external device such as a machine tool (for example, an NC machine tool) or a database. In addition, the imaging device  21  may be configured to be separated from the tool shape measurement device  20 A. Furthermore, the tool holding mechanism  12  may be configured to be separated from the tool shape measurement device  20 A. 
     Next, a processing order of the tool shape measurement device  20 A will be described.  FIG. 3  is a flowchart illustrating the processing order of the tool shape measurement device according to the first embodiment. In the present embodiment, the tool shape measurement device  20 A beforehand calibrates the positional and postural relationship between the imaging device  21  and the tool holding mechanism  12 , and the information regarding the scales of the imaging device acquisition data and the actual space, using the standard  16 . At this time, as the imaging device  21 , the visible camera which enables two-dimensional space scanning, or the like is used. 
     In order to calibrate the positional and postural relationship and the scale information, the standard  16  is attached to the tool holding mechanism  12 . Accordingly, the standard  16  is disposed so that the plane (principal surface) of the standard  16  becomes a plane that passes through the tool axis. The imaging device  21  detects a known shape and pattern by detecting the standard  16  (the shape and pattern of the standard  16 ) (Step S 10 ). The imaging device  21  acquires a positional and postural relationship and scale information relative to the standard  16  by detecting the known shape and pattern. 
     The imaging device  21  regards the position and posture with respect to the principal surface of the standard  16  as the position and posture of the standard  16 , and generates the positional and postural relationship of calibration data. In addition, the imaging device  21  generates the ratio between the scale of the pattern of the standard  16  acquired by the imaging device  21  and the scale of the pattern in the actual space, as the scale information of the calibration data. Dimensional conversion using the ratio corresponds to conversion of the length of each pixel on the image into the unit of mm or the like in a case where the imaging device  21  is the visible camera. 
     The calibration data can be obtained as a conversion table or the like which represents the correspondence relationship between points on the imaging plane and points on the planes in a three-dimensional space. Here, the relative postures of the imaging device  21  and the standard  16  are affected by the depth of field of the imaging device  21 . Therefore, it is preferable that the imaging device  21  is designed to allow the optical axis of the imaging device  21  to be perpendicular to the reference plane (the plane including the tool axis  50   z ) of the standard  16 . 
     When the imaging device  21  acquires the calibration data on the basis of the shape and pattern of the standard  16  (Step S 20 ), the imaging device  21  inputs the calibration data to the axis direction calculation unit  32 . Otherwise, the calibration data may also be generated by the calculation device  30 A. In this case, the calibration data is generated by, for example, the axis direction calculation unit  32  or the like. 
     After the generation of the calibration data is completed, shape measurement of each of the rotating tools  11  is started. The contour detection unit  31  detects the tool contour on the basis of the image of the rotating tool  11  imaged by the imaging device  21  (Step S 30 ). The contour detection unit  31  transmits the detected tool contour to the axis direction calculation unit  32 . 
     The axis direction calculation unit  32  calculates the tool axis direction of the rotating tool  11  on the basis of the calibration data and the tool contour (Step S 40 ). In addition, the axis direction calculation unit  32  transmits the calibration data, the tool contour, and the calculated tool axis direction to the tool diameter measurement unit  33 . 
     The tool diameter measurement unit  33  measures the tool diameter of the rotating tool  11  using the tool contour, the tool axis direction, and the calibration data (the positional and postural relationship between the imaging device  21  and the rotating tool  11 ) (Step S 50 ). In addition, the tool diameter measurement unit  33  transmits the tool contour and the tool diameter to the tool diameter correction unit  34 . 
     Thereafter, the tool diameter correction unit  34  corrects the distortion in the tool contour (image) transmitted from the tool diameter measurement unit  33 . Specifically, the tool diameter correction unit  34  corrects the dimensional error caused by the distortion of the contour of the image for the tool diameter transmitted from the tool diameter measurement unit  33  (Step S 60 ). The tool diameter corrected by the tool diameter correction unit  34  is output to the external device from the output unit  22  as tool data of the rotating tool  11 . 
     A correction method of the tool diameter will be described.  FIG. 4  is a view for explaining the correction method of the tool diameter.  FIG. 4( a )  illustrates a tool section in a plane which includes a line segment that connects an optical center Pc of the imaging device  21  and a point Pz on the tool axis  50   z  and is perpendicular to the tool axis  50   z .  FIG. 4( b )  is a top view of the rotating tool  11 . 
     In a case where a tool portion to be measured is a cylinder, the section is generally an ellipse.  FIG. 4( a )  illustrates the shape of an ellipse in a case where the rotating tool  11  is cut by a cutting surface  51  directed from the imaging device  21  toward the rotating tool  11 . 
     In a case where the tool axis  50   z  is perpendicular to the optical axis  52   x  of the imaging device  21 , the length Lb of the minor axis of the ellipse is the same as the tool radius r of the rotating tool  11 . Here, the tool radius r is the actual radius of the rotating tool  11 . 
     The length La of the major axis of the ellipse is expressed by the following Expression (1) by using the shortest distance (the distance between the imaging device  21  and the rotating tool  11 ) D′ from the tool axis  50   z  to the optical center Pc, and the distance D from the center (point Pz) of the ellipse to the optical center Pc. 
     
