JP7345377B2 - Alignment measurement system, information processing device, alignment measurement method and program - Google Patents

Description

The present invention relates to an alignment measurement system, an information processing device, an alignment measurement method, and a program.

In the development of artificial satellites, in order to confirm whether onboard equipment such as sensors and antennas are installed as designed, the positions and orientations of onboard equipment are measured, so-called alignment measurements.

Patent Document 1 discloses a measuring device using a thruster nozzle alignment jig attached to a thruster nozzle of an artificial satellite. The measuring device described in Patent Document 1 measures the center coordinate position of a spherical mirror section held by a plane mirror section provided in a thruster nozzle alignment jig using two theodolites placed at different positions. , the angle and center coordinates of the opening surface of the thruster nozzle are measured.

Japanese Patent Application Publication No. 9-264711

In the measuring device described in Patent Document 1, a measurer manually adjusts the height, position, and inclination of the stand on which the theodolite is mounted while checking the illumination light from the theodolite, and sets the plane mirror to a position where collimation is possible. It is necessary to install a theodolite. As a result, the measuring device described in Patent Document 1 has a problem in that the measurement accuracy based on the adjustment of the theodolite largely depends on the skill level of the measurer. Repeating this may prolong the measurement time.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to shorten measurement time while maintaining measurement accuracy.

In order to achieve the above object, an alignment measurement system according to the present invention is an alignment measurement system that measures the mounting position and mounting angle of an object to be measured attached to a product, and includes a laser measuring device and a non-measurement object. A mounting reflector, a product mounting reflector, a position/orientation calculation section, a storage section, a difference value calculation section, a collimation position calculation section, a mounting position measuring reflector, and a mounting angle measuring reflector. , an attachment position calculation section, and an attachment angle calculation section. Laser measuring instruments measure the position of the reflector. The non-measurement object attached reflector is a reflector attached to a non-measurement object that is provided at a measurement location and is different from a manufactured product . A product-mounted reflector is a reflector that is attached to a product. The position and orientation calculation unit calculates the position and orientation of the laser measuring instrument and the position and orientation of the product based on the position of the non-measurement object attached reflector and the position of the product attached reflector measured by the laser measuring instrument. do. The storage unit stores position and orientation information indicating the position and orientation of the laser measuring device and the position and orientation of the product when the product and the laser measuring device are installed before measuring the object to be measured. The difference value calculation unit calculates a value indicating the position and orientation of the laser measuring device indicated by the position and orientation information stored in the storage unit, and a value indicating the position and orientation of the laser measuring device when the product and the laser measuring device are installed to measure the object to be measured. In addition to calculating the difference value for the measuring instrument between the value indicating the position and orientation of the laser measuring instrument calculated by the position and orientation calculation unit, the value indicating the position and orientation of the product indicated by the position and orientation information and the measured object are calculated. A difference value for the product is calculated from the value indicating the position and orientation of the product calculated by the position and orientation calculation unit when the product and the laser measuring device are installed for measurement. The collimation position calculation unit calculates a collimation position at which the laser measuring device collimates the object based on the measuring instrument difference value and the product difference value calculated by the difference value calculation unit. The attachment position measuring reflector is a reflector attached to the object to be measured, and indicates the attachment position of the object to be measured. The attachment angle measuring reflector is a reflector attached to the object to be measured, and indicates the attachment angle of the object to be measured. The attachment position calculation unit calculates the attachment position of the object to be measured based on the position of the attachment position measurement reflector measured by the laser measuring device installed at the collimation position calculated by the collimation position calculation unit. The mounting angle calculation section calculates the mounting angle of the object to be measured based on the position of the mounting angle measurement reflector measured by the laser measuring device installed at the collimation position calculated by the collimation position calculation section.

The alignment measurement system according to the present invention uses values indicating the position and orientation of the laser measuring device when installed before measuring the object to be measured, and values indicating the position and orientation of the laser measuring device when installed to measure the object to be measured. The collimation position is calculated based on the difference value for the measuring instrument with the value indicating the position and orientation of the measuring instrument. The alignment measurement system according to the present invention is based on the position of the reflector for measuring the mounting position and the position of the reflector for measuring the mounting angle, which are measured by the laser measuring device installed at the calculated collimation position. Calculate the mounting position and mounting angle of the object. Therefore, according to the present invention, the laser measuring instrument can be installed at the aiming position with higher precision than an alignment measurement system that does not calculate the aiming position based on the difference value for the measuring instrument, and The mounting position and mounting angle of the object to be measured can be measured with high precision. Further, according to the present invention, the laser measuring device can be quickly installed at the sighting position, and the measurement time can be reduced compared to an alignment measurement system that does not calculate the sighting position based on the difference value for the measuring device. . As a result, measurement time can be shortened while maintaining measurement accuracy.

An explanatory diagram of an alignment measurement system according to Embodiment 1 of the present invention A diagram showing a functional configuration of an alignment measurement system according to Embodiment 1 Block diagram showing the hardware configuration of the information processing device according to Embodiment 1 A diagram showing an example of position and orientation information according to Embodiment 1 A diagram showing a display example of a measurement result screen according to Embodiment 1 Flowchart showing the flow of alignment measurement processing according to Embodiment 1 An explanatory diagram of an alignment measurement system according to Embodiment 2 of the present invention A diagram showing the functional configuration of an alignment measurement system according to Embodiment 2 Flowchart showing the flow of alignment measurement processing according to Embodiment 2 Flowchart showing the flow of alignment measurement processing according to modification example 1 Flowchart showing the flow of alignment measurement processing according to modification example 2

[Embodiment 1]
The alignment measurement system according to Embodiment 1 of the present invention will be described in detail below with reference to FIGS. 1 to 6.

FIG. 1 is an explanatory diagram of an alignment measurement system according to Embodiment 1 of the present invention. As shown in FIG. 1, alignment measurement system 100 according to Embodiment 1 is a system that measures the mounting position and mounting angle of object to be measured 201 attached to product 200. Note that the product 200 is, for example, an artificial satellite, and the object to be measured 201 is, for example, onboard equipment such as a sensor and an antenna attached to the artificial satellite. A plurality of objects to be measured 201 are attached to different positions of the product 200.

The alignment measurement system 100 includes a rotary table 110 on which a product 200 is installed, a reflector 120 for measuring the mounting position and a reflector 130 for measuring the mounting angle attached to the object to be measured 201, and a reflector 130 for measuring the mounting angle attached to the object to be measured. An object-mounted reflector 140 is provided. The alignment measurement system 100 also includes a laser measuring device 150 for measuring the reflectors 120, 130, and 140, a carriage 160 for installing the laser measuring device 150, and a tooling bar 170 for supporting the carriage 160. The alignment measurement system 100 also includes an information processing device 180 that is electrically connected to the rotary table 110, the laser measuring device 150, the carriage 160, and the tooling bar 170 and can control them.

The rotary table 110 is supported on the floor surface, and is rotatable about a rotation axis extending in the vertical direction by a rotation mechanism (not shown) provided in the center when the product 200 is installed. Therefore, by adjusting the rotation angle of the product 200 by rotating the rotary table 110, the direction in which the product 200 faces the laser measuring device 150 is adjusted.

The mounting position measurement reflector 120 is, for example, a retroreflector using three mirrors that are orthogonal to each other, and reflects the laser beam irradiated from the laser measuring device 150 in parallel and opposite directions regardless of the direction of incidence. It is possible. Therefore, the attachment position measuring reflector 120 can indicate the attachment position of the attached object to be measured 201 by reflecting the laser light emitted from the laser measuring device 150 in the opposite direction.

The attachment angle measuring reflector 130 is, for example, a cube mirror, and the directional plane of the cube mirror indicates the attachment direction of the object to be measured 201 . Note that the mounting direction is, for example, the direction in which the antenna as the object to be measured 201 functions, that is, the antenna direction. Therefore, the attachment angle measurement reflector 130 can indicate the attachment angle of the attached object to be measured 201 when the directional surface reflects the laser beam from the laser measuring device 150 facing directly in the opposite direction.

The non-measurement object attachment reflector 140 is a reflector similar to the attachment position measuring reflector 120, and is, for example, the above-mentioned retroreflector. The non-measurement object-mounted reflector 140 includes a product-mounted reflector 141 attached to a part of the product 200, which is an example of a non-measurement object, other than the object to be measured 201, and a product-mounted reflector 141, which is attached to a part of the product 200, which is an example of a non-measurement object, and a wall surface of a building, which is an example of a non-measurement object. It includes three or more measuring device position calculation reflectors 142 that are attached and used to calculate the position of the laser measuring device 150 when it is installed. The product-attached reflector 141 includes a first reference coordinate construction reflector 143, a second reference coordinate construction reflector 144, and a third reference coordinate construction reflector 144, which are used to construct a reference coordinate system that serves as a reference for the rotating product 200. A reflector 145 is provided. Further, the product attachment reflector 141 includes three or more product position calculation reflectors 146 used to calculate the position of the product 200 when it is installed.

