JP2731335B2 - Measuring device for long members of structures - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for measuring the three-dimensional shape and scale of structural members such as steel bridges, steel towers, steel frames, steel pipe structures, concrete bridges, etc. in a short time with high accuracy. It is.

[0002]

2. Description of the Related Art In order to perform a detailed shape inspection of a structure having a large number of measurement points, three-dimensional measurement is required. Conventionally, a steel tape measure, a contact type measuring machine, a camera, a goniometer, and the like have been used for such measurement. Of these measuring machines, the steel tape measure is easy to handle, but three-dimensional measurement cannot be performed if the structure of the structure becomes complicated. In addition, the contact-type measuring machine can measure with high accuracy, but when the object to be measured is 20 to 30 m, it becomes a large-scale device, which necessitates a large capital investment. Further, in the measurement by a camera, multiple points can be measured at the same time, but since image analysis must be performed based on a film, post-processing is troublesome. In addition, although a machine for measuring with high accuracy by a goniometer has recently been developed, since it is necessary to collimate one point at a time, a large amount of measurement time is required. For the above reasons, up to 20
There was no effective means for efficiently measuring structures with a large number of measuring points on a 30m scale.

FIGS. 5A and 5B are perspective views of a long member of a steel bridge. The measurement points were the bolt holes 28 on the left and right field joints,
The bolt holes 29 in the connection portion and the mark positions 30 are shown. Heretofore, there has been no machine capable of measuring many of these measurements with high accuracy and efficiently.

[0004]

As described above, in order to measure a structure having a large number of measuring points having a length of 20 to 30 m using a conventional measuring machine, high precision, short time, small number of people, low The four conditions of cost cannot be satisfied simultaneously. For this reason, the conventional method has a problem that there is no effective means for incorporating it into a measurement field as a shape inspection.

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, an apparatus for measuring a long member of a structure according to the present invention has a plurality of solid-state imaging device cameras, and measures the shape of an object to be measured by photogrammetry. Shape measuring means for three-dimensional measurement by means of: a conveying means for linearly moving a long member of a structure via the shape measuring means; and a moving amount measuring means for measuring a moving amount of the long member by the conveying means. And, having straightness measuring means for measuring an error of straightness due to the movement of the long member with respect to the moving direction, while linearly moving the long member through the shape measuring means by the transport means, The three-dimensional coordinate values of a large number of measuring points of the long member are measured, and the three-dimensional coordinate values are determined based on the movement amount measured by the movement amount measuring means and the straightness error measured by the straightness measuring means. Amend and that amend Based on the three-dimensional coordinate values it is characterized in that it has adapted to measure the entire shape the three-dimensional of the long member.

[0006] In one embodiment of the present invention, the transfer means includes two carriages, a carriage mounted on the two carriages through support means, and the carriage provided on the carriage. And two support bases for mounting the scale member, wherein the support means includes one pivot support provided on one carriage, one pivot support provided on the other carriage, and A three-point supporting statically fixed structure having one suspension structure support, one of the two support bases is located directly above the support of the one bogie, and the other is two of the other bogies. It is provided so that it is located on the two bearings.

Further, in one embodiment of the present invention, the moving amount measuring means includes a ruler provided on the carrier base so as to extend in the moving direction, and a solid body fixedly arranged to read the ruler. An imaging device camera is provided.

[0008]

As described above, according to the present invention, a large number of measuring points within the field of view of the solid-state imaging device camera can be measured immediately. Further, in the present invention, taking the example of a steel bridge, a measuring device can be incorporated into a production line so as to be directly connected to processes before and after such as welding and painting. Furthermore, in the present invention, the number of solid-state imaging device cameras is kept to the minimum necessary, so that the measurement field needs to be a small area, and the size of the measurement device is not large.

[0009] Further, by transporting the long member by using the carriage, it is possible to effectively reduce the undesired displacement due to the movement of the long member having a low rigidity in the out-of-plane direction and a low torsional rigidity. By supporting the gantry to two trolleys via the bearing means having a statically fixed structure with three points of support, unnecessary forces such as pitching, rolling, and yawing due to undesired displacement and rotation of the trolley due to linear movement are carried. It is possible to effectively prevent transmission to the gantry, and furthermore, by providing a support base directly above the support and supporting the long member, it is effective that unnecessary bending moment acts on the transport gantry due to the weight of the long member Can be prevented. Further, by configuring the movement amount measuring means as described above, the configuration can be simplified. The transport gantry is also a tool for advancing the original structure to be measured to the next step, and is also a part of the measuring device.

[0010]

The embodiments of the present invention will be described below with reference to examples. However, the exemplification is merely for explanation, and does not mean limitation or limitation of the inventive idea.

