JP3210817B2 - 3D coordinate automatic measurement analysis method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional coordinate automatic measurement / analysis system for measuring large structures such as civil engineering, architectural structures, ships, and the like, as well as the members manufactured, and analyzing the measured values.

[0002]

2. Description of the Related Art Bridges, building steel frames, ships, and other large steel structures are manufactured by assembling and welding parts, such as steel plates, at a factory and dividing them into a plurality of member blocks, and then transferring them to a construction site or a shipyard. Then, it is built by joining with bolts or welding. Conventionally, prior to transfer to a construction site after completion of block production, temporary assembly is performed at the factory or yard to match the actual product, and the assembly state is checked, so that there is no problem in joining at the site. However, in recent years, there has been a demand for labor saving, space saving, cost reduction, improvement in member manufacturing accuracy, and sophistication of measurement technology in the production of steel structures. Therefore, the direction of temporary assembly is being changed.

[0003] In this case, in order to prevent a problem in joining on site even if the temporary assembly is omitted, the blocks are virtually assembled using a computer or the like to confirm the assembly accuracy. You need to simulate. When performing this temporary assembly simulation, obtaining accurate measurement data of the three-dimensional shape of the block used is
This is important in determining the accuracy of the temporary assembly simulation. However, the conventional measurement of a three-dimensional shape is two-dimensional using a transit, a tape measure, a down swing, a level, and the like, and is not suitable for accurately grasping the three-dimensional shape. In recent years, triangulation by forward resection, which has been developed in the field of surveying, and ranging and angle measurement using a lightwave distance meter, have been adopted for measurement of three-dimensional blocks. .

As an example, a three-dimensional coordinate measuring system capable of measuring the three-dimensional coordinate value of an arbitrary point on an object to be measured by one measuring instrument is commercially available from Sokkia under the trade name "MONMOS". . This device measures two arbitrary points in advance, sets a three-dimensional coordinate system, and collimates the center of a reflection target provided at each measurement point to determine three elements of a horizontal angle, a vertical angle, and a distance measurement. Simultaneous measurement, analysis of coordinate transformation,
A three-dimensional coordinate value is obtained by performing an operation, and a high accuracy of ± 1 mm or less can be obtained at a distance of 100 m.

[0005]

However, conventional three-dimensional coordinate measuring machines including the above-mentioned "MONMOS"
In the collimation work, focusing of the telescope and centering of the center of the target and the crosshair of the telescope were performed by human vision, so the work was complicated and time was required for the collimation work. It was easy to enter, the efficiency was poor, and it was a factor to reduce the measurement accuracy. In order to eliminate such disadvantages, it is conceivable to automate the collimation work, and an automatic collimation type measuring instrument has been developed in part.

[0006] For example, in "Development of an automatic three-dimensional space surveying system" announced at the "4th Construction Robot Symposium July 19-20, 1994", a surveying method in which distance measurement and angle measurement are performed with automatic collimation is performed. An example of unmanned measurement of the behavior of a large space structure such as a large tank using a device consisting of a main unit and a control management control unit that controls these devices and displays, records, and manages data is disclosed. ing.
In this system, after initially setting conditions such as the target (target) position and measurement order, the target captured by the motor-driven CCD camera is extracted by an image processing device, and the target centroid and C
The horizontal angle and the vertical angle of the CCD camera are driven by a servomotor so that the optical axes of the CD camera coincide with each other, and automatic collimation is performed. When the target position at the initial setting is known, if the coordinate value is known, the operator directly inputs the coordinate value, and if unknown, the teaching operation is repeated by pointing the CCD camera at the target and putting it on the monitor screen by the controller. Things.

In the present system, the coordinate values of each target are input in advance in the initial setting for automatic collimation. However, the method of calculating the coordinate values of each measurement point for automatic collimation when the measuring machine is the origin is specified. Not. Or C for each station
Teaching is performed by repeatedly pointing the CD camera on the monitor screen, which involves cumbersome manual work, and the merit of automation cannot be expected much. In automatic collimation, the target centroid is obtained by image processing.
Measurement is time-consuming because the collimation is performed by repeatedly performing the operation of matching the optical axis of the camera with the target centroid, and measurement is required because there is a mechanical error when matching the optical axis of the CCD camera with the target centroid. There is a problem that accuracy is deteriorated.