As shown in FIG. 1, the first reference coordinate construction reflector 143, the second reference coordinate construction reflector 144, and the third reference coordinate construction reflector 145 are cylindrical parts provided at the lower end of the product 200. They are attached to the outer peripheral surface of 202 at intervals. Note that in order to construct the coordinate system, it is necessary to be able to measure at least three reference coordinate construction reflectors with the laser measuring device 150 while the product 200 is stationary. Therefore, although not shown, a reflector for coordinate construction that is different from the first reference coordinate construction reflector 143, the second reference coordinate construction reflector 144, and the third reference coordinate construction reflector 145 is used in the cylindrical portion 202. A plurality of them are provided at intervals on the outer peripheral surface of the. As a result, the laser measuring device 150 can measure three or more coordinate construction reflectors regardless of the direction facing the laser measuring device 150 due to the rotation of the product 200.

Further, the measuring device position calculation reflector 142 is used in the alignment measurement system 100 in the same way as the first reference coordinate construction reflector 143, the second reference coordinate construction reflector 144, and the third reference coordinate construction reflector 145. It is used to construct the modeling coordinate system described later. For this reason, at least three reflectors 142 for measuring instrument position calculation need to be attached at positions that can be measured by the laser measuring instrument 150.

Laser measuring device 150 is, for example, a laser tracker. The laser measuring device 150 measures the distance and angle to the reflector 120 , 130 , 140 by irradiating the target reflector 120 , 130 , 140 with a laser beam and capturing the reflected light. , 130, 140 are measured. The laser measuring device 150 includes a head section (not shown) that irradiates laser light and receives reflected light. The head portion is rotatable by a rotation mechanism (not shown) about a vertical axis extending in the vertical direction or an orthogonal axis perpendicular to the vertical axis. Therefore, the direction in which the head section irradiates the laser beam is adjusted by the rotation mechanism.

The carriage 160 can be slid along two axes perpendicular to each other on a horizontal plane by a moving mechanism (not shown) in a state where the laser measuring device 150 is installed. Further, the carriage 160 can be rotated about one of the two axes described above by a rotation mechanism (not shown) with the laser measuring device 150 installed therein. Therefore, the position of the laser measuring device 150 on the horizontal plane is adjusted by sliding the carriage 160, and the direction in which it faces the product 200 is adjusted by rotating the carriage 160.

The tooling bar 170 can slide the carriage 160 along an axis extending in the vertical direction by a moving mechanism (not shown) with the laser measuring device 150 installed on the carriage 160. Therefore, the installed height of the laser measuring device 150 is adjusted by sliding the carriage 160.

FIG. 2 is a diagram showing the functional configuration of the alignment measurement system according to the first embodiment. Information processing device 180 is, for example, a personal computer. As shown in FIG. 2, the information processing device 180 includes a position and orientation calculation unit 181 that calculates a position and orientation, a storage unit 182 that stores information, and a difference value calculation unit 183 that calculates a difference value between positions and orientations. The information processing device 180 also includes a sighting position calculation unit 184 that calculates a sightable position, a sighting attitude calculation unit 185 that calculates a sighting posture, a position changing unit 186 that changes the position, and a sighting position calculation unit 185 that calculates a sightable posture. The posture changing unit 187 is provided. The information processing device 180 also includes a mounting position calculation section 188 that calculates the mounting position of the object to be measured 201 and a mounting angle calculation section 189 that calculates the mounting angle of the object to be measured 201. The information processing device 180 also includes an instruction information input section 190 into which information indicating instructions of a measurer is input, and a measurement result display section 191 that displays measurement results.

The position and orientation calculating unit 181 calculates the position and orientation of the laser measuring device 150 based on the position of the measuring device position calculation reflector 142 measured by the laser measuring device 150. The position/orientation calculation unit 181 also calculates the first reference coordinate construction reflector 143, the second reference coordinate construction reflector 144, the third reference coordinate construction reflector 145, and the product position measured by the laser measuring device 150. The position and orientation of the product 200 are calculated based on the position of the calculation reflector 146. Note that if a plurality of objects to be measured 201 are attached to the product 200 as in the present embodiment, the position and orientation calculation unit 181 calculates the current position and attitude of the laser measuring device 150 after measuring the objects to be measured 201; The posture of the product 200 is calculated.

Specifically, first, the position/orientation calculation unit 181 creates a modeling coordinate system of the alignment measurement system 100 based on the measurement results of the positions of the three or more measurement device position calculation reflectors 142 measured by the laser measurement device 150. Build. Further, the position/orientation calculation unit 181 calculates the position and orientation of the laser measuring instrument 150 in the modeling coordinate system constructed from the measurement results of the positions of three or more measuring instrument position calculation reflectors 142. At this time, the position and orientation calculation unit 181 calculates the rotation angle of the head portion of the laser measurement device 150 in the modeling coordinate system as the orientation of the laser measurement device 150.

In order to construct the modeling coordinate system, for example, first, a horizontal plane drawn by measuring three measuring device position calculation reflectors 142 attached at the same height is calculated. Next, take one point on the calculated plane as the origin, calculate the X-axis using a line segment that connects the origin to another point different from the origin on the plane, and use the normal vector on the plane of the X-axis to calculate the Y-axis. A modeling coordinate system can be constructed by calculating the Z axis from the cross product of the X axis and the Y axis.

In addition, the position and orientation calculation unit 181 measures the positions of the first reference coordinate construction reflector 143, the second reference coordinate construction reflector 144, and the third reference coordinate construction reflector 145 measured by the laser measuring device 150. From the results, the position and orientation of the product 200 in the modeling coordinate system are calculated. At this time, the position and orientation calculation unit 181 calculates, as the orientation of the product 200, the rotation angle at which the product 200 is installed in the modeling coordinate system. Further, the position/orientation calculation unit 181 calculates the rotating product based on the measurement results of the positions of the first reference coordinate construction reflector 143, the second reference coordinate construction reflector 144, and the third reference coordinate construction reflector 145. 200 reference coordinate systems are constructed.

In order to construct the reference coordinate system, for example, first, a circle drawn on a horizontal plane is calculated by measuring three measuring device position calculation reflectors 142 attached at the same height. Next, with the center point of the calculated circle as the origin, calculate the Z axis extending in the direction of gravity from the center point, and connect the position of the coordinate construction reflector installed on the X axis of the modeling coordinate system and the origin. A reference coordinate system can be constructed by calculating the Y-axis using a line segment and calculating the X-axis from the cross product of the Y-axis and the Z-axis.

The storage unit 182 stores the positions of the reflectors 120, 130, 140, the position and orientation of the product 200, and the laser measuring device 150 when the product 200 and the laser measuring device 150 are installed before measuring the object to be measured 201. Stores position and orientation information, so-called modeling data, including information indicating the position and orientation of. The position/orientation information is based on the assumption that the rotary table 110, measuring instrument position calculation reflector 142, carriage 160, and tooling bar 170 do not change in the installation conditions within the building, and the product 200 and laser measuring instrument 150 are actually installed. This is data obtained when the entire alignment measurement system 100 was modeled in a situation that matched the situation at the time of the test. Further, modeling is performed using model data of the product 200 created at the time of design, position data of the rotary table 110, the non-measurement object attachment reflector 140, the carriage 160, the tooling bar 170, and the like. Note that since the modeling is performed in the situation when the product 200 and the laser measuring device 150 are actually installed, a modeling coordinate system is constructed in the same way as the position/orientation calculation unit 181. Therefore, the modeling coordinate system constructed by the position and orientation calculation unit 181 and the modeling coordinate system defined in the position and orientation information stored in the storage unit 182 match.

FIG. 4 is a diagram illustrating an example of position and orientation information according to the first embodiment. The storage unit 182 shown in FIG. 2 stores position and orientation information in the form of a table shown in FIG. 4, for example. The position and orientation information includes at least a value indicating the position and orientation of the laser measuring device 150 at the time of installation, and a value indicating the position of the laser measuring device 150 at the time of measurement. Note that in this embodiment, since the object to be measured 201 is attached to the product 200, the value indicating the position of the laser measuring device 150 at the time of measurement is stored for each object to be measured 201. Further, the position and orientation information includes at least a value indicating the position and orientation of the product 200 at the time of installation, and a value indicating the orientation of the product 200 at the time of measurement. Note that in this embodiment, since a plurality of objects 201 to be measured are attached to the product 200, a value indicating the posture of the product 200 during measurement is stored for each object 201 to be measured.

Further, the position and orientation information includes at least a value indicating the position of the mounting position measuring reflector 120 and the mounting angle measuring reflector 130 at the time of measurement. In this embodiment, since a plurality of objects to be measured 201 are attached to the product 200, the values indicating the positions of the attachment position measurement reflector 120 and the attachment angle measurement reflector 130 at the time of measurement are different from each other. It is stored for each measurement object 201. Further, the position and orientation information includes at least a first reference coordinate construction reflector 143, a second reference coordinate construction reflector 144, a third reference coordinate construction reflector 145, a product position calculation reflector 146, and a measuring device. A value indicating the position of the position calculation reflector 142 at the time of installation is included.