FIG. 1 is a plan view for explaining the principle of measurement in the measuring apparatus according to the present invention. In the figure,
When two or more solid-state imaging device cameras 3 are installed and the measurement range 4 is limited by the photogrammetry method, and the object to be measured is linearly moved in the X-axis direction 5 so as to enter the measurement range, the measurement before the movement is performed. It is assumed that the object 1 and the measured object 2 after the movement are obtained as shown in the figure. In this case, the camera coordinate system of the point P after the movement is
Camera coordinate system o ₁ -x ₁ y ₁ z ₁ that measured point P before movement
However, assuming that the object moves in the X-axis direction 5 in parallel with the movement of the object, both have the same coordinate system. Therefore, the coordinate value of the moved point P in the camera coordinate system, that is, the measured value measured by the photogrammetry method using the solid-state imaging device camera 3 can be represented by (x _1p , y _1p , z _1p ). .

However, the camera coordinate value (x
_1p , _y1p , _z1p ) have moved by L in the X-axis direction from the state before the movement. In addition, the object to be measured has an error in straightness with respect to the moving direction due to the movement, that is, the Y axis and the Y axis in the O-XYZ measurement large coordinate system same as the camera coordinate system o ₁ -x ₁ y ₁ z ₁ before the movement. Displacement ΔY and Δ in Z-axis direction
Z, there are rotation angles Δα, Δβ, and Δγ around the x ₁ axis, the y ₁ axis, and the z ₁ axis in the camera coordinate system after the movement. Therefore, these linear movement amounts (L) and errors in straightness are measured, and based on the measured values, the camera coordinate values (x _1p , y _1p , y _1p ,
By correcting z _1p ), the coordinate value (X _P , Y _P , Z _P ) of the moved point P in the measurement large coordinate system can be obtained.

(Equation 1) As described above, in the present invention, the three-dimensional coordinate values of a large number of measurement points are measured while the long member is linearly moved, and the three-dimensional coordinate values are determined by the amount of movement of the long member and the moving direction accompanying the movement. Is corrected based on the straightness error with respect to, and the entire shape is three-dimensionally measured based on the corrected three-dimensional coordinate values.

FIG. 2 shows an embodiment of the present invention. In this embodiment, four solid-state imaging device cameras 3 (x _1p , y _1p , and z _1p of the above formula (1)) are used to simultaneously perform three-dimensional measurement on both sides of the long member of the structure that is the object 6 to be measured. measurement)
Are installed at positions A to D, and the solid-state imaging device camera 3
The object to be measured 6 is placed on the transport gantry 14 through the measurement range 4 by the above-mentioned and linearly moved. In order to measure the amount of movement of the object 6 (measurement of L in the above formula (1)),
A ruler 7 is provided so as to extend in the moving direction, and the solid-state imaging device camera 8 is fixedly arranged near the transport path of the transport gantry 14 so as to read the ruler 7. Further, a displacement measuring machine 9 for measuring an error in straightness due to a linear movement of the object 6 in the moving direction, that is, a displacement and an angle (measurement of ΔY, ΔZ, Δβ, Δγ in the above formula (1))
And an inclinometer 11 (measurement of Δα in equation (1)). These measuring devices are controlled by two computers 15. Note that the displacement measuring machine 9 is described in, for example, Koji Takada, Yoshitaka Kosakura, Kenji Makara, Kunio Torii: "Measurement of Motion Error in Long-Distance Linear Motion", Proc. 987 to 988 (1988) using a displacement measuring machine based on a laser beam.

In this manner, the object 6 is transported to the transport gantry 1.
While measuring the three-dimensional coordinate values of a large number of measurement points of the DUT 6 while moving linearly through the measurement range 4 together with the measurement range 4, the three-dimensional coordinate values are measured by the ruler 7 and the solid-state imaging device camera 8. The correction is performed based on the movement amount measured by using the displacement measurement device and the straightness error measured by the displacement measuring device 9 and the inclinometer 11, and based on the corrected three-dimensional coordinate value, the entirety of the DUT 6 is corrected. Measures the shape three-dimensionally.

FIG. 3 shows the DUT 6 having the transport stand 14.
FIG. 4 is a diagram for explaining a configuration of a transfer unit of FIG. The transport gantry 14 is provided so as to extend over the two trolleys 13 via support means. As shown in FIGS. 3 (a) to 3 (d),
A pivot support 17 is provided at the center of the bogie 13 on the left side of the drawing, and a pivotal support 17 and a suspension structure support 18 are provided on the bogie 13 on the right side of the drawing to form a three-point support statically fixed structure. Further, on the carriage 14, a position immediately above the pivot support 17 provided on the bogie 13 on the left side of the drawing and a position directly above the pivot support 17 and the suspension structure support 18 provided on the bogie 13 on the right side of the drawing. Each of the supports 19 is provided, and the DUT 6 is placed on these supports 19.