       
         
           
             
               
                 
                   
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     In addition, a straight line directed to a point P 0 (x 0 , y 0 ) on the ellipse shown as the tool contour on the imaging surface from the optical center Pc is expressed by the following Expression (2) using the tool radius r′ on the imaging surface. Here, the tool radius r′ is the apparent radius on the imaging surface. 
     
       
         
           
             
               
                 
                   
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     By putting Expression (4) in Expression (2), the coordinate point P 0 (x 0 , y 0 ) of the point of contact of the tangent can be expressed by the following Expression (5). By putting Expression (5) in the equation of the ellipse, the true tool radius r of the rotating tool  11  can be expressed by the following Expression (6). 
     
       
         
           
             
               
                 
                   
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     In Expression (6), the appearance (the tool radius r′ on the imaging surface) of the rotating tool  11  on the imaging surface depends on only the tool radius r and the shortest distance D′ between the optical center Pc and the tool axis  50   z . Here, by calculating the shortest distance D′ between the optical center Pc and the tool axis  50   z  from the tool axis  50   z  obtained by the axis direction calculation unit  32 , the tool diameter can be measured. 
     In a case where the tool axis  50   z  is not perpendicular to the optical axis, the depth of the tool axis  50   z  with respect to the imaging surface changes, and thus the size of the tool contour on the imaging surface also changes. Here, in addition to the correction using the above Expression (6), correction as in the following Expression (7) in which the depth of the tool axis  50   z  is considered may also be performed. In Expression (7), with respect to the shortest distance D′ between the optical center Pc and the tool axis  50   z , the ratio between the shortest distance D′ and the distance Dp between the imaging surface and the center of the ellipse is considered. 
     
       
         
           
             
               
                 