For example, the values indicating the position and orientation of the laser measuring device 150 when installed are (LTm(x), LTm(y), LTm(z), LTmθx, LTmθy, LTmθz). Further, the values indicating the position of the first object to be measured 201 when the laser measuring device 150 measures it are (P(x), P(y), P(z)). Further, the values indicating the position and orientation of the product 200 when installed are (ASm(x), ASm(y), ASm(z), ASmθx, ASmθy, ASmθz). Further, the values indicating the posture of the first object to be measured 201 of the product 200 at the time of measurement are (Qθx, Qθy, Qθz). Further, the values indicating the position of the attachment position measuring reflector 120 attached to the first object to be measured 201 during measurement are (R(x), R(y), R(z)). Further, the values indicating the position of the mounting angle measurement reflector 130 attached to the first object to be measured 201 at the time of installation are (C(x), C(y), C(z)). Further, the values indicating the position of the first reference coordinate construction reflector 143 at the time of installation are (BR1(x), BR1(y), BR1(z)). In addition, the values indicating the position of the first product position calculation reflector 146 at the time of installation are (AR1(x), AR1(y), AR1(z)), The values indicating the position of the reflector 142 at the time of installation are (LR1(x), LR1(y), LR1(z)).

The difference value calculation unit 183 calculates a value indicating the position and orientation of the laser measuring device 150 at the time of installation, which is indicated by the position and orientation information stored in the storage unit 182, and a value indicating the current position and orientation of the laser measuring device 150 calculated by the position and orientation calculation unit 181. Calculate the measuring instrument difference value, which is the difference value from the value indicating the position and orientation of the object. Further, in this embodiment, since the object to be measured 201 is attached to the product 200, when measuring the second and subsequent objects to be measured 201, the difference value calculation unit 183 calculates the value stored in the storage unit 182. A measuring instrument difference value between a value indicating the position and orientation of the laser measuring instrument 150 at the time of measurement indicated by the current position and orientation information and a value indicating the current position and orientation of the laser measuring instrument 150 is calculated. The difference value calculation unit 183 also calculates the value indicating the position and orientation of the product 200 at the time of installation, which is indicated by the position and orientation information stored in the storage unit 182, and the current value of the product calculated by the position and orientation calculation unit 181. A product difference value, which is a difference value from the value indicating the position and orientation, is calculated. Further, in this embodiment, since the object to be measured 201 is attached to the product 200, when measuring the second and subsequent objects to be measured 201, the difference value calculation unit 183 calculates the value stored in the storage unit 182. A difference value for the product is calculated between the value indicating the position and orientation of the product 200 at the time of measurement indicated by the position and orientation information, and the value indicating the current position and orientation of the product calculated by the position and orientation calculation unit 181. .

Specifically, the values indicating the current position and orientation of the laser measuring device 150 calculated by the position and orientation calculation unit 181 are expressed as (LTr(x), LTr(y), LTr(z), LTrθx, LTrθy, LTrθz). do. Further, the difference values for the measuring instrument are assumed to be (Δx, Δy, Δz, Δθx, Δθy, Δθz). At this time, the difference value calculating unit 183 calculates the measuring instrument difference values (Δx, Δy, Δz, Δθx, Δθy, Δθz) when measuring the first object to be measured 201 based on the following formula.
Δx=LTr(x)−LTm(x)
Δy=LTr(y)−LTm(y)
Δz=LTr(z)-LTm(z)
Δθx=LTrθx−LTmθx
Δθy=LTrθy−LTmθy
Δθz=LTrθz−LTmθz
Note that the difference value calculation unit 183 similarly calculates the difference values for the measuring instrument when measuring the second and subsequent objects to be measured 201, but since the description is redundant, detailed explanation will be omitted.

Further, the values indicating the position and orientation of the product 200 at the time of installation calculated by the position and orientation calculation unit 181 are assumed to be (ASr(x), ASr(y), ASr(z), ASrθx, ASrθy, ASrθz). Further, the product difference values are (ΔX, ΔY, ΔZ, ΔθX, ΔθY, ΔθZ). At this time, the difference value calculation unit 183 calculates product difference values (ΔX, ΔY, ΔZ, ΔθX, ΔθY, ΔθZ) when measuring the first object to be measured 201 based on the following formula. .
ΔX=ASr(x)−ASm(x)
ΔY=ASr(y)−ASm(y)
ΔZ=ASr(z)−ASm(z)
ΔθX=ASrθx−ASmθx
ΔθY=ASrθy−ASmθy
ΔθZ=ASrθz−ASmθz
Note that the difference value calculation unit 183 similarly calculates product difference values when measuring the second and subsequent objects to be measured 201, but since the description is redundant, detailed explanation will be omitted.

The collimation position calculation unit 184 calculates the collimation position at which the laser measuring device 150 collimates the object to be measured 201 based on the measuring instrument difference value and the product difference value calculated by the difference value calculation unit 183. Note that, if a plurality of objects to be measured 201 are attached to the product 200 as in the present embodiment, the collimation position calculation unit 184 calculates the collimation position of the object to be measured 201 before measurement. The collimation position calculation unit 184 calculates the measurement time of the laser measuring instrument 150 included in the position and orientation information stored in the storage unit 182 based on the measuring instrument difference values (Δx, Δy, Δz, Δθx, Δθy, Δθz). Calculate the value indicating the position. Further, the collimation position calculation unit 184 calculates the difference value (ΔX, ΔY, ΔZ) of the value indicating the position of the product 200 among the product difference values (ΔX, ΔY, ΔZ, ΔθX, ΔθY, ΔθZ). The collimation position of the laser measuring device 150 is corrected by subtracting a value indicating the corrected position of the laser measuring device 150 during measurement as the offset value.

Specifically, let (x _out , y _out , z _out ) be values indicating the corrected position of the laser measuring device 150 during measurement. At this time, the collimation position calculation unit 184 calculates values (x _out , y _out , z _out ) is calculated, and (x _out - ΔX, y _out - ΔY, z _out - ΔZ) are calculated as values indicating the collimation position of the laser measuring device 150.

Note that the collimation position calculation unit 184 similarly calculates values (x _out - ΔX, y _out - ΔY, z _out - ΔZ) indicating the corrected positions when measuring the second and subsequent objects 201 to be measured. However, since the description is redundant, detailed explanation will be omitted.

The sighting attitude calculating section 185 calculates the postures of the laser measuring instrument 150 and the product 200 when the laser measuring instrument 150 aims at the object to be measured 201 based on the difference value for the product calculated by the difference value calculating section 183. calculate. The collimation attitude calculation unit 185 offsets the difference value (ΔθX, ΔθY, ΔθZ) of the value indicating the attitude of the product 200 among the product difference values (ΔX, ΔY, ΔZ, ΔθX, ΔθY, ΔθZ). By subtracting the value indicating the attitude of the laser measuring device 150 at the time of measurement and the value indicating the attitude of the product 200 at the time of measurement, which are included in the position/orientation information stored in the storage unit 182, these postures can be determined. Calculate.

Specifically, the collimation attitude calculation unit 185 calculates a value (LTrθx−ΔθX, LTrθy−) obtained by subtracting the offset value (ΔθX, ΔθY) from the value (LTrθx, LTrθy) indicating the XY component of the orientation of the laser measuring device 150. ΔθY). Further, the collimation attitude calculation unit 185 performs a correction calculation to a value Qθz−ΔθZ obtained by subtracting the offset value ΔθZ from the value Qθz indicating the Z component of the attitude of the product 200 at the time of measurement.
Note that the collimation attitude calculation unit 185 similarly calculates the values (LTrθx−ΔθX, LTrθy−ΔθY) and Qθz−ΔθZ that indicate the orientation of the second and subsequent objects 201 during measurement; Since this is just a description, a detailed explanation will be omitted.

The position changing unit 186 changes the position of the laser measuring device 150 by controlling the above-described moving mechanism of the carriage 160 and the tooling bar 170. The position change unit 186 changes the position of the laser measuring device 150 to the collimation position calculated by the collimation position calculation unit 184. Note that, if a plurality of objects 201 to be measured are attached to the product 200 as in the present embodiment, the position changing unit 186 changes the position of the laser measuring device 150 before measuring the objects 201 to be measured.

Specifically, the position change unit 186 determines the collimation position from the values (LTr(x), LTr(y), LTr(z)) indicating the position of the laser measuring device 150 calculated by the position/orientation calculation unit 181. The position of the laser measuring device 150 is changed to the indicated value (x _out - ΔX, y _out - ΔY, z _out - ΔZ).