FIG. 4 is a detailed view for explaining the structure of the above bearing. FIG. 4A is a side view of the suspension structure support. This suspension structure support has a structure in which a bracket 22 connected to a transport gantry 14 is suspended from a beam 21 by a steel bar 23. Pivots 24 are installed above and below the steel bars 23, respectively. In addition, pivot bearing 17
Is attached to the bracket 22 as shown in FIG. Note that this pivot bearing 17 is another bogie 1
3 (see FIGS. 3A and 3C).

As described above, if the transport gantry 14 is supported by a three-point statically-fixed structure of two pivot supports and one suspension structure support, the rail 13 has a height difference and a bend, so that the carriage 13 Is undesirably displaced or rotated with linear movement, but pitching, rolling,
Unnecessary force, such as yawing, can be effectively prevented from being transmitted to the carriage 14.

[0018]

As described above, according to the present invention, a large number of measuring points within the field of view of the solid-state imaging device camera can be measured immediately. Further, in the present invention, taking the example of a steel bridge, a measuring device can be incorporated into a production line so as to be directly connected to processes before and after such as welding and painting. Furthermore, in the present invention, the number of solid-state imaging device cameras is kept to the minimum necessary, so that the measurement field needs to be a small area, and the size of the measurement device is not large. Therefore, according to the present invention, in the measurement of a structure having a large number of measuring points having a length of 20 to 30 m, the four conditions of high accuracy, short time, small number of people, and low cost can be simultaneously satisfied. There is an effect that the present measuring device can be easily incorporated into a production line.

[Brief description of the drawings]

FIG. 1 is a plan view for explaining a measurement principle of the present invention.

2A is a plan view for explaining a measuring device of the present invention, FIG. 2B is a plan view thereof, and FIG. 2C is a front view thereof.

FIG. 3A is a plan view for explaining a transport gantry of the present invention, FIG. 3B is a side view thereof, and FIG. 3C is a sectional view taken along line AA of FIG. FIG. 4D is a cross-sectional view taken along line BB of FIG.

FIG. 4 (a) is a side view for explaining the structure of the support of the carrier according to the present invention, and FIG. 4 (b) is a cross-sectional view taken along the line CC.

5A is a perspective view showing an I-shaped cross section member of a steel bridge, and FIG. 5B is a perspective view showing a box-shaped cross section member of a steel bridge.

[Explanation of symbols]

Reference Signs List 1 object to be measured before moving 2 object to be moved 3 solid-state image sensor camera (CCD camera) 4 solid-state image sensor camera measuring range 5 direction of movement of member 6 object to be measured (member) 7 ruler 8 movement distance measurement 9 Solid-state image sensor camera (CCD camera) 9 Displacement measuring machine 10 Laser beam 11 Inclinometer 12 Rail 13 Dolly 14 Carrier 15 Computer 16 Cable 17 Pivot support 18 Suspension structure support 19 Support for object to be measured 20 Support 21 Beam Reference Signs List 22 Bracket 23 Steel bar 24 Pivot 25 Hex nut 26 Wheel 27 I-shaped section member 28 Bolt hole of field joint part 29 Bolt hole of connection part 30 Grade position 31 Box-shaped section member

Claims (3)

(57) [Claims] 1. A shape measuring means having a plurality of solid-state imaging device cameras for three-dimensionally measuring the shape of an object to be measured by a photogrammetry method, and a long member of a structure is straightened through the shape measuring means. Moving means for moving, moving amount measuring means for measuring a moving amount of the long member by the conveying means, straightness measuring means for measuring an error of straightness accompanying movement of the long member in the moving direction; While moving the elongate member linearly through the shape measuring means by the transporting means, while measuring three points of a number of measuring points of the elongate member.
A three-dimensional coordinate value is measured, and the three-dimensional coordinate value is corrected based on the error of the straightness measured by the straightness measuring unit and the movement amount measured by the straightness measuring unit. An apparatus for measuring a long member of a structure, wherein the whole shape of the long member is three-dimensionally measured based on the value. 2. The measuring device for measuring a long member of a structure according to claim 1, wherein the transporting means includes: two carriages; and a transport gantry bridged between the two carriages via support means; It has two support bases for mounting the elongate member provided on the transport gantry, and the support means includes one pivot support provided on one of the trolleys, and one pivot support on the other trolley. And a three-point supporting statically fixed structure having one pivot support and one suspension structure support provided on the vehicle, one of the two support bases being located directly above the support of the one bogie. A measuring device for measuring a long member of a structure, wherein the measuring device is provided so that the other is positioned directly above two bearings of the other truck. 3. The measuring device for measuring a long member of a structure according to claim 1, wherein the moving amount measuring means includes a ruler provided on the carrier base so as to extend in a moving direction thereof, An apparatus for measuring a long member of a structure, comprising: a solid-state imaging device camera fixedly arranged to read.