                   
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     The output unit  22  outputs the tool diameter in which the dimensional error is corrected to the database (storage device) as the tool data. Accordingly, the database regarding the tool diameters of the rotating tools  11  is created. The database may be disposed inside the machine tool, or may also be disposed outside the machine tool. Furthermore, the database may also be disposed inside or outside the tool shape measurement device  20 A. 
     In a case where the database is disposed outside the tool shape measurement device  20 A, the tool data is transmitted to the database using a data communication unit. In this case, the database may be shared by a plurality of machine tools. When the database is shared, there is an advantage that a number of rotating tools  11  included in machine tools can be unitarily managed. In addition, by comparing tool data measured in the past to the current tool data, the degree of deterioration such as wear of the rotating tool  11  may be determined. Furthermore, loads on the rotating tool  11  depending on processing conditions can be estimated from the correlation between the degree of deterioration and use history, and thus the time for replacing the rotating tool  11  can be accurately known. 
     According to the first embodiment described above, by using the tool contour extracted from the image of the rotating tool  11  and the calibration data acquired beforehand, the tool axis direction and the tool diameter can be easily measured. In addition, since the dimensions of the rotating tool  11  are corrected on the basis of the estimated contour distortion, the measurement error in the dimensions that occurs as the rotating tool  11  is imaged to be distorted to the thick in the tool diameter direction can be reduced. Accordingly, a mechanism for translating or rotating a sensor or tool, which is necessary in the related art, becomes unnecessary. Therefore, the tool dimensions can be measured with a simple configuration. In addition, costs for the measurement of the tool shape can be reduced, and a space for the installation area of the device can be reduced. 
     Second Embodiment 
     Next, a second embodiment of the invention will be described with reference to  FIGS. 5 to 8 . In the second embodiment, a tool shape measurement device  20 B, which will be described later, fits a primitive such as a circle, sphere, or cone to the contour of the tool tip end portion and projects the primitive onto an imaging surface. When the primitive is projected onto the imaging surface, the tool shape measurement device  20 B corrects the slope or scale of the primitive so as to achieve the same appearance as the section of an actual primitive by using the tool axis direction and the calibration data. In addition, the tool shape measurement device  20 B measures the tool tip end position of the rotating tool  11  using the projected primitive, and calculates the tool length of the rotating tool  11  on the basis of the tool tip end position. 
       FIG. 5  is a block diagram illustrating the configuration of the tool shape measurement device according to the second embodiment. The tool shape measurement device  20 B according to the second embodiment includes the imaging device  21 , a calculation device  30 B, and the output unit  22 . Like constituent elements which achieve the same functions as those of the tool shape measurement device  20 A of the first embodiment illustrated in  FIG. 2  among the constituent elements in  FIG. 5  are denoted by like reference numerals, and overlapping description will be omitted. 
     The calculation device  30 B of the present embodiment includes the contour detection unit  31 , the axis direction calculation unit  32 , the tool diameter measurement unit  33 , the tool diameter correction unit  34 , a tool tip end measurement unit  35 , and a tool length measurement unit  36 . 
     In the present embodiment, the tool diameter measurement unit  33  transmits the tool contour, the tool axis direction, the calibration data, and the tool diameter to the tool diameter correction unit  34 . In addition, the tool diameter correction unit  34  transmits the tool contour, the tool axis direction, the calibration data, and a corrected tool diameter to the tool tip end measurement unit  35 . 
     The tool tip end measurement unit  35  measures the tip end position of the rotating tool  11  (hereinafter, referred to as a tool tip end position) and the shape thereof (tip end shape) using the tool contour, the tool axis direction, the calibration data, and the corrected tool diameter. The tool tip end measurement unit  35  of the present embodiment measures the tool tip end position by fitting the primitive such as a circle, sphere, or cone to the contour of the tip end portion of the rotating tool  11 . The tool tip end measurement unit  35  transmits the calibration data and the measured tool tip end position to the tool length measurement unit  36 . 
     The tool length measurement unit  36  measures the tool length of the rotating tool  11  using the tool tip end position and the calibration data. The calibration data includes the positional and postural relationship between the tool holding mechanism  12  and the imaging device  21 . Therefore, the tool length measurement unit  36  calculates the tool tip end position with respect to the tool holding mechanism  12 , that is, the tool length using the calibration data. The tool length measurement unit  36  transmits the measured tool length to the output unit  22 . The output unit  22  outputs the tool length and the tool diameter in which a dimensional error is corrected to the external device. 
     Next, a processing order of the tool shape measurement device  20 B will be described.  FIG. 6  is a flowchart illustrating the processing order of the tool shape measurement device according to the second embodiment. In addition, the description of the same process as that of the tool shape measurement device  20 A according to the first embodiment described with reference to  FIG. 3  will be omitted. 
     The tool shape measurement device  20 B calculates the corrected tool diameter in the same processing order as that of the tool shape measurement device  20 A (Steps S 10  to S 60 ). At this time, the tool diameter measurement unit  33  transmits the tool contour, the tool axis direction, the calibration data, and the tool diameter to the tool diameter correction unit  34 . In addition, the tool diameter correction unit  34  transmits the tool contour, the tool axis direction, the calibration data, and the corrected tool diameter to the tool tip end measurement unit  35 . The tool diameter correction unit  34  transmits the corrected tool diameter to the output unit  22 . 
     The tool tip end measurement unit  35  measures the tip end position and the tip end shape of the rotating tool  11  using the tool contour, the tool axis direction, the calibration data, and the corrected tool diameter (Step S 70 ). At this time, the tool tip end measurement unit  35  measures the tool tip end position by fitting the primitive such as a circle, sphere, or cone to the contour of the tip end portion of the rotating tool  11 . 