[0008] As another automatic surveying system, there is an automatic monitoring and surveying system "WILD APS" of Leica Corporation.
This system is a three-dimensional coordinate automatic measurement system having an automatic tour, automatic search, and automatic collimation functions of a target, but the input method of a target position at the time of initial setting is the same as the automatic measurement system described above. There is a similar problem.

The automatic target search mechanism of this system searches the target by scanning horizontally and vertically based on the presence or absence of reflection of the distance measuring light from the target. However, a specific target cannot be detected from among a plurality of targets, which is not suitable for detailed measurement. Furthermore, the horizontal and vertical angles in the collimation direction of the search range are as narrow as 10 ° × 10 °, which is not suitable for measurement close to the measurement target.

If the target on the measuring point cannot be collimated directly, it is necessary to use a plurality of measuring instruments or move the measuring instruments to perform the measurement. In order to minimize the number of measuring instruments and the number of times of movement, it is necessary to displace the center of the target from the measuring point and place the target at a position where it can be collimated from the measuring instrument. However, there is a problem that the position of the measurement point cannot be specified only by obtaining the three-dimensional coordinate value of the measurement point, and the three-dimensional coordinate value of the measurement point, that is, the actual shape of the measurement target cannot be accurately obtained.

Further, these three-dimensional coordinate value measuring systems do not have design coordinate values of the object to be measured corresponding to the actually measured coordinate system, and cannot compare with the design values during the measurement. However, there has been a problem that the reliability of the measurement cannot be confirmed at the measurement site.

SUMMARY OF THE INVENTION It is an object of the present invention to solve these problems, to eliminate a human operation as much as possible, and to provide an efficient and accurate three-dimensional coordinate automatic measurement / analysis method.

[0013]

[Means for Solving the Problems] (1) Multiple objects on a measurement object
In a system that measures the three-dimensional coordinate value of each measurement point by collimating the targets provided at the number of measurement points, distance measurement and angle measurement are performed on the target installed on the measurement point and the collimation point on the target. A measuring instrument equipped with a motor-driven CCD camera equipped with functions, an image processing device that analyzes the image of the target captured by the CCD camera of the measuring instrument, and setting of measurement conditions;
A computer with a monitor that runs the analysis program
Using a three-dimensional measurement system constructed in Ta, measured
Computes the design dimensions or 3D design coordinates of the object.
Input to the monitor, and the monitor
After measuring, install a measuring instrument within that range and use it as a reference.
Set the reference coordinate system based on the coordinate values obtained by actually measuring the measurement points
To perform coordinate transformation of the three-dimensional design coordinate values of
Converts the design coordinate values to polar coordinate values for automatic measurement, and
The CCD camera of the measuring machine is driven with the polar coordinates
Automatically collimates the attached targets sequentially and CC
Distance measurement and angle measurement are performed while the optical axis of the D camera is within the target area to be measured, and the target image is analyzed by the image processing apparatus. By obtaining the inclination and direction of the surface and correcting the three-dimensional coordinate value of the collimation point, the target image can be analyzed by image analysis of the target image without matching the collimation axis of the rangefinder to the center point of the target. A three-dimensional coordinate automatic measurement and analysis method characterized in that three-dimensional coordinate values of measurement points on a measurement object are obtained by obtaining a tilt of a main axis of the target and a base line on a target image plane.

[0014]

According to the above (1), the target of each measuring point captured by the CCD camera is subjected to image analysis of the target image to determine a three-dimensional shift amount from the collimating point. By correcting the coordinate values, the three-dimensional coordinate value of the target center point is obtained without matching the collimation axis of the rangefinder with the center point of the target, that is, automatic collimation is performed.

Further, by using a target having a base line on the collimation plane, the three-dimensional coordinate value of the target center point is corrected to obtain the three-dimensional coordinate value of the measurement point.

Since the three-dimensional coordinate value of each measurement point on the measurement object or the dimension value of the measurement object is known in the design value, the known design coordinate value and the position of the measuring instrument body are input to a computer with a monitor. Then, simulate the measurement such as the placement of the target at each of the following measurement points and the collimation order, and find the installation range of the measuring instrument body that can collimate the specified target on the measurement object before actual measurement on the monitor. Can be By installing the measuring instrument body within this installation range, the subsequent automatic measurement is ensured.