The posture changing unit 187 controls the above-described rotation mechanisms of the rotary table 110 and the carriage 160 to change the postures of the laser measuring device 150 and the product 200. The attitude change unit 187 changes the attitude of the laser measuring device 150 and the manufactured product 200 to the attitude calculated by the collimated attitude calculation unit 185. Note that if a plurality of objects 201 to be measured are attached to the product 200 as in the present embodiment, the posture changing unit 187 changes the postures of the laser measuring device 150 and the product 200 before measuring the objects 201 to be measured. do.

Specifically, the attitude changing unit 187 calculates the value (LTrθx, LTrθy) indicating the XY component of the attitude of the laser measuring instrument 150 calculated by the position/orientation calculation unit 181 by subtracting the offset value (ΔθX, ΔθY) ( The attitude of the laser measuring device 150 is changed until the following values are obtained: LTrθx−ΔθX, LTrθy−ΔθY). Further, the posture changing unit 187 changes the position of the laser measuring device 150 until the value indicating the Z component of the posture of the product 200 calculated by the position and posture calculating unit 181 becomes the value Qθz−ΔθZ obtained by correcting ASrθz.

The attachment position calculation unit 188 calculates the attachment position of the object to be measured 201 based on the position of the attachment position measuring reflector 120 measured by the laser measuring device 150. The attachment position calculation unit 188 calculates the attachment position of the object to be measured 201 if a plurality of objects to be measured 201 are attached to the product 200 as in the present embodiment. The mounting position calculation unit 188 converts the mounting position of the object to be measured 201 from values in the modeling coordinate system to values in the reference coordinate system.

The mounting angle calculation unit 189 calculates the mounting angle of the object to be measured 201 based on the position of the mounting angle measuring reflector 130 measured by the laser measuring device 150. The attachment angle calculating unit 189 calculates the attachment angle of the object to be measured 201 if the object to be measured 201 is attached to the product 200 as in the present embodiment. The mounting angle calculation unit 189 converts the mounting angle of the object to be measured 201 from a value in the modeling coordinate system to a value in the reference coordinate system.

The instruction information input unit 190 inputs instruction information that is information indicating instructions from the measurer. The instruction information includes, for example, information indicating an instruction to start an alignment measurement process to be described later, information indicating an instruction to finely adjust the position and posture of the laser measuring device 150, and information indicating an instruction to finely adjust the posture of the product. It is.

The measurement result display section 191 displays the measurement results measured by the laser measuring device 150. The measurement result display section 191 displays the mounting position of the object to be measured 201 in the reference coordinate system calculated by the mounting position calculation section 188, and also displays the mounting angle of the object to be measured 201 in the reference coordinate system calculated by the mounting angle calculation section 189. Display. The measurement result display section 191 displays the mounting position and mounting angle of the object to be measured 201.

FIG. 5 is a diagram showing a display example of a measurement result screen according to the first embodiment. The measurement result display section 191 displays a measurement result screen shown in FIG. 5, for example. As shown in FIG. 5, the measurement result screen is a screen that includes character images of the name of the object to be measured 201, a value indicating the mounting position of the object to be measured 201, and a value indicating the mounting angle of the object to be measured 201. be. For example, the character image of the first object to be measured 201 includes the name "Installed device 1", the value "(x1, y1, z1)" indicating the mounting position, and the value "(θx1, θy1, θz1)" indicating the mounting angle. ” is included. For example, if the n-th object to be measured 201 cannot be measured, the character image of the n-th object to be measured 201 will be the name "mounted device n", the value "ERROR" indicating the installation position, and the value "ERROR" indicating the installation position. Contains the value "ERROR" indicating the angle. In this case, the measurer operates the instruction information input section 190 to input information indicating an instruction to finely adjust the position and orientation of the laser measuring device 150 and information indicating an instruction to finely adjust the posture of the product. By doing so, the position and attitude of the laser measuring instrument 150 and the attitude of the product can be finely adjusted by the position change unit 186 and the attitude change unit 187 until measurement becomes possible.

FIG. 3 is a block diagram showing the hardware configuration of the information processing device according to the first embodiment. The information processing device 180 shown in FIGS. 1 and 2 is configured by the hardware shown in FIG. 3. As shown in FIG. 3, the information processing device 180 includes a control unit 51 that executes processing according to a control program 59. The control unit 51 includes a CPU (Central Processing Unit). In accordance with the control program 59, the control unit 51 includes a position and orientation calculation unit 181, a difference value calculation unit 183, a sighted position calculation unit 184, a sighted attitude calculation unit 185, a position change unit 186, and a posture change unit included in the information processing device 180. 187, functions as an attachment position calculation section 188, and an attachment angle calculation section 189. For example, the control unit 51 performs a position and orientation calculation step performed by the position and orientation calculation unit 181, a difference value calculation step performed by the difference value calculation unit 183, a sighting position calculation step performed by the sighting position calculation unit 184, and a sighting position calculation step performed by the sighting position calculation unit 184. 185, a position change step performed by the position change unit 186, a position change step performed by the position change unit 187, a mounting position calculation step performed by the mounting position calculation unit 188, and a mounting angle performed by the mounting angle calculation unit 189. Execute the calculation step.

The information processing device 180 also includes a main storage unit 52 that loads a control program 59 and is used as a work area for the control unit 51. The main storage unit 52 includes a RAM (Random-Access Memory).

The information processing device 180 also includes an external storage unit 53 that stores a control program 59 in advance. The external storage section 53 supplies the data stored by this program to the control section 51 according to instructions from the control section 51, and stores the data supplied from the control section 51. The external storage unit 53 includes nonvolatile memory such as flash memory, HDD (Hard Disk Drive), SSD (Solid State Dive), and DVD (Digital Versatile Disc)-RAM. External storage section 53 functions as storage section 182.

Further, the information processing device 180 includes an operation unit 54 operated by a measurer. The input information is supplied to the control section 51 via the operation section 54 . The operation unit 54 includes information input components such as a keyboard, a mouse, a touch panel, and operation buttons. The operation unit 54 functions as an instruction information input unit 190.

The information processing device 180 also includes a display unit 55 that displays information input via the operation unit 54, information output by the control unit 51, and the like. The display unit 55 includes a display device such as an LCD (Liquid Crystal Display) or an organic EL (Electro-Luminescence) display. The display section 55 functions as a measurement result display section 191.

The information processing device 180 also includes a transmitting/receiving section 56 that transmits and receives information. The transmitting/receiving unit 56 includes information communication components such as a network termination device and a wireless communication device connected to the network.

In the information processing device 180 , the main storage section 52 , the external storage section 53 , the operation section 54 , the display section 55 , and the transmitting/receiving section 56 are all connected to the control section 51 via the internal bus 50 .
In the information processing device 180 shown in FIGS. 1 and 2, the control unit 51 uses the main storage unit 52, the external storage unit 53, the operation unit 54, the display unit 55, the transmitting/receiving unit 56, etc. as resources, so that the position and orientation calculation unit 181, storage unit 182, difference value calculation unit 183, aiming position calculation unit 184, aiming attitude calculation unit 185, position changing unit 186, attitude changing unit 187, attachment position calculation unit 188, attachment angle calculation unit 189, instruction information The functions of the input section 190 and the measurement result display section 191 are realized.

FIG. 6 is a flowchart showing the flow of alignment measurement processing according to the first embodiment. Next, the alignment measurement process executed by the information processing device 180 will be described with reference to the flowchart shown in FIG. The alignment measurement process is a process of measuring the attachment position and attachment angle of the object to be measured 201 attached to the product 200. The information processing device 180 responds to the instruction information input unit 190 receiving an operation in which the measurement person inputs information indicating an instruction to start alignment measurement processing after installing the product 200 and the laser measurement device 150. Then, start the alignment measurement process.

When starting the alignment measurement process, first, the position and orientation calculation unit 181 constructs a modeling coordinate system based on the measurement results of the positions of three or more measuring device position calculation reflectors 142 measured by the laser measuring device 150. , the position and orientation of the laser measuring device 150 in the constructed modeling coordinate system are calculated (step S101). For example, the position and orientation calculation unit 181 constructs a modeling coordinate system using the method described above, and calculates values (LTm(x), LTm(y), LTm(z), LTmθx, LTmθy, LTmθz) are calculated.

After calculating the position and orientation, the position and orientation calculation unit 181 calculates the position and orientation of the product 200 in the modeling coordinate system from the measurement results of the positions of the three or more coordinate construction reflectors measured by the laser measuring device 150. , a reference coordinate system of the product 200 is also constructed (step S102). For example, the position and orientation calculation unit 181 calculates values (ASr(x), ASr(y), ASr(z), ASrθx, ASrθy, ASrθz) indicating the position and orientation of the product 200 when it is installed, and calculates the values described above. Construct a reference coordinate system using the method.