     The tool tip end measurement unit  35  fits the primitive such as a circle, sphere, or cone to the contour of the tool tip end portion using the fact that there are many primitives including a circle, a sphere, and the like that approximate the section of the tip end of the rotating tool  11 . The tool tip end measurement unit  35  selects an appropriate primitive to be fitted for the tip end shape of the rotating body of the rotating tool  11 . In the primitive selection, a worker may determine the primitive to be fitted or the type of the rotating tool  11 , or the tool tip end measurement unit  35  may select the most appropriate primitive by fitting a plurality of primitives to the contour of the tool tip end portion obtained by the contour detection unit  31 . 
     Similar to the contour, the tool tip end portion may also be imaged to be distorted. Therefore, a dimensional error therein is preferably corrected. The tool shape measurement device  20 B enables the measurement of dimensions excluding the effect of distortion by reproducing distortion that occurs on the imaging surface when the primitive is fitted to the tool contour. 
     In a case where the section of the tool tip end portion approximates a circle (an end mill with square ends or the like), the tool tip end measurement unit  35  projects the circle of the tool diameter (the section of the rotating tool  11 ) measured by the tool diameter measurement unit  33  and the tool diameter correction unit  34  onto each position in the tool axis  50   z  on the imaging surface. 
       FIG. 7  is a view for explaining a process of fitting the primitive to the tool tip end portion.  FIG. 8  is a view for explaining a process of projecting the primitive onto the imaging surface.  FIG. 7( a )  illustrates a rotating tool  11 A as an example of the rotating tool  11 .  FIG. 7( b )  illustrates a state in which the rotating tool  11 A illustrated in  FIG. 7( a )  is projected onto an imaging surface  45 . 
     When the primitive is projected onto the imaging surface  45 , the tool tip end measurement unit  35  adjusts the slope or scale to achieve an appearance in a case here the section of the primitive is actually present, using the tool axis direction (tool axis angle θ1) and the calibration data. Here, the primitive is a circle  42  (a circle on the tool axis  50   z ) having Pa (X 1 , Y 1 , Z 1 ) as the center. By adjusting the slope and scale, the tool tip end measurement unit  35  can reproduce distortion on the imaging surface  45 . A circle  44  having (x 1 , y 1 ) as the center projected onto the imaging surface  45  generally becomes an ellipse, and the ratio between the major axis and the minor axis of the ellipse decreases as the ellipse is projected at a position further away from the optical axis  52   x.    
     When the projected ellipse (the circle  42 ) is fitted to a contour  41  of the primitive, the tool tip end measurement unit  35  uses only a semicircular section that is present in the tool tip end direction with respect to the center of the ellipse. In addition, the tool tip end measurement unit  35  determines the center of the ellipse when the semicircular section touches the entirety or a portion of the contour of the tool tip end portion as a tool tip end position P 1 . 
     In general, the contour of the tool tip end portion has a shape including complex uneven portions and is inscribed in the contour of the rotating body of the tool. For example, as illustrated in  FIG. 7( b ) , the contour of the tool tip end portion of the primitive is inscribed in the contour  41  of the primitive. 
     Therefore, the position of the primitive when the primitive touches the contour of the tool tip end portion and is at the farthest position in the tool tip end direction from the tool holding mechanism  12  is determined as the tool tip end position P 1 , such that the effect of the contour distortion in the image can be excluded. 
     The tool tip end measurement unit  35  may fit the tool tip end portion to the contour in the same method as the method of fitting the circle even regarding the other primitives such as a sphere (applied to an end mill with ball ends or the like) or a cone (applied to a drill or the like). 
     During the calculation of the tool tip end position, an appropriate offset for the fitted primitive may also be added to the tool tip end position. In a case where the primitive is a circle, the tool tip end measurement unit  35  sets the offset of the tool tip end position to zero. In a case where the primitive is a sphere, the tool tip end measurement unit  35  calculates a position to which the radius of the sphere (the same length as the tool diameter) is added in the tool axis direction, as the tool tip end position. In a case where the primitive is a cone, the tool tip end measurement unit  35  calculates a position to which the height of the cone is added in the tool axis direction, as the tool tip end position. 
     The tool tip end measurement unit  35  transmits the tip end shape, the calibration data, and the measured tool tip end position to the tool length measurement unit  36 . The tool length measurement unit  36  measures the tool length of the rotating tool  11 A using the tool tip end position and the calibration data. The tool length measurement unit  36  calculates the tool tip end position (the tool length) with respect to the tool holding mechanism  12  using the positional and postural relationship between the tool holding mechanism  12  and the imaging device  21 , which is included in the calibration data (Step S 80 ). The tool length measurement unit  36  transmits the tip end shape and the measured tool length to the output unit  22 . The output unit  22  outputs the tip end shape, the tool length, and the tool diameter in which a dimensional error is corrected to the external device as tool data. 
     As described above, according to the second embodiment, since the tool tip end position is measured by using the primitive, the tool length can be measured by excluding factors in the dimensional error such as the distortion in the image caused by the contour of the tool tip end portion and the complex uneven shapes of the tool tip end portion. Accordingly, a mechanism for translating or rotating a sensor or tool, which is necessary in the related art, becomes unnecessary. Therefore, the tool dimensions can be measured with a simple configuration. 
     Third Embodiment 
     Next, a third embodiment of the invention will be described with reference to  FIGS. 9 and 10 . In the third embodiment, a tool shape measurement device  20 C, which will be described later, extracts information of a primitive corresponding to the detected tool contour from contour information registered beforehand. In addition, the tool shape measurement device  20 C measures the shape of the tool tip end portion using the extracted primitive information. 