At the measurement site, the position of the target on three measuring points serving as reference points on the object to be measured is measured and measured by a measuring machine installed at the above-mentioned position, and the coordinates are measured in polar coordinates with the measuring machine as the origin. Is detected. Then, the polar coordinate values are coordinate-converted into coordinate values of a three-dimensional coordinate system, three-dimensional coordinate values of three reference measurement points are obtained, and a reference orthogonal coordinate system is determined based on the three reference points. This reference coordinate system is used as a common coordinate system, and the inputted design coordinate values or design dimension values are converted into three-dimensional design coordinate values of the reference coordinate system. Then, in the measurement of each measuring point, the three-dimensional design coordinate value is converted into a polar coordinate value with the measuring device main body as an origin, and the collimating direction of the CCD camera on the measuring device main body in a preset order using the coordinate values. Is automatically driven to sequentially circulate the targets at each measurement point.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing the overall configuration of a system for measuring and analyzing three-dimensional coordinates of a large structure according to one embodiment of the present invention. The system used in the present invention includes a target 6 provided at each measurement point on a measurement object and a color CC driven by a servo motor.
D camera automatically patrols, searches,
A measuring device 1 having a mechanism for collimating, measuring a distance, and measuring a horizontal angle and a vertical angle; an image processing device 2 for analyzing an image obtained from a CCD camera of the measuring device 1; A computer with a monitor 3 for analyzing analysis and the like and storing measurement results; a portable computer 4 for running a program for calculating polar coordinates for automatic measurement and generating data for numerical control of the measuring instrument body; A controller 5 for remotely controlling the collimating direction, magnification, and focusing of the CCD camera, a printer PRR, a plotter PLR, and a modem M
It is composed of an output device such as an OD. The modem MOD is for performing data communication with another computer via a communication line.

The target 6 is a prism reflection sheet, and reflects a light wave emitted from the measuring device 1. The reflected light is picked up by the CCD camera, and the image of the target 6 is recognized from the image signal of the CCD camera, that is, the image signal. The target 6 has a required size according to the collimation distance. For example, when the collimating distance is 10 m, the diameter is 5 mm or more, and when the collimating distance is 100 m, the diameter is 100 mm or more. When the target 6 is provided at each measurement point, the angle between the target surface 7 and the optical axis can be measured within ± 45 °, but it is preferably opposed to the CCD camera as much as possible. The shape of the target 6 may be any of a circle, a quadrangle, a triangle, and the like. However, when correcting a shift amount due to the inclination of the target described later, it is preferable to use a true circle. When a cylindrical target having a vertical side surface 19 as shown in FIG. 10 is used, the direction of the inclination can be known from the side image 21 of the image of the target. Further, if the target surface is colored or has a specific mark, it is convenient to identify the target.

FIG. 2A shows a sheet-type target having a perfectly circular collimating plane. A cross line indicating the center of the target is not necessarily required on the target surface, but a cross line as shown in FIG. 2B may be described so that the target center can be easily aligned with the measurement point.
FIG. 2C shows an example of a target used when the center of the target is difficult to be attached by matching the center of the target to the measurement point.
The collimating surface 7 of the target can be used by being tilted or rotated in two axial directions. In this case, a base line 8 passing through the center of the target indicating the direction of the measurement point is described on the target collimation plane 7.

The measuring device 1 includes a light wave distance meter for measuring a distance by near infrared rays, a goniometer for measuring a horizontal angle and a vertical angle, and a device for automatically traveling, searching, and collimating the target 6. A color CCD camera with a zoom mechanism, a servomotor for changing the horizontal and vertical angles that can numerically control the collimating direction, and the like are provided. Then, distance measurement and angle measurement are performed, and the coordinates are output as polar coordinates of the coordinates of the center of the target. The collimating axis of the lightwave distance meter and the optical axis of the CCD camera are coaxial. If there is no need to identify the target by color, a black and white C
A CD camera may be used.

The monitor-equipped computer 3 performs measurement simulation, analysis such as coordinate conversion, graphic display and storage of design values and measurement results, and the like, and analysis software such as measurement simulation, coordinate conversion, and correction calculation. It works.

The portable computer 4 has almost the same function as the above-mentioned computer 3 with a monitor, and based on the positional relationship between the measuring object 10 and the measuring machine 1 at the time of actual measurement, the tertiary of each measuring point is determined. It converts original design coordinate values, calculates polar coordinate values for automatic measurement, and creates numerical control data. A notebook computer or a handy terminal is used.