After constructing the reference coordinate system, the difference value calculation unit 183 calculates the current position and orientation of the laser measuring device 150 indicated by the position and orientation information stored in the storage unit 182, and the calculated current position and orientation of the laser measuring device 150. A difference value for the measuring instrument with the value indicating the position and orientation of is calculated (step S103). For example, the difference value calculation unit 183 calculates the above-mentioned values (LTm(x), LTm(y), LTm(z), LTmθx, LTmθy, LTmθz), (LTm(x), LTm(y), LTm(z) , LTmθx, LTmθy, LTmθz).

After calculating the measuring instrument difference value, the difference value calculation unit 183 calculates the value indicating the position and orientation of the product 200 indicated by the position and orientation information stored in the storage unit 182, and the calculated current position and orientation of the product. A difference value for the product from the value indicating is calculated (step S104). For example, the difference value calculation unit 183 calculates the above-mentioned values (ASm(x), ASm(y), ASm(z), ASmθx, ASmθy, ASmθz), (ASr(x), ASr(y), ASr(z) , ASrθx, ASrθy, ASrθz), the difference values (ΔX, ΔY, ΔZ, ΔθX, ΔθY, ΔθZ) are calculated.

After calculating the product difference value, the collimation position calculation unit 184 calculates the collimation position of the laser measuring device 150 based on the measuring instrument difference value and the product difference value calculated by the difference value calculation unit 183, and The quasi-attitude calculating unit 185 calculates the postures of the laser measuring device 150 and the product 200 based on the product difference value (step S105). For example, the sighting position calculating section 184 calculates values (x _out , y _out , z _out ) indicating the corrected position of the laser measuring instrument 150 during measurement, and the sighting posture calculating section 185 A value indicating the posture (LTrθx−ΔθX, LTrθy−ΔθY) and a value Qθz−ΔθZ indicating the posture of the product 200 are calculated.

After calculating the corrected position, the attitude change unit 187 controls the above-described rotation mechanism of the rotary table 110 and the carriage 160 to change the attitude of the laser measuring instrument 150 and the product 200 to the collimated attitude calculation unit based on the difference value for the product. 185 to the calculated posture (step S106). After changing the posture, the position changing unit 186 controls the above-described moving mechanism of the carriage 160 and the tooling bar 170 to change the position of the laser measuring instrument 150 to the collimation position calculated by the collimation position calculation unit 184 (step S107 ). For example, the attitude changing unit 187 rotates the laser measuring instrument 150 until the value indicating the attitude of the laser measuring instrument 150 becomes (LTrθx - ΔθX, LTrθy - ΔθY), and the value indicating the attitude of the product 200 becomes Qθz - ΔθZ. The product 200 is rotated until . Further, the position changing unit 186 moves the laser measuring device 150 until the values indicating the position of the laser measuring device 150 become (x _out −ΔX, y _out −ΔY, z _out −ΔZ).

After changing the position and orientation, the mounting position calculating unit 188 calculates the mounting position of the object to be measured 201 based on the position of the mounting position measuring reflector 120 measured by the laser measuring device 150 (step S108). Furthermore, the mounting angle calculation unit 189 calculates the mounting angle of the object to be measured 201 based on the position of the mounting angle measuring reflector 130 measured by the laser measuring device 150 (step S109).

After calculating the mounting position and mounting angle, the mounting position calculation unit 188 and the mounting angle calculation unit 189 convert the calculated mounting position and mounting angle of the object to be measured 201 from the modeling coordinate system, and the measurement result display unit 191 The mounting position and mounting angle of the object to be measured 201 in the converted reference coordinate system are displayed on the measurement result display screen (step S110). After displaying the mounting positions and mounting angles, the information processing device 180 determines whether the mounting positions and mounting angles of all the objects to be measured 201 stored in the storage unit 182 have been displayed on the measurement result display screen (step S111). ). If the information processing device 180 does not display the mounting positions and mounting angles of all the objects to be measured 201 (step S111; N), the information processing device 180 continues from step S103 until the mounting positions and mounting angles of all the objects to be measured 201 are displayed. When the process of S110 is repeated and the mounting positions and mounting angles of all the objects to be measured 201 are displayed (Step S111; Y), the alignment measurement process is ended.

As explained above, according to the alignment measurement system 100 according to the present embodiment, the difference value calculation unit 183 indicates the position and orientation of the laser measuring instrument 150 indicated by the position and orientation information stored in the storage unit 182. A measuring instrument difference value between the value and the value indicating the current position and orientation of the laser measuring instrument 150 calculated by the position/orientation calculation unit 181 is calculated. Further, the collimation position calculation unit 184 calculates the collimation position of the laser measuring device 150 based on the measuring instrument difference value calculated by the difference value calculation unit 183. Furthermore, the attachment position calculation unit 188 calculates the attachment position of the object to be measured 201 based on the position of the attachment position measuring reflector 120 measured by the laser measuring device 150. Then, the mounting angle calculation unit 189 calculates the mounting angle of the object to be measured 201 based on the position of the mounting angle measuring reflector 130 measured by the laser measuring device 150.

By doing so, the laser measuring instrument 150 can be moved to the collimating position with higher precision than an alignment measurement system that does not calculate the collimating position based on the measuring instrument difference value. For this reason, for example, the positions of the product 200 and the laser measuring device 150 when modeling is performed by repeating the installation and removal of the product 200 and the laser measuring device 150 each time the object to be measured 201 is newly measured; Even if there is a deviation from the posture, the mounting position and mounting angle of the object to be measured 201 can be measured with high accuracy. In addition, by doing so, the laser measuring device 150 can be quickly moved to the sighting position, and the measurement time can be reduced compared to an alignment measurement system that does not calculate the sighting position based on the difference value for the measuring device. I can do it. As a result, measurement time can be shortened while maintaining measurement accuracy.

Further, according to the alignment measurement system 100 according to the present embodiment, the difference value calculation unit 183 calculates the value indicating the position and orientation of the product 200 at the time of installation, which is indicated by the position and orientation information, and the value calculated by the position and orientation calculation unit 181. A difference value for the manufactured product with the value indicating the current position and orientation of the manufactured product is calculated. Further, the collimation position calculation unit 184 calculates the collimation position of the laser measuring device 150 based on the measuring instrument difference value and the product difference value calculated by the difference value calculation unit 183.

By doing so, the laser measuring device 150 can be moved to the collimation position with higher accuracy than in an alignment measurement system that does not calculate the collimation position based on the product difference value. For this reason, for example, when the product 200 and the laser measuring device 150 are installed to newly measure the measured object 201, even if the position and orientation of the measured object 201 differs from when modeling was performed, the measured object The mounting position and mounting angle of 201 can be measured with high accuracy. In addition, by doing so, the laser measuring device 150 can be quickly moved to the collimation position, and the measurement time is reduced compared to an alignment measurement system that does not calculate the collimation position based on the product difference value. be able to. As a result, measurement time can be shortened while maintaining measurement accuracy.

Further, according to the alignment measurement system 100 according to the present embodiment, the collimation attitude calculation unit 185 calculates the orientation of the laser measuring instrument 150 and the product 200 based on the product difference value calculated by the difference value calculation unit 183. Calculate. Furthermore, the attachment position calculation unit 188 calculates the attachment position of the object to be measured 201 based on the position of the attachment position measuring reflector 120 when the product 200 is installed in the calculated orientation. Then, the mounting angle calculation unit 189 calculates the mounting angle of the object to be measured 201 based on the position of the mounting angle measuring reflector 130 when the product 200 is installed in the calculated orientation.

By doing so, the attitude of the product 200 can be changed more accurately than an alignment measurement system that does not calculate the attitude of the product 200 based on the product difference value. For this reason, for example, when the product 200 and the laser measuring device 150 are installed to newly measure the measured object 201, even if the position and orientation of the measured object 201 differs from when modeling was performed, the measured object The mounting position and mounting angle of 201 can be measured with high accuracy. Moreover, by doing so, the posture of the product 200 can be changed quickly, and the measurement time can be shortened compared to an alignment measurement system that does not calculate the posture of the product 200 based on the product difference value. As a result, measurement time can be shortened while maintaining measurement accuracy.

Further, according to the alignment measurement system 100 according to the present embodiment, the position change unit 186 controls the above-described moving mechanism of the carriage 160 and the tooling bar 170 to change the position of the laser measuring instrument 150 to the collimation position calculation unit 184. change to the collimation position calculated by .

By doing so, the laser measuring device 150 can be moved to the collimation position with higher precision than an alignment measurement system that does not automate the change in the position of the laser measuring device 150. For this reason, for example, when the product 200 and the laser measuring device 150 are installed to newly measure the measured object 201, even if the position and orientation of the measured object 201 differs from when modeling was performed, the measured object The mounting position and mounting angle of 201 can be measured with high precision. Moreover, by doing so, the change in the position of the laser measuring device 150 can be automated, and the measurement time can be shortened compared to an alignment measurement system that does not automate changing the position of the laser measuring device 150. As a result, measurement time can be shortened while maintaining measurement accuracy.