       FIG. 9  is a block diagram illustrating the configuration of the tool shape measurement device according to the third embodiment. The tool shape measurement device  20 C according to the third embodiment includes the imaging device  21 , a calculation device  30 C, and the output unit  22 . Like constituent elements which achieve the same functions as those of the tool shape measurement device  20 B of the second embodiment illustrated in  FIG. 5  among the constituent elements in  FIG. 9  are denoted by like reference numerals, and overlapping description will be omitted. 
     The calculation device  30 C of the present embodiment includes the contour detection unit  31 , the axis direction calculation unit  32 , the tool diameter measurement unit  33 , the tool diameter correction unit the tool tip end measurement unit  35 , the tool length measurement unit  36 , and a primitive selection unit  37 . 
     In the present embodiment, the tool diameter measurement unit  33  transmits the tool contour, the tool axis direction, the calibration data, and the tool diameter to the tool diameter correction unit  34 . In addition, the tool diameter correction unit  34  transmits the tool contour, the tool axis direction, the calibration data, and the corrected tool diameter to the primitive selection unit  37 . 
     The primitive selection unit  37  is connected to a contour database  60 . The contour database  60  stores contour information in which the tool contours of various tool tip end portions are associated with information of primitives which are the most appropriate for the tool contours. The contour information includes the tool contours of the rotating tool  11  in a case where the rotating tool  11  is viewed at various angles. 
     The primitive selection unit  37  collates the tool contour transmitted from the tool diameter correction unit (the tool contour detected by the contour detection unit  31 ) with the tool contours in the contour information. The primitive selection unit  37  searches the contour information for the tool contour corresponding to the detected tool contour. In addition, the primitive selection unit  37  extracts information corresponding to the detected tool contour (information of the primitive that is the most appropriate for the detected tool contour) from the contour information. Accordingly, the primitive selection unit  37  acquires information of the primitive fitted to the rotating tool  11  from the contour database  60 . The primitive selection unit  37  transmits the tool contour, the tool axis direction, the calibration data, the corrected tool diameter, and the extracted primitive information to the tool tip end measurement unit  35 . 
     The tool tip end measurement unit  35  measures the tool tip end position and the tip end shape of the rotating tool  11  using the tool contour, the tool axis direction, the calibration data, the corrected tool diameter, and the extracted primitive information. At this time, the tool tip end measurement unit  35  its the primitive extracted from the contour information to the contour of the tip end portion of the rotating tool  11 . The tool tip end measurement unit  35  obtains the tool tip end position of the rotating tool  11  using the fitted primitive and obtains the tool length on the basis of the tool tip end position. 
     Next, a processing order of the tool shape measurement device  20 C will be described.  FIG. 10  is a flowchart illustrating the processing order of the tool shape measurement device according to the third embodiment. In addition, the description of the same process as that of the tool shape measurement device  20 B according to the second embodiment described with reference to  FIG. 6  will be omitted. 
     The tool shape measurement device  20 C calculates the corrected tool diameter in the same processing order as those of the tool shape measurement devices  20 A and  20 B (Steps S 10  to S 60 ). At this time, the tool diameter measurement unit  33  transmits the tool contour, the tool axis direction, the calibration data, and the tool diameter to the tool diameter correction unit  34 . In addition, the tool diameter correction unit  34  transmits the tool contour, the tool axis direction, the calibration data, and the corrected tool diameter to the primitive selection unit  37 . The tool diameter correction unit  34  transmits the corrected tool diameter to the output unit  22 . 
     The primitive selection unit  37  collates the tool contour detected by the contour detection unit  31  with the tool contours in the contour information, and searches the contour information for the tool contour corresponding to the detected tool contour (Step S 65 ). In addition, the primitive selection unit  37  extracts information of the primitive corresponding to the detected tool contour from the contour information. Accordingly, the primitive selection unit  37  acquires information of the primitive fitted to the rotating tool  11  from the contour database  60 . 
     The primitive selection unit  37  transmits the tool contour, the tool axis direction, the calibration data, the corrected tool diameter, and the extracted primitive information to the tool tip end measurement unit  35 . The tool tip end measurement unit  35  measures the tool tip end position and the tip end shape of the rotating tool  11  using the tool contour, the tool axis direction, the calibration data, the corrected tool diameter, and the extracted primitive information (Step S 70 ). 
     The tool tip end measurement unit  35  transmits the calibration data, the measured tool tip end position, and the tip end shape to the tool length measurement unit  36 . The tool length measurement unit  36  measures the tool length of the rotating tool  11  using the tool tip end position and the calibration data (Step S 80 ). The tool length measurement unit  36  transmits the tip end shape and the measured tool length to the output unit  22 . The output unit  22  outputs the tip end shape, the tool length, and the tool diameter in which the dimensional error is corrected to the external device as the tool data. 
     As described above, according to the third. Embodiment, since the information of the primitive corresponding to the detected calculation device is extracted from contour information registered beforehand, the primitive which is the most similar to the tip end. Shape of the rotating tool  11  can be easily selected. Therefore, the accuracy of the measurement of the shape of the tip end shape portion can be enhanced. 
     Fourth Embodiment 
     Next, a fourth embodiment of the invention will be described with reference to  FIGS. 11 to 13 . In the fourth embodiment, a tool shape measurement device  20 D, which will be described later, determines whether or not an edge that is appropriate for the conditions of an outer peripheral blade edge is the outer peripheral blade edge, and determines shape parameters (at least one of the number of blades, an effective blade length, and a helix angle) regarding the properties (performance) of the rotating tool  11  on the basis of the outer peripheral blade edge. 