The portable computer 4 may be omitted, and the image processing apparatus 2 and the computer with monitor 3 may be directly connected online or the like.

The controller 5 has a function of remotely controlling the collimating direction, magnification, and focusing of the CCD camera of the measuring device 1. Of the measuring points on the measuring object 10, the origin, the reference axis and It is used to collimate three reference points for setting a reference plane. It is also used when manually measuring three-dimensional coordinate values of measurement points on the measurement object 10 whose three-dimensional design coordinate values are not known.

First Embodiment A description will now be given of a first embodiment in which the three-dimensional coordinate value of a measuring point on a measuring object is automatically measured using the system configured as described above. FIG. 3 is a flowchart showing the outline of the measurement procedure, and FIG. 4 shows a mode of automatically measuring the measurement target. In the first embodiment, three-dimensional coordinate value automatic measurement is performed as follows.

A known three-dimensional design coordinate value created for designing or manufacturing a structure to be measured is input using the computer 3 with a monitor, and the structure to be measured is displayed on a monitor screen. Create a 3D design model and determine the measurement points. In this case, the design dimension value of the structure may be input and converted into a three-dimensional design coordinate value in the computer; the installation position of the measuring instrument 1 is input on the same screen; The design polar coordinate values of the measurement points on the target structure 10 are determined, the measurement conditions are simulated, such as the determination of the target 6 on the measurement point to be collimated, the setting of the measurement order, and the installation possible range of the measurement device 1 is determined. The measuring device 1 is set within the settable range; three measuring points on the structure 10 to be measured are set as reference points (9a, 9);
b, 9c), the polar coordinate value of the collimation point on the target set on the measurement point is actually measured by the measuring device 1 and converted into the three-dimensional coordinate value of the measurement point; The point is the origin, the line connecting the origin 9a and the second point 9b is the x-axis, the plane including this axis and the third point 9c is the xy (xz) plane, and the axis perpendicular to this plane is the z-axis. An axis is defined as the local coordinate system of the structure to be measured.

Of the three-dimensional design coordinate values of the object 10 to be measured, an origin 9a, coordinate axes, reference plane, and three design coordinate values corresponding to the three reference points (9a, 9b, 9c).
Is matched with the origin 9a, reference axis, and reference plane on the structure to be measured, the local coordinate system of the real thing of the structure to be measured matches the local coordinate system of the three-dimensional design model. In a schematic representation, it can be seen that a three-dimensional design model having a common coordinate axis is projected on the actual measurement target structure 10 as shown in FIG. Thus, the design polar coordinate value of the measurement point on the three-dimensional design model when the position of the measuring device 1 at the time of the actual measurement is set to the origin 9a is obtained by the coordinate conversion. Also,
As shown in FIG. 5, the measurement points 15 and 16 that cannot be collimated from the installation point of one measuring instrument 1 are known from the above-described measurement simulation, and therefore, a plurality of measurement instruments that can collimate the targets installed on them. 1A installation points 12 and 13 are provided, and a common measurement point 1 that can be collimated from both inside and outside of the measurement object
A target 6 is set on 4 and coordinates are made to coincide with each other as a joint point for measurement. The number and positions of the measuring devices and the number and positions of the common measurement points are also simulated in advance.

Attribute data such as the format, color, and size of the target at the measurement point is added to the design polar coordinate values of the target to be measured, and numerical control data for automatic patrol, search, and collimation of each target is created; The apparatus 1 is driven to remotely control the collimating direction, magnification, and focusing of the CCD camera, and automatically traverse, search, and collimate the target to be measured.

The principle of automatically collimating the target center point in the present invention is as follows. FIG. 6 shows C of the measuring machine 1.
It is an image of the target 6 captured by a CD camera. CCD
A target image 7 having a perfect circular target surface obtained by collimating the target 6 by the camera is captured as an elliptical image 17 if it has an angle with the optical axis of the CCD camera.