Further, according to the alignment measurement system 100 according to the present embodiment, the attitude changing unit 187 controls the above-described rotation mechanisms of the rotary table 110 and the carriage 160 to change the attitude of the laser measuring instrument 150 and the product 200. .

By doing so, the postures of the laser measuring device 150 and the product 200 can be changed with higher accuracy than in an alignment measurement system that does not automate changing the postures of the laser measuring device 150 and the product 200. Therefore, for example, when the product 200 and the laser measuring device 150 are installed to newly measure the object to be measured 201, even if there is a difference in position and orientation from when modeling was performed, the object to be measured may The mounting position and mounting angle of 201 can be measured with high precision. In addition, by doing this, it is possible to automate changes in the postures of the laser measuring device 150 and the product 200, and the measurement time is longer than in an alignment measurement system that does not automate changing the postures of the laser measuring device 150 and the product 200. can be shortened. As a result, measurement time can be shortened while maintaining measurement accuracy.

[Embodiment 2]
In the first embodiment, the collimation position of the laser measuring device 150 was calculated based on the measuring device difference value and the product difference value calculated by the difference value calculation unit 183. However, the present invention is not limited to this, and for example, the laser measurement can be performed based on the positions of the mounting position measuring reflector 120 and the mounting angle measuring reflector 130 that are actually measured by a measuring device different from the laser measuring device. The collimation position of the instrument 150 may also be calculated.
Hereinafter, an alignment measurement system according to a second embodiment of the present invention will be described in detail with reference to FIGS. 7 to 9.

FIG. 7 is an explanatory diagram of an alignment measurement system according to Embodiment 2 of the present invention. FIG. 8 is a diagram showing the functional configuration of an alignment measurement system according to the second embodiment. As shown in FIG. 7, in the alignment measurement system 100 according to the second embodiment, a laser measurement device 150 and a reflector shape measurement device 151 are installed on a carriage 160.

The reflector shape measuring device 151 shown in FIGS. 7 and 8 is, for example, a three-dimensional scanner. The reflector shape measuring device 151 measures the shapes of the mounting position measuring reflector 120 and the mounting angle measuring reflector 130 installed in the measurement range.

The position/orientation calculating unit 181 shown in FIG. 8 calculates these positions based on the shape of the reflector 120 for measuring the attachment position and the shape of the reflector 130 for measuring the attachment angle, which are measured by the reflector shape measuring instrument 151.

Specifically, the posture changing unit 187 changes the postures of the laser measuring device 150 and the manufactured product 200, and the reflector 120 for measuring the mounting position and the reflector 130 for measuring the mounting angle enter the measurement range of the reflector shape measuring device 151. It will be in the installed state. In this state, the position/orientation calculating unit 181 acquires the shape information of the reflector 120 for mounting position measurement and the reflector 130 for mounting angle measurement measured by the reflector shape measuring device 151, and obtains the shape information of the reflector 130 for measuring the mounting position. The positions of the reflector 120 for measuring the mounting position and the reflector 130 for measuring the mounting angle are calculated by associating the shape information acquired based on the shape of the body 120 and the design information of the reflector 130 for measuring the mounting angle with the modeling coordinate system. do. At this time, the position and orientation calculation unit 181 calculates the direction of the directional plane of the cube mirror, which is the mounting angle measurement reflector 130.

The collimation position calculation unit 184 calculates the collimation position of the laser measuring device 150 based on the position of the attachment position measuring reflector 120 and the position of the attachment angle measurement reflector 130 calculated by the position and orientation calculation unit 181.

Specifically, the collimation position calculation unit 184 calculates the collimation position in the same manner as in the first embodiment, and then calculates the position of the mounting position measuring reflector 120 and the mounting angle measurement calculated by the position and orientation calculation unit 181. The collimation position is adjusted based on the position of the reflector 130. For example, the collimation position calculation unit 184 determines whether the header portion of the laser measurement device 150 is correct based on the position and direction of the directional plane of the cube mirror as an example of the mounting angle measurement reflector 130 calculated by the position and orientation calculation unit 181. Adjust the collimation position to a position where it can directly face the directional plane of the cube mirror, that is, a position where collimation is possible.

The collimation attitude calculation unit 185 calculates the attitude of the product based on the position of the attachment position measuring reflector 120 and the position of the attachment angle measurement reflector 130 calculated by the position and attitude calculation unit 181. For example, based on the position and direction of the directional plane of the cube mirror as an example of the mounting angle measurement reflector 130 calculated by the position/attitude calculation unit 181, the collimating attitude calculation unit 185 calculates that the directional plane of the cube mirror is determined by laser measurement. The value indicating the posture of the product 200 is adjusted until the product 200 has a posture that allows it to face the header portion of the container 150, that is, a rotation angle that allows the header portion to be collimated.

FIG. 9 is a flowchart showing the flow of alignment measurement processing according to the second embodiment. Next, the alignment measurement process executed by the information processing device 180 will be described with reference to the flowchart shown in FIG. When the alignment measurement process is started, steps S101 to S104 are first performed as in the first embodiment to calculate a measuring instrument difference value and a product difference value, and then step S106 is performed. The postures of the laser measuring device 150 and the manufactured product 200 are changed.

After changing the attitude, the position/orientation calculation unit 181 outputs a control signal that causes the reflector shape measuring device 151 to measure the shape of the reflector 120 for measuring the attachment position and the shape of the reflector 130 for measuring the attachment angle (step S201). After the measurement, the position/orientation calculation unit 181 calculates the positions of the mounting position measuring reflector 120 and the mounting angle measuring reflector 130 from the acquired shape information of the mounting position measuring reflector 120 and the mounting angle measuring reflector 130. is calculated (step S202).

After calculating the position, the sighting position calculation unit 184 calculates the sighting position of the laser measuring instrument 150 based on these positions calculated by the position and orientation calculation unit 181, and the sighting position calculation unit 185 calculates the sighting position of the laser measuring device 150 based on the positions calculated by the position and orientation calculation unit 181. Calculate the posture of the product. (Step S203). After calculating the position and orientation, the orientation change unit 187 controls the above-described rotation mechanism of the rotary table 110 and the carriage 160 to calculate the orientation orientation of the laser measuring instrument 150 and the product 200 based on the difference value for the product. The posture is changed to the one calculated by the unit 185 (step S204).

After changing the posture, steps S107 to S111 are performed in the same way as in the first embodiment, the laser measuring device 150 moves to the collimation position, and the measurement results of the mounting position and mounting angle calculated for the object to be measured 201 are displayed. The above-mentioned processing is performed on all the objects 201 to be measured.

As described above, according to the alignment measurement system 100 according to the present embodiment, the position and orientation calculation unit 181 measures the shape and mounting angle of the reflector 120 for mounting position measurement measured by the reflector shape measuring device 151. The shape information of the reflective body 130 is acquired. Further, the position/orientation calculating unit 181 calculates the positions of the mounting position measuring reflector 120 and the mounting angle measuring reflector 130 from the acquired shapes of the mounting position measuring reflector 120 and the mounting angle measuring reflector 130. Further, the collimation position calculation unit 184 calculates the collimation position of the laser measuring device 150 based on the position calculated by the position and orientation calculation unit 181.

By doing so, the collimation position can be calculated based on the actual positions of the reflectors 120 and 130. Therefore, for example, even if the actual positions of the reflectors 120 and 130 are set at different positions from when the modeling was performed, the laser measuring device 150 can be installed at the collimation position calculated based on the actual positions. The mounting position and mounting angle of the object to be measured 201 can be measured. Moreover, by doing this, the laser measuring instrument 150 can be moved to the collimation position with higher precision than an alignment measurement system that does not calculate the collimation position based on the positions of the reflectors 120 and 130, and the The mounting position and mounting angle of 201 can be measured with high precision. In addition, by doing so, the laser measuring device 150 can be quickly moved to the collimation position, and the collimation position can be determined based on the positions of the mounting position measuring reflector 120 and the mounting angle measuring reflector 130. Measurement time can be reduced compared to alignment measurement systems that do not perform calculations. As a result, measurement time can be shortened while maintaining measurement accuracy.

Further, according to the alignment measurement system 100 according to the present embodiment, the collimation attitude calculation section 185 calculates the position of the mounting position measurement reflector 120 calculated by the position and orientation calculation section 181 and the mounting angle measurement reflector 130. Calculate the posture of the product based on the position.

By doing so, the posture of the product 200 at the time of measurement can be calculated based on the actual positions of the reflectors 120 and 130. Therefore, for example, even if the actual positions of the reflectors 120 and 130 are set at different positions from when the modeling was performed, the product 200 can be installed in a posture calculated based on the actual positions, and the measured object can be adjusted. The mounting position and mounting angle of the object 201 can be measured. Moreover, by doing so, the postures of the laser measuring device 150 and the product 200 can be changed with high precision, and the mounting position and mounting angle of the object to be measured 201 attached to the product 200 can be measured with high precision. In addition, by doing this, it is possible to automate changes in the postures of the laser measuring device 150 and the product 200, and the measurement time is longer than in an alignment measurement system that does not automate changing the postures of the laser measuring device 150 and the product 200. can be shortened. As a result, measurement time can be shortened while maintaining measurement accuracy.