       FIG. 11  is a block diagram illustrating the configuration of the tool shape measurement device according to the fourth embodiment. The tool shape measurement device  20 D according to the fourth embodiment includes the imaging device  21 , a calculation device  30 D, and the output unit  22 . Like constituent elements which achieve the same functions as those of the tool shape measurement device  20 B of the second embodiment illustrated in  FIG. 5  among the constituent elements in  FIG. 11  are denoted by like reference numerals, and overlapping description will be omitted. 
     The calculation device  30 D of the present embodiment includes the contour detection unit  31 , the axis direction calculation unit  32 , the tool diameter measurement unit  33 , the tool diameter correction unit  34 , the tool tip end measurement unit  35 , the tool length measurement unit  36 , and an edge detection unit  38 , and a shape determination unit  39 . In the present embodiment, the imaging device  21  transmits the taken image of the rotating tool  11  to the axis direction calculation unit  32  and the edge detection unit  38 . 
     The edge detection unit  38  detects the outer peripheral blade edge of the rotating tool  11  from the image obtained by the imaging device  21 . The edge detection unit  38  transmits the detected outer peripheral blade edge to the shape determination unit  39 . The shape determination unit  39  determines the shape parameters (the number of blades, an effective blade length, a helix angle, and the like) regarding the properties of the rotating tool  11  using the outer peripheral blade edge. The shape determination unit  39  determines the shape parameters on the basis of the characteristics of the shape of the outer peripheral blade edge (the continuity of the outer peripheral blade edge and the like). The shape determination unit  39  transmits the shape parameters to the output unit  22 . The output unit  22  outputs the tip end shape, the tool diameter, the tool length, and the shape parameters to the external device or the like. 
     Next, a processing order of the tool shape measurement device  20 D will be described.  FIG. 12  is a flowchart illustrating the processing order of the tool shape measurement device according to the fourth embodiment.  FIG. 13  is a view for explaining a process of determining the shape parameters in addition, the description of the same process as that of the tool shape measurement device  20 B according to the second embodiment described with reference to  FIG. 6  will be omitted. 
     The tool shape measurement device  20 D calculates the corrected tool diameter in the same processing order as those of the tool shape measurement devices  20 A and  20 B (Steps S 10  to S 80 ). At this time, the imaging device  21  transmits the taken image of the rotating tool  11  to the contour detection unit  31  and the edge detection unit  38 . In addition, the tool diameter correction unit  34  transmits the corrected tool diameter to the output unit  22 , and the tool length measurement unit  36  transmits the measured tool length to the output unit  22 . 
     The edge detection unit  38  detects the outer peripheral blade edge of the rotating tool  11  from an image  70  (see  FIG. 13( a ) ) obtained by the imaging device  21 . (Step S 90 ). In the case of using the visible camera as the imaging device  21 , a countermeasure of illuminating the rotating tool  11  with light to image the surface of the rotating tool  11  may also be employed even in a machine tool. Here, there may be cases where the outer peripheral blade edge is not easily detected depending on the posture of the rotating tool  11  or the direction of the light. Therefore, the outer peripheral blade edge may also be detected by using the result (images) of a plurality of imaging performed by illuminating the rotating tool  11  in a plurality of different directions. The edge detection unit  38  transmits the detected outer peripheral blade edge to the shape determination unit  39 . 
     The shape determination unit  39  determines the shape parameters (at least one of the number of blades, an effective blade length, and a helix angle) of the rotating tool  11  using the outer peripheral blade edge detected by the edge detection unit  38  (Step S 100 ). 
     Specifically, the shape determination unit  39  fits a circle  71  corresponding to the section of the tool diameter to the outer peripheral blade edge in the same process as that of the tool tip end measurement unit  35 . In addition, the shape determination unit  39  extracts edges that intersect the fitted circle (that becomes an ellipse on the imaging surface)  71  as candidate points  72  of the outer peripheral blade, and calculates the three-dimensional coordinates to the candidate points  72 . The three-dimensional coordinates calculated at this time are present on side surfaces of a cylinder having the same diameter as the tool diameter with the tool axis as the axis of the cylinder. The shape determination unit  39  performs the process of extracting the candidate points  72  of the outer peripheral blade a plurality of times while shifting its position along the tool axis, thereby acquiring the candidate points  72  of the outer peripheral blade edge which are continuously lined up on the side surface of the cylinder. The shape determination unit  39  obtains a group of the candidate points of the outer peripheral blade as straight lines or curves on a plane by developing the acquired side surfaces of the cylinder. 
     The edges detected by the edge detection unit  38  also include edges other than the outer peripheral blade. Therefore, the shape determination unit  39  determines which edge is included in the outer peripheral blade. The helix angle θ2 of the outer peripheral blade of the rotating tool  11  is constant, and the outer peripheral blade is inscribed the rotating body of the tool. Therefore, when the shape determination unit  39  develops the side surfaces of the cylinder on which the group of the candidate points of the outer peripheral blade are drawn, the edges of the outer peripheral blade are lined up as straight lines on a development diagram  75 . 
     On the other hand, when the edge is an edge that is not included in the outer peripheral blade, the edge is regarded as being present on the side surfaces of the cylinder regardless of whether or not the edge is inscribed in the rotating body of the tool, and three-dimensional coordinates are calculated. Therefore, the edge is projected onto the development diagram  75  to be distorted. Here, the shape determination unit  39  excludes the points of the edges that are lined up on the curve on the development diagram  75  from the candidates of the outer peripheral blade edge. In other words, the shape determination unit  39  extracts the points of the edges that are lined up on the straight lines on the development diagram  75  as the candidate points of the outer peripheral blade edge. 