Here, a method of calculating the amount of deviation (Δx, Δy, Δz) of the center point of the target 6 from the collimation point of the CCD camera will be described with reference to FIG. The collimating axis (optical axis) direction is Zp
The plane orthogonal to the plane is defined as an Xp-Yp plane, the Xp axis is defined in the horizontal direction, the axis orthogonal to the plane is defined as the Yp axis, and an image coordinate system is set. The collimation point on the target, that is, the optical axis intersects the target. Let P be the point and the origin of the image coordinates. The image analysis of the target image on the Xp-Yp plane is performed, and the coordinate value (Δx, Δy) of the centroid C of the target image is calculated from the centroid calculation of the target image. Is obtained from the ratio of the major axis to the minor axis or the area ratio between the target (true circle) and the target image (ellipse).

[0032]

(Equation 1)

The positive or negative angle θ between the target surface and the optical axis is determined by the direction of inclination of the target surface 7.
The direction of the inclination of the target surface 7 cannot be determined only from the elliptical image 17 of the target surface captured by the CCD camera. The procedure for determining the direction of the target surface 7 will be described with reference to the flowcharts of FIGS. O in FIG.
The point is the position of the measuring instrument 1 and the origin of the whole coordinate system. The collimation point on the target target is P, and the point on the target collimated by arbitrarily moving the optical axis in the short axis direction of the target image is P '
It is. In the two-point collimation method, P
A point is collimated, and the polar coordinate value of the point, that is, the oblique distance R,
The horizontal angle Hp and the vertical angle Vp are obtained, and (Δx, Δy, θ, α) is obtained from the image analysis of the target image. Next, the optical axis on the target is moved parallel to the short axis of the target image 20. By collimating another point P ′, measuring the oblique distance R ′ at that point, and comparing the values of R and R ′, the direction of the target surface 7, that is, the sign of θ, can be determined.

It should be noted that the measurement can be performed with one point collimation. In this case, as an example, the target surface 7 as shown in FIG.
If a target (b), such as a cylindrical base having a side surface 19 perpendicular to the target, whose tilt direction can be determined by itself, is used, if the target has a tilt, the side surface 19 of the target will be displaced as shown in (c). The visible side can be determined to be the near side, and the positive or negative of θ can be determined by one collimation.

Further, the long axis (L) of the target shown in FIG.
An angle α between the horizontal axis (Xp axis) and the horizontal axis (Xp axis) is obtained, and a shift amount Δz of the target center point in the optical axis direction is calculated by the following formula.

[0036]

(Equation 2)

Next, a method of calculating the coordinate value of the center point of the target will be described with reference to FIG. Measuring machine 1 at origin O
The three-dimensional coordinate value (Xc, Yc, Zc) of the target center point T in the entire coordinate system when the target coordinate point is set to the polar coordinate value (R, Hp, Vp) of the collimation point P of the tilted target image in the image coordinate system The amount of deviation (Δx, Δy, Δ
z) is obtained from the following equation.

[0038]

(Equation 3)

A method for calculating the three-dimensional coordinate values of the measurement points will be described with reference to FIG. Assuming that the distance in the base line direction of the target surface from the target center T to the measurement point Q is h, the distance in the perpendicular direction is d, and the angle between the long axis (L axis) of the target image and the base line image is β, the image coordinates The coordinate value (Δx) of the measuring point Q when the target center point T is set as the origin in the system.
s, Δys, Δzs) are obtained by the following equation.

[0040]

(Equation 4)

The coordinate values of the measuring point Q in the image coordinate system are converted into the global coordinate system, and the three-dimensional coordinate values (Xs, Ys, Zs) of the measuring point Q when the measuring machine 1 is set as the origin O are It is obtained by the following equation.

[0042]

(Equation 5)

Next, automatic search for a target will be described. Generally, the deviation from the design value of the object to be measured such as civil engineering, building, structure and ship member or block is about several mm to several cm, and the size and mounting direction of the target 6 are appropriately selected. Thus, when collimating with the design value, the optical axis of the CCD camera usually enters the target with one collimation, but in the case of a large-scale measurement object or a measurement object with poor manufacturing accuracy, the collimation is performed with the design value. CCD even if collimated
The camera may not be able to capture the target image. In such a case, automatic search for the target is required. FIG. 13 is a flowchart showing the procedure of automatic target search. On screen by image analysis (within field of view)
It is determined whether or not a target image exists, and if not, the zoom mechanism of the CCD camera is automatically operated to expand the field of view and search for the target. Also, if the target image is CC
Even if you are within the field of view of the D camera,
If the optical axis of the D camera is not included, or if the entire target image of the target to be measured is not included in the field of view of the CCD camera, the amount of deviation from the optical axis is determined by analyzing the entire image or a partial image of the target. (Δx, δy) is obtained, the optical axis is moved, and the target is collimated. Then, the magnification of the CCD camera at the time of performing automatic collimation is switched to a state optimal for image processing of the target.