Note that the present invention is not limited to the embodiments described above, and various modifications and applications can be made without departing from the gist of the present invention.

[Change example 1]
In the second embodiment described above, the positions of the mounting position measuring reflector 120 and the mounting angle measuring reflector 130 were measured using a three-dimensional scanner as an example of a reflector shape measuring device. However, the present invention is not limited thereto, and for example, the positions of the mounting position measuring reflector 120 and the mounting angle measuring reflector 130 may be measured using a two-dimensional scanner as an example of a reflector shape measuring device. . The two-dimensional scanner can measure the shape of the product 200 on a straight line by irradiating it with a straight laser beam.

Therefore, in order to measure the three-dimensional shape of the reflector 120 for measuring the mounting position and the reflector 130 for measuring the mounting angle using the reflector shape measuring device 151, for example, the reflector shape measuring device 151 or the manufactured product 200 must be used. It is necessary to slide or rotate the product 200. Therefore, for example, the posture changing unit 187 controls the above-described rotation mechanism of the rotary table 110 to change the posture of the product 200 by scanning the linear laser beam to change the position of the reflector 120 for measuring the mounting position and for measuring the mounting angle. The shape of the reflector 130 may be changed within a measurable rotation angle range. At this time, the rotation angle range may be changed within a rotation angle range of ±10° C., for example.

FIG. 10 is a flowchart showing the flow of alignment measurement processing according to modification example 1. Specifically, as shown in FIG. 10, when the alignment measurement process is started, steps S101 to S106 are first performed as in the first and second embodiments, and the laser measurement device 150 and the manufacturing process are performed. After the attitude of the object 200 is changed, the position/orientation calculation unit 181 calculates the shape of the reflector 120 for measuring the attachment position and the shape of the reflector 130 for measuring the attachment angle using a two-dimensional scanner as an example of the reflector shape measuring device 151. A control signal for measuring is output (step S301).

After outputting the control signal, the position and orientation calculation unit 181 outputs a control signal for rotating the product 200 to the rotary table 110 within a rotation angle range of ±10° C. (step S302). After the shape measurement, the processes of steps S202 to S204 and 107 to 111 are performed in the same manner as in the second embodiment, and the positions are calculated from the shapes of the reflectors 120 and 130. Based on the calculated positions, the product 200 is posture is changed. Further, the laser measuring device 150 moves to the collimation position, the measurement results of the mounting position and mounting angle calculated for the object to be measured 201 are displayed, and the above-mentioned processing is performed for all the objects to be measured 201.

By doing so, the shapes of the reflectors 120 and 130 can be measured even with a two-dimensional scanner, and the collimation positions can be calculated based on the actual positions of the reflectors 120 and 130. Therefore, for example, even if the actual positions of the reflectors 120 and 130 are set at different positions from when the modeling was performed, the laser measuring device 150 can be installed at the collimation position calculated based on the actual positions. The mounting position and mounting angle of the object to be measured 201 can be measured.

In Modification Example 1, in order to accurately calculate the positions of the reflectors 120 and 130 based on the shape information from the two-dimensional scanner, the position and orientation information stored in the storage unit 182 includes the shape of the reflector. Values indicating the position and orientation of the measuring device 151 at the time of measurement may be included. In this case, in this embodiment, since the object to be measured 201 is attached to the product 200, the values indicating the position and orientation of the reflector shape measuring device 151 at the time of measurement are stored for each object to be measured 201. Must be.

[Change example 2]
In the first and second embodiments described above, the position changing unit 186 changed the position of the laser measuring device 150. However, the present invention is not limited thereto, and the position changing unit 186 may change the position of the product 200. In this case, by providing the rotary table 110 with a movement mechanism similar to the movement mechanism of the carriage 160 and the tooling bar 170, the product 200 installed on the rotary table 110 can be slid in the X direction, the Y direction, and the Z direction. Good too.

In this case, for example, the collimation position calculation unit 184 calculates that the values indicating the position at the time of measurement of the product 200 indicated by the position and orientation information stored in the storage unit 182 are (Q(x), Q(y), Q (z)), the value (Q (x)-ΔX, Q(y)-ΔY, Q(z)-ΔZ) may be calculated as the correction position. In this case, the position change unit 186 changes the value (ASr(x), ASr(y), ASr(z)) indicating the position of the product 200 calculated by the position/orientation calculation unit 181 to the value (Q( x)-ΔX, Q(y)-ΔY, Q(z)-ΔZ). In this case, the position changing unit 186 needs to move the laser measuring device 150 until the value indicating the position of the laser measuring device 150 becomes the value indicating the collimation position (x _out , y _out , z _out ). .

FIG. 11 is a flowchart showing the flow of alignment measurement processing according to modification example 2. Specifically, as shown in FIG. 11, when the alignment measurement process is started, steps S101 to S105 are first performed as in the first embodiment to determine the collimation position of the laser measuring device 150 and the laser beam. The orientation of the product 200 of the measuring device 150 is calculated.

After calculating the position and orientation, the collimation position calculation unit 184 calculates a corrected position during measurement of the product 200 based on the product difference value calculated by the difference value calculation unit 183 (step S401). After the position calculation, the process of step S106 is performed and the orientation of the product 200 is changed as in the first embodiment, and then the position changing unit 186 controls the above-described moving mechanism of the rotary table 110 to move the product 200. The position of 200 is changed to the corrected position calculated by the collimation position calculation unit 184 (step S402).

After changing the posture, the processes of steps S107 to S111 are performed in the same manner as in the first embodiment, the laser measuring device 150 moves to the collimation position, and the mounting position and mounting angle calculated for the object to be measured 201 are measured. The results are displayed, and the above-described processing is performed on all the objects 201 to be measured.

By doing so, the product 200 can be moved to the correction position with higher precision than an alignment measurement system that does not calculate the correction position based on the difference value for the product. For this reason, for example, the positions of the product 200 and the laser measuring device 150 when modeling is performed by repeating the installation and removal of the product 200 and the laser measuring device 150 each time the object to be measured 201 is newly measured; Even if there is a deviation from the posture, the mounting position and mounting angle of the object to be measured 201 can be measured with high accuracy. In addition, by doing so, the laser measuring device 150 can be quickly moved to the collimation position, and the measurement time can be shortened compared to an alignment measurement system that does not calculate the correction position based on the product difference value. Can be done. As a result, measurement time can be shortened while maintaining measurement accuracy.

In the first and second embodiments described above, an artificial satellite is exemplified as the product 200, but the present invention is not limited to this. For example, the product 200 may be an airplane, a train, a car, etc. good.

Note that in the first and second embodiments described above, the measurement results are displayed on the measurement result screen regardless of whether or not there is an object to be measured 201 whose mounting position and mounting angle cannot be measured. If there is an object 201 to be measured that cannot be measured, the measurement result does not need to be displayed. In this case, for example, a measurement error screen may be displayed to indicate that there is a workpiece 201 whose mounting position and mounting angle cannot be measured, and the alignment measurement process may be interrupted. In this case, the position and orientation of the laser measuring instrument 150 and the orientation of the product are finely adjusted by the position changing unit 186 and the orientation changing unit 187 until the measuring person operates the instruction information input unit 190 to enable measurement. , the alignment measurement process may be restarted.

Note that in the above embodiment, the program executed by the CPU of the control unit 51 was stored in the external storage unit 53 in advance. However, the present invention is not limited to this, and the information relating to the above embodiments can be implemented by implementing an operation program for executing the above seed processing in an existing general-purpose computer, framework, workstation, etc. It may function as a device equivalent to the processing device 180.

The method of providing such a program is arbitrary; for example, it may be stored and distributed on a computer-readable recording medium (flexible disk, CD (Compact Disc)-ROM, DVD (Digital Versatile Disc)-ROM), etc. Alternatively, the program may be stored in a storage on a network such as the Internet, and provided by downloading the program.

In addition, when the above processing is executed between an OS (Operating System) and an application program, or by cooperation between the OS and an application program, only the application program may be stored in a recording medium, storage, etc. . It is also possible to superimpose a program on a carrier wave and distribute it via a network. For example, the program may be posted on a bulletin board system (BBS) on a network and distributed via the network. Then, the above-described process may be designed to be executed by starting this program and executing it under the control of the OS in the same way as other application programs.