     Furthermore, as illustrated in  FIG. 13( b ) , intervals at which outer peripheral blades  76  are present are constant in a circumferential direction, the intervals  74  have lengths obtained by equally dividing a circumferential length  73 , and the helix angles θ2 of the outer peripheral blades  76  are equal to each other. Accordingly, the shape determination unit  39  can determine which straight line is the outer peripheral blade edge. The shape determination unit  39  extracts a combination of the straight lines that are the most appropriate for the conditions (the characteristics of the shape of the outer peripheral blade) from the development diagram  75  of the cylinder. On the basis of the extracted development diagram  75 , the shape determination unit  39  determines the number of parts equally divided from the circumferential length  73  as the number of blades of the rotating tool  11 , the slope of the straight lines as the helix angle θ2, and the length from a start point  76 A at which the outer peripheral blade edge is detected to the tool tip end position as the effective blade length. 
     The shape determination unit  39  transmits the determined shape parameters (the number of blades, the effective blade length, and the helix angle) to the output unit  22 . The output unit  22  outputs the tip end shape, the tool diameter, the tool length, and shape parameters to the external device or the like. 
     In addition, the tool shape measurement device  20 D may also include the primitive selection unit  37 . In this case, the tool shape measurement device  20 D measures the shape of the tip end shape portion using the information of a primitive corresponding to the tool contour. In addition, the tool shape measurement device  20 D may perform any one of the processes of Steps S 90  and S 100  and the processes of Steps S 10  to S 80 . 
     As described above, according to the fourth embodiment, whether or not the edge which is appropriate for the conditions of the outer peripheral blade edge among the edges is the outer peripheral blade edge is determined, and thus the shape parameters (the number of blades, the effective blade length, and the helix angle) regarding the properties of the rotating tool  11  can be determined. In the related art, rotating tools having the same diameter and the same length are determined as the same tool, and rotating tools which are different only in the number of blades or only in the helix angle may not be determined. In the present embodiment, by determining the shape parameters of the rotating tool  11 , the rotating tool  11  which has the same tool rotating body and has different shape parameters can be determined. 
     Fifth Embodiment 
     Next, a fifth embodiment of the invention will be described with reference to  FIGS. 14 to 16 . In the fifth embodiment, a tool shape measurement device  20 E, which will be described later, determines the attached state of the rotating tool  11  on the basis of at least one pieces of information including the tool axis direction, the tool diameter, the tool length, and the shape parameters. 
       FIG. 14  is a block diagram illustrating the configuration of the tool shape measurement device according to the fifth embodiment. The tool shape measurement device  20 E according to the fifth embodiment includes the imaging device  21 , a calculation device  30 E, and the output unit  22 . Like constituent elements which achieve the same functions as those of the tool shape measurement device  20 D of the fourth embodiment illustrated in  FIG. 11  among the constituent elements in  FIG. 14  are denoted by like reference numerals, and overlapping description will be omitted. 
     The calculation device  30 E of the present embodiment includes the contour detection unit  31 , the axis direction calculation unit  32 , the tool diameter measurement unit  33 , the tool diameter correction unit  34 , the tool tip end measurement unit  35 , the tool length measurement unit  36 , and the edge detection unit  38 , and the shape determination unit  39 , and an attached state determination unit  40 . 
     In the present embodiment, the axis direction calculation unit  32  transmits the calculated tool axis direction to the attached state determination unit  40 . In addition, the tool diameter correction unit  34  transmits the tool diameter in which the dimensional error is corrected to the attached state determination unit  40 . The tool length measurement unit  36  transmits the measured tool length to the attached state determination unit  40 . The shape determination unit  39  transmits the shape parameters to the attached state determination unit  40 . 
     The attached state determination unit  40  determines the attached state of the rotating tool  11 . Specifically, the attached state determination unit  40  determines whether or not the rotating tool  11  is normally attached on the basis of at least one pieces of information including the tool axis direction, the tool diameter, the tool length, and the shape parameters. Therefore, at least one pieces of information including the tool axis direction, the tool diameter, the tool length, and the shape parameters may be input to the attached state determination unit  40 . 
     In a case where the tool axis direction is used, the attached state determination unit  40  determines whether or not the rotating tool  11  is obliquely attached by detecting a shift in the tool axis direction with respect to the tool holding mechanism  12 . 
     In addition, in a case where any of the tool diameter, the tool length, and the shape parameters is used, the attached state determination unit  40  determines whether or not an appropriate rotating tool  11  for processing conditions (cutting width and depth, feed rate, and the like) is attached. In a method of determining the attached state, for example, processing conditions may be manually provided by a worker beforehand and the attached state determination unit  40  collates the processing conditions with the measurement results of the rotating tool  11  that is used. In addition, from the measurement results of the rotating tool  11 , the cutting width and depth, the feed rate, and the like in the case of using the rotating tool  11  may be suggested for the worker, and determination of whether or not the selected rotating tool  11  is appropriate may be performed by the worker. In addition, any of the tool shape measurement devices  20 A to  20 D may include the attached state determination unit  40 . 
     Next, a processing order of the tool shape measurement device  20 E will be described.  FIG. 15  is a flowchart illustrating the processing order of the tool shape measurement device according to the fifth embodiment. In addition, the description of the same process as that of the tool shape measurement device  20 D according to the fourth embodiment described with reference to  FIG. 12  will be omitted. 
     The tool shape measurement device  20 E calculates the corrected tool diameter, the tool length, the tip end shape, and the like in the same processing order as that of the tool shape measurement device  20 D (Steps S 10  to S 100 ). At this time, at least one of the axis direction calculation unit  32 , the tool diameter correction unit the tool length measurement unit  36 , and the shape determination unit  39  transmits information for the determination of the attached state of the rotating tool  11  to the attached state determination unit  40 . 