Next, a method of identifying a target to be measured when a plurality of targets are captured in the field of view of the CCD camera will be described. When measuring a near measuring point or a far measuring point on a measurement target, a plurality of target images may be present in the field of view 22 of the CCD camera as shown in FIG.
In this case, the collimation plane of the target is identified by the color CCD camera using the target 23 colored in a specific color, or the shape of the collimation plane of the target or a specific mark written on the collimation plane is used. With the pattern recognition used,
Perform automatic selection of target targets.

According to the above method, the three-dimensional coordinate value of the center point of the target on the measurement object that has been automatically traversed, searched, and collimated is determined by the displacement of the target (the amount of deviation between the measurement point and the center of the target). The three-dimensional coordinate values of the measurement points are obtained after the correction. Further, the measured values are compared with the design values stored in the portable computer 4 to check the state of measurement such as the arrangement of the measuring instrument 1 and the installation of the target 6 and to output the error amount of the object to be measured in real time.

-Second Embodiment- As a second embodiment of the present invention, an example in which three-dimensional CAD is used for automatic tour and automatic collimation will be described. The target 6, the measuring device 1, the image processing device 2 and the like among the devices constituting the three-dimensional coordinate measurement / analysis system may be the same as those in the first embodiment, but the computer with monitor 3 and the portable computer
It is assumed that the data unit 4 is equipped with a CPU and an external storage device such as a hard disk having sufficient capacity and capacity to operate the three-dimensional CAD. Hereinafter, a procedure for automatically measuring the three-dimensional coordinate values of the measurement points on the measurement object 10 using the system configured as described above will be described with reference to the flowchart showing the outline of the measurement procedure in FIG.

The automatic three-dimensional coordinate value measuring method of the second embodiment is performed as follows. First, a known three-dimensional design coordinate value created for designing or manufacturing a structure to be measured is provided with a monitor. 3D CAD using computer
Is input as the graphic data of the above, a three-dimensional design model of the structure to be measured is created on the monitor screen, and measurement points are determined. In this case, a three-dimensional model may be drawn by inputting design dimension values of the structure. Next, the installation position of the measuring device 1 is input on the same three-dimensional CAD screen; using this point as the origin, the design polar coordinate value of the measurement point on the structure to be measured is obtained by the CAD coordinate display function. In addition, a target on a measurement point that can be collimated from the position where the measuring device 1 is installed is selected using the hidden line processing function of the three-dimensional CAD, and the deviation of the target from the measurement point and the direction of the target surface are set. Then, the design polar coordinate value of the center point of the target is obtained in the same manner as above, the measurement conditions such as the setting of the measurement order are simulated, and the installable range of the measuring device 1 is obtained; Is installed; polar coordinate values of collimation points on a target placed on three measurement points constituting a reference plane on the structure to be measured are actually measured by the measuring device 1; these coordinate values are input to a three-dimensional CAD. , A three-dimensional coordinate value of a measurement point is obtained by a coordinate display function of CAD, an arbitrary point is defined as an origin, a line connecting the origin and the second point is defined as an x-axis, and a plane including the axis and the third point is defined as an x-axis. Defined as the y (xz) plane, the measurement target structure Of the local coordinate system is set in the three-dimensional CAD; it performs copying of the three-dimensional design model of the measurement object that is created on its local coordinates.

Then, the design polar coordinate value of the center point of the target placed at the measurement point on the three-dimensional design model when the position of the measuring machine 1 at the time of actual measurement is set as the origin is obtained by the coordinate display function of CAD. The connection of the coordinates as shown in FIG. 5 is also performed on the three-dimensional CAD. At this time, the number and positions of measuring instruments installed and the number and positions of common measurement points are also simulated in advance on the CAD. The procedure is the same as in the first embodiment.