50... Internal bus, 51... Control section, 52... Main storage section, 53... External storage section, 54... Operation section, 55... Display section, 56... Transmission/reception section, 59... Control program, 100... Alignment measurement system, 110... Rotary table, 120...Reflector for measuring attachment position, 130...Reflector for measuring attachment angle, 140...Reflector attached to non-measured object, 141...Reflector attached to product, 142...Reflector for calculating measuring instrument position, 143... Reflector for first reference coordinate construction, 144...Reflector for second reference coordinate construction, 145...Reflector for third reference coordinate construction, 146...Reflector for product position calculation, 150...Laser measuring device, 151...Reflection Body shape measuring device, 160... Carriage, 170... Tooling bar, 180... Information processing device, 181... Position and orientation calculation section, 182... Storage section, 183... Difference value calculation section, 184... Sighting position calculation section, 185... Vision Quasi-attitude calculation section, 186... Position change section, 187... Attitude change section, 188... Mounting position calculation section, 189... Mounting angle calculation section, 190... Instruction information input section, 191... Measurement result display section, 200... Manufactured product, 201...Object to be measured, 202...Cylindrical portion.

Claims (10)

An alignment measurement system that measures the mounting position and mounting angle of an object to be measured attached to a product, the system comprising:
a laser measuring device that measures the position of the reflector;
a non-measurement object attached reflector that is the reflector attached to the non-measurement object provided at the measurement location and different from the manufactured product;
a product-attached reflector that is the reflector attached to the product;
The position and orientation of the laser measuring device and the position and orientation of the product are calculated based on the position of the reflector attached to the non-measurement object and the position of the reflector attached to the product measured by the laser measuring device. a position/orientation calculation unit;
a storage unit that stores position and orientation information indicating the position and orientation of the laser measuring device and the position and orientation of the product when the product and the laser measuring device are installed before measuring the object to be measured; and,
A value indicating the position and orientation of the laser measuring device indicated by the position and orientation information stored in the storage unit, and a time when the product and the laser measuring device are installed to measure the object to be measured. Calculate a measuring instrument difference value between the value indicating the position and orientation of the laser measuring instrument calculated by the position and orientation calculation unit, and the value indicating the position and orientation of the product indicated by the position and orientation information; Calculate a difference value for the product with a value indicating the position and orientation of the product calculated by the position and orientation calculation unit when the product and the laser measuring device are installed to measure the object to be measured. a difference value calculation unit,
a collimation position calculation unit that calculates a collimation position at which the laser measuring device collimates the object to be measured based on the measuring instrument difference value and the product difference value calculated by the difference value calculation unit;
the reflector attached to the object to be measured, the reflector for measuring an attachment position indicating the attachment position of the object to be measured;
the reflector attached to the object to be measured, the reflector for measuring an attachment angle indicating the attachment angle of the object to be measured;
mounting position calculation for calculating the mounting position of the object to be measured based on the position of the mounting position measuring reflector measured by the laser measuring device installed at the collimation position calculated by the collimation position calculation unit; Department and
Mounting angle calculation that calculates the mounting angle of the object to be measured based on the position of the mounting angle measurement reflector measured by the laser measuring device installed at the collimation position calculated by the collimation position calculation unit. Department and
Alignment measurement system with Sighting attitude calculation that calculates the attitude of the product when the laser measuring instrument sights the object to be measured based on the measuring instrument difference value and the product difference value calculated by the difference value calculation unit. further comprising:
The mounting position calculation unit calculates the mounting position of the object to be measured based on the position of the mounting position measuring reflector when the product is installed in the orientation calculated by the collimation orientation calculation unit,
The mounting angle calculation unit calculates the mounting angle of the object to be measured based on the position of the mounting angle measurement reflector when the product is installed in the orientation calculated by the collimation orientation calculation unit.
The alignment measurement system according to claim 1 . Further comprising a reflector shape measuring device capable of measuring the shape of the reflector for measuring the mounting position and the shape of the reflector for measuring the mounting angle,
The position/orientation calculation unit calculates the position of the mounting position measuring reflector and the mounting angle measuring reflector based on the shape of the mounting position measuring reflector and the mounting angle measuring reflector measured by the reflector shape measuring device. Calculate the position of the reflector for mounting angle measurement,
The sighting attitude calculation unit causes the laser measuring device to collimate the object to be measured based on the position of the mounting position measuring reflector and the position of the mounting angle measuring reflector calculated by the position and attitude calculating unit. calculating the posture of the product when
The alignment measurement system according to claim 2 . The collimation position calculation unit calculates the collimation position based on the position of the attachment position measuring reflector and the position of the attachment angle measurement reflector calculated by the position and orientation calculation unit.
The alignment measurement system according to claim 3 . further comprising a position changing unit that controls a moving mechanism capable of changing the position of the laser measuring device to change the position of the laser measuring device to the collimation position calculated by the collimation position calculation unit;
An alignment measurement system according to any one of claims 1 to 4 . further comprising a position changing unit that controls a moving mechanism capable of changing the position of the product to change the position of the product based on the product difference value calculated by the difference value calculation unit;
An alignment measurement system according to any one of claims 1 to 4 . further comprising an attitude changing unit that controls a rotation mechanism capable of changing the attitude of the product to change the attitude of the product based on the product difference value calculated by the difference value calculation unit;
An alignment measurement system according to any one of claims 1 to 4 . Based on the positions of the reflector attached to the non-measurement object provided at the measurement location and different from the product and the reflector attached to the product, measured by a laser measuring device. a position and orientation calculation unit that calculates the position and orientation of the laser measuring device and the position and orientation of the product ;
Before measuring the object to be measured attached to the product, a value indicating the position and orientation of the laser measuring device when the product and the laser measuring device are installed, and for measuring the object to be measured. Calculates a difference value for the measuring device from a value indicating the position and orientation of the laser measuring device calculated by the position and orientation calculation unit when the product and the laser measuring device are installed , and A value indicating the position and orientation of the product when the product and the laser measuring device are installed before measurement, and a value indicating the position and orientation of the product when the product and the laser measuring device are installed to measure the object to be measured. a difference value calculation unit that calculates a product difference value between the value indicating the position and orientation of the product calculated by the position and orientation calculation unit when the position and orientation calculation unit
a collimation position calculation unit that calculates a collimation position at which the laser measuring device collimates the object to be measured based on the measuring instrument difference value and the product difference value calculated by the difference value calculation unit;
An information processing device comprising: An alignment measurement method for measuring the mounting position and mounting angle of an object to be measured attached to a product, the method comprising:
A non-measurement object attached reflector, which is a reflector attached to a non -measurement object that is different from the product , and which is a non-measurement object installed at the measurement location, and a product attachment, which is a reflector attached to the product. a position and orientation calculation step of calculating the position and orientation of the laser measuring device and the position and orientation of the product based on the position where the attached reflector is measured by the laser measuring device ;
A value indicating the position and orientation of the laser measuring device when the product and the laser measuring device are installed before measuring the object to be measured; When the laser measuring device is installed, a difference value for the measuring device with the value indicating the position and orientation of the laser measuring device calculated in the position and orientation calculating step is calculated, and the difference value for the measuring device is calculated before measuring the object to be measured. A value indicating the position and orientation of the product when the product and the laser measuring device are installed, and a value indicating the position when the product and the laser measuring device are installed to measure the object to be measured. a difference value calculation step of calculating a difference value for the product between the value indicating the position and orientation of the product calculated in the orientation calculation step;
a collimation position calculation step of calculating a collimation position at which the laser measuring device collimates the object to be measured based on the measuring instrument difference value and the product difference value calculated in the difference value calculation step; ,
The laser is installed at the collimation position calculated in the collimation position calculation step, and the reflector for measuring the attachment position, which is the reflector attached to the object to be measured and indicates the attachment position of the object to be measured. a mounting position calculation step of calculating the mounting position of the object to be measured based on the position measured by the measuring device;
The laser is installed at the collimation position calculated in the collimation position calculation step, and the reflector for measuring the mounting angle, which is the reflector attached to the measurement target and indicates the mounting angle of the measurement target. a mounting angle calculation step of calculating the mounting angle of the object to be measured based on the position measured by a measuring device;
Alignment measurement methods including. computer,
Based on the positions of the reflector attached to the non-measurement object provided at the measurement location and different from the product and the reflector attached to the product, measured by a laser measuring device. a position and orientation calculation unit that calculates the position and orientation of the laser measuring device and the position and orientation of the product ;
Before measuring the object to be measured attached to the product, a value indicating the position and orientation of the laser measuring device when the product and the laser measuring device are installed, and for measuring the object to be measured. Calculates a difference value for the measuring device from a value indicating the position and orientation of the laser measuring device calculated by the position and orientation calculation unit when the product and the laser measuring device are installed , and A value indicating the position and orientation of the product when the product and the laser measuring device are installed before measurement, and a value indicating the position and orientation of the product when the product and the laser measuring device are installed to measure the object to be measured. a difference value calculation unit that calculates a product difference value between the value indicating the position and orientation of the product calculated by the position and orientation calculation unit when the position and orientation calculation unit
a collimation position calculation unit that calculates a collimation position at which the laser measuring device collimates the object to be measured based on the measuring instrument difference value and the product difference value calculated by the difference value calculation unit;
A program that functions as

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