     For example, the axis direction calculation unit  32  transmits the calculated tool axis direction to the attached state determination unit  40 . In addition, the tool diameter correction unit  34  transmits the tool diameter in which the dimensional error is corrected to the attached state determination unit  40 . The tool length measurement unit  36  transmits the measured tool length to the attached state determination unit  40 . The shape determination unit  39  transmits the shape parameter to the attached state determination unit  40 . 
     The attached state determination unit  40  determines whether or not the rotating tool  11  is normally attached, using the acquired information (at least one of the tool axis direction, the tool diameter in which the dimensional error is corrected, the tool length, and the shape parameters) (Step S 110 ). The attached state determination unit  40  transmits the determination result of the attached state to the output unit  22 . The output unit  22  outputs the determination result of the attached state, the tip end shape, the tool diameter, the tool length, and the shape parameter to the external device or the like. 
       FIG. 16  is a view illustrating the hardware configuration of the calculation device according to the fifth embodiment. The calculation device  30 E includes a central processing unit (CPU)  91 , a read only memory (ROM)  92 , a random access memory (RAM)  93 , a display unit  94 , and an input unit  95 . In the calculation device  30 E, the CPU  91 , the ROM  92 , the RAM  93 , the display unit  94 , and the input unit  95  are connected via bus lines B. 
     The CPU  91  measures the tool shape using a tool shape measurement program  90  which is a computer program. The display unit  94  is a display device such as a liquid-crystal display monitor, and displays the contour of the rotating tool  11 , the tool axis direction, the tool diameter before correction, the tool diameter after the correction, the tool tip end position, the tip end shape, the tool length, the shape parameters regarding the properties of the rotating tool  11 , the attached state, the determination result of the attached state, and the like on the basis of an instruction from the CPU  91 . The input unit  95  is configured to include a mouse or keyboard so as to input instruction information (parameters and the like necessary for the measurement of the tool shape) input from the outside by a user. The instruction information input to the input unit  95  is transmitted to the CPU  91 . 
     The tool shape measurement program  90  is stored in the ROM  92  and is loaded on the RAM  93  via the bus lines B. The CPU  91  executes the tool shape measurement program  90  loaded on the RAM  93 . Specifically, in the calculation device  30 E, the CPU  91  reads the tool shape measurement program  90  from the ROM  92  according to the instruction input from the input unit  95  by the user and develops the tool shape measurement program  90  in a program storage region of the RAM  93  to execute various processes. The CPU  91  allows various types of data generated during the various processes to be temporarily stored in a data storage region formed in the RAM  93 . 
     The tool shape measurement program  90  executed by the calculation device  305  has a module configuration including the contour detection unit  31 , the axis direction calculation unit  32 , the tool diameter measurement unit  33 , the tool diameter correction unit  34 , the tool tip end measurement unit  35 , the tool length measurement unit  36 , the edge detection unit  38 , the shape determination unit  39 , and the attached state determination unit  40 , and these units are loaded on a main storage unit and are generated on the main storage unit. 
     The calculation devices  30 A to  30 D have the same hardware configuration as that of the calculation device  305 . The tool shape measurement program  90  executed by the calculation device  30 A has a module configuration including the contour detection unit  31 , the axis direction calculation unit  32 , the tool diameter measurement unit  33 , and the tool diameter correction unit  34 . 
     The tool shape measurement program  90  executed by the calculation device  30 B has a module configuration including the contour detection unit  31 , the axis direction calculation unit  32 , the tool diameter measurement unit  33 , the tool diameter correction unit  34 , the tool tip end measurement unit  35 , and the tool length measurement unit  36 . 
     The tool shape measurement program  90  executed by the calculation device  30 C has a module configuration including the contour detection unit  31 , the axis direction calculation unit  32 , the tool diameter measurement unit  33 , the tool diameter correction unit  34 , the tool tip end measurement unit  35 , the tool length measurement unit  36 , and the primitive selection unit  37 . 
     The tool shape measurement program  90  executed by the calculation device  30 D has a module configuration including the contour detection unit  31 , the axis direction calculation unit  32 , the tool diameter measurement unit  33 , the tool diameter correction unit  34 , the tool tip end measurement unit  35 , the tool length measurement unit  36 , the edge detection unit  38 , and the shape determination unit  39 . 
     As described above, according to the fifth embodiment, since the attached state of the rotating tool  11  is determined by using at least one piece of information including the tool axis direction, the tool diameter, the tool length, and the shape parameters, whether or not the rotating tool  11  I normally attached, or whether or not a rotating tool  11  which fits for the purpose of use is attached may be determined. Accordingly, processing performed in a wrongly attached state can be prevented, and the rotating tool  11  or a workpiece can be prevented from being damaged. In addition, a mistake made by using a wrong rotating tool  11  which does not fit for the processing conditions postulated by the worker can be prevented. 
     INDUSTRIAL APPLICABILITY 
     As described above, the tool shape measurement device and the tool shape measurement method according to the present invention are appropriate for the measurement of the shape of a tool. 
     REFERENCE SIGNS LIST 
       11 ,  11 A rotating tool,  12  tool holding mechanism,  16  standard,  20 A to  20 E tool shape measurement device,  21  imaging device,  30 A to  30 E calculation device, contour detection unit,  32  axis direction calculation unit,  33  tool diameter measurement unit,  34  tool diameter correction unit,  35  tool tip end measurement unit,  36  tool length measurement unit,  37  primitive selection unit, edge detection unit,  39  shape determination unit,  40  attached state determination unit,  50   z  tool axis,  52   x  optical axis,  60  contour database.