Next, as shown in FIG. 15, data (Δx, Δy, θ, α, α) obtained by image analysis of the target image 17 captured by the CCD camera in automatic collimation.
β) and the polar coordinate values (R, Hp, Vp) of the collimation point P measured and measured by the lightwave distance meter and the goniometer, the three-dimensional coordinate values of the center point of the target 6 and the measuring point are calculated. A method of obtaining a result using three-dimensional CAD will be described.

First, with the measuring machine 1 as the origin, the origin O
Line OP (optical axis) connecting the target and the collimation point P of the target
Is set to a plane A (25) perpendicular to. FIG. 15A shows a plane 25 including the target image 17, and the collimation point P on the target and the centroid C of the target image 17 are within the plane 2.
Present in 5 As shown in FIG.
(A) A plane 25 that passes through the upper collimation point P and is parallel to the major axis of the ellipse of the target image 17 is defined as an intersection line RR.
A plane 26 (B) forming an angle of (2-θ) is set. This plane 26 is a plane including the target surface 7 shown in FIG. 15C, and the point where the centroid C of the target image is projected on the plane B is the center point T of the target. Set the measuring machine 11 to the origin O
Then, the three-dimensional coordinate value of the target center point T in the whole coordinate system at the time of is calculated directly by the coordinate display function of CAD.
In FIG. 15A, the center point T of the target image is shown.
A radial line C having an angle of β with the long axis of the target image 17 passing through
D27 is drawn and projected onto the plane 26. As shown in FIG. 15C, the projected line of this diameter line coincides with the base line marked on the target. FIG. 15D is a cross-sectional view perpendicular to the target surface 7 along the projection line TE28. Since the positional relationship between the target center point T and the measurement point Q is known, the projection line TE28 is projected from the target center point T. H in direction, d in vertical
Is the measurement point Q, and the three-dimensional coordinate value is directly obtained by the CAD coordinate display function.

The coordinate values, dimension values, and centroids of the measurement points in the global coordinate system or any local coordinate system are also represented by three-dimensional CAD.
It is obtained by using coordinate display, distance value calculation, area calculation, graphic information function, and the like.

[0052]

According to the present invention, in the measurement of the three-dimensional coordinates of the object to be measured, the C
In order to automatically control the measuring device 1 composed of a CD camera, a distance meter, and a goniometer to automatically traverse, automatically search, and automatically collimate a target installed at a measurement point on a measurement target, an actual measurement is performed. Obtaining work is largely omitted in the measurement work, human errors are reduced, and the measurement work at the measurement site can be performed quickly and reliably. In addition, at the time of automatic collimation, the collimation axis of the optical distance meter does not completely match the center point of the target, and C
Since the amount of shift is determined by image analysis of the target image obtained by the CD camera and corrected, the time required for collimating operation can be greatly reduced, the measurement speed is high, and the center of the target is also high. This eliminates mechanical errors that occur when matching the collimation axis of the distance meter with that of the distance meter, and enables highly accurate measurement. Furthermore, it is possible to set a rotatable target at a position deviated from the measurement point on the measurement target, and it is possible to reduce the number of measuring machines to be installed or the number of times of movement, thereby reducing measurement equipment cost and measurement time. It is possible to greatly reduce the measurement error generated at the time of joining the coordinates due to the switching or movement of the measuring device, and to perform highly accurate measurement. In addition, the measured value of the measurement object can be compared with the design value during the measurement, and the measurement state and the error amount of the measurement object can be confirmed in real time, thereby improving the reliability of the measurement.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the overall configuration of a large-sized structure measuring and measuring apparatus for implementing the present invention.

FIG. 2 is a front view showing several examples of the collimating target 6 shown in FIG.

FIG. 3 is a flowchart showing an outline of a measurement procedure according to the first embodiment of the present invention.

FIG. 4 is a perspective view showing a measurement target structure (solid line) shown in FIG. 1 and an image (dotted line) represented by a three-dimensional design model having a common coordinate axis of the structure, with the measuring machine 1 as a reference point. FIG.

FIG. 5 is a perspective view showing a measurement mode of a measurement point that cannot be collimated by one measuring device 1 shown in FIG. 1;

6 is a target image (ellipse) obtained by collimating a perfect circular target having an angle θ with respect to the optical axis of the CCD camera of the measuring device 1 shown in FIG. FIG. 3 is a plan view showing an image (circle) of a target to be processed.

7 is a plan view showing a shift amount Δz in the optical axis direction of the center of the target photographed by the CCD camera of the measuring device 1 shown in FIG.

8A and 8B are a perspective view and a side view showing an inclination direction of a target surface obtained by a two-point collimation method of a target photographed by a CCD camera of the measuring instrument 1 shown in FIG.

FIG. 9 is a flowchart showing the outline of the measurement procedure of the two-point collimation method in the first embodiment of the present invention.

10 is a plan view showing an image of a modified example of the target used in the present invention taken by the CCD camera of the measuring device 1 shown in FIG. 1; FIG. 10 (a) is a view in which the target is directly opposed to the CCD camera; (B) shows an image in a horizontal orientation, and (c) shows an image in a tilted state.

11 is a perspective view showing three-dimensional coordinate values Δx, Δy, and Δz of a target center point with the measuring instrument 1 shown in FIG. 1 as an origin.

12 is a plan view showing the three-dimensional relationship between the center C of the target and the measurement Q taken by the CCD camera of the measuring device 1 shown in FIG. 1 when calculating the three-dimensional coordinate values of the measurement points.

FIG. 13 is a flowchart illustrating a procedure for automatically searching for a target according to the first embodiment of the present invention.

14 is a plan view showing an example of a photographing screen of the CCD camera when there are a plurality of targets in the field of view of the CCD camera of the measuring device 1 shown in FIG.

FIG. 15 is a plan view showing a three-dimensional relationship between the center C of the target image photographed by the CCD camera of the measuring device 1 shown in FIG. 1 and the measurement Q in the second embodiment of the present invention; C
3B shows a target image on a plane 25 perpendicular to the optical axis of the CD camera, and FIG. 4B shows a plane showing the relationship between a reference plane XZ, the plane 25, and a plane 26 forming a predetermined angle with the plane 25; FIG. 3C is a plan view showing a target image on the surface 26, and FIG.
FIG. 7 is a plan view showing a cross section of the target surface 7 along a projection line TE28 shown in FIG.

[Explanation of symbols]

1: Measuring machine 2: Image processing device 3: Computer with monitor 4: Portable computer 5: Controller 6: Target 7: Target plane (collimation plane) 8: Base line 9a, 9b, 9c: Reference point 9a ： Origin 10 ： Measurement object 11 ： Projection diagram of design value of measurement object 12 ： Measurement machine A 13 ： Measurement machine B 14 ： Common measurement point Unavailable measuring point 17: Target image having an angle of θ with respect to the optical axis 18: Normal vector of the target surface 19: Side surface of the target 20: Target image 21: Side image of the target 22: Field of view of the CCD camera (monitor screen) 23 : Target image colored on collimation plane 24: Target to be measured 25: Plane A 26: Plane B 27: Radial line CD 28: Projection line TE

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Claims (1)

(57) [Claims] 1. A system for measuring three-dimensional coordinate values of each measurement point by collimating targets provided at a large number of measurement points on a measurement object, comprising: a target installed on the measurement point; Motor-driven CC with functions to measure and measure the aiming point
Measuring instrument equipped with D camera and image processing device and instrument for analyzing target image captured by CCD camera of measuring instrument
Monitor that runs a program for setting and analyzing measurement conditions
Using a three-dimensional measurement system configured by chromatography with a computer, the design size value or three-dimensional design coordinate of the measurement object
Enter the values into the computer and set the measuring instrument on the monitor screen.
After finding the possible installation range, install a measuring instrument within that range,
Based on the coordinate values obtained by actually measuring the reference point,
Set the coordinate system and convert the coordinate of the 3D design coordinate value of each station.
And convert the design coordinate values to polar coordinate values for automatic measurement
And drives the CCD camera of the measuring instrument with the converted polar coordinate values.
And automatically attaches the targets attached to each station
In the state where the optical axis of the CCD camera is within the target area to be measured, distance measurement and angle measurement are performed, and the target image is analyzed by the image processing device. By calculating the shift amount, the inclination of the target surface and its direction, and correcting the three-dimensional coordinate value of the collimation point,
Without matching the collimating axis of the rangefinder to the center point of the target, the image analysis of the target image determines the inclination of the main axis of the target image and the baseline on the target image plane, thereby obtaining a measurement point on the measurement object. An automatic three-dimensional coordinate measurement and analysis method characterized by determining three-dimensional coordinate values.