JP3879601B2 - Position measuring method and position measuring apparatus - Google Patents

Description

式（１）および式（２）から式（３）が導かれる。式（３）の４式に含まれる４個の未知数Ｘ_１，Ｙ_１，Ｚ_１，Ｓを求めることにより、第１の時間情報受信装置４の座標位置Ｑ_１(Ｘ_１，Ｙ_１，Ｚ_１）が求まる。
【００２３】
【数２】

第２の時間情報受信装置４の座標位置Ｑ_２(Ｘ_２，Ｙ_２，Ｚ_２）も、同様に求められる。この２個の座標位置Ｑ_１、Ｑ_２と時間情報受信装置４、４間の距離λ₁₀及びレーザ距離測定装置５と第２の時間情報受信装置４間の距離λ₂₀を用いて、レーザ距離測定装置５の座標位置Ｑ_３(Ｘ_３，Ｙ_３，Ｚ_３）は、式（４）〜式（６）から求められる。
【００２４】
Ｘ_３＝λ_２０（Ｘ_１−Ｘ_２）／λ_１０＋Ｘ_２ ………式（４）
Ｙ_３＝λ_２０（Ｙ_１−Ｙ_２）／λ_１０＋Ｙ_２ ………式（５）
Ｚ_３＝λ_２０（Ｚ_１−Ｚ_２）／λ_１０＋Ｚ_２ ………式（６）
レーザ距離測定装置５から被測定物１までの距離Ｌは、レーザ距離測定装置３が受信したレーザ光の照射から反射光の受光までに要した時間Δｔと光速ｃから、式（７）を用いて求められる。
【００２５】
Ｌ＝ｃΔｔ／２ ………式（７）
以上の演算結果から、被測定物１の座標位置Ｏ（Ｘ，Ｙ，Ｚ）は、式（８）〜式（１０）で求められる。
【００２６】
Ｘ＝Ｌ（Ｘ_１−Ｘ_２）／λ_１０＋Ｘ_３ ………式（８）
Ｙ＝Ｌ（Ｙ_１−Ｙ_２）／λ_１０＋Ｙ_３ ………式（９）
Ｚ＝Ｌ（Ｚ_１−Ｚ_２）／λ_１０＋Ｚ_３ ………式（１０）
このようにして得られた測定結果は、式（１１）および式（１２）により評価される。
【００２７】
【数３】

ここで、式（１）、式（２）を用いて求めた第１、第２の時間情報受信装置４、４の座標位置Ｑ_１(Ｘ_１，Ｙ_１，Ｚ_１）、Ｑ_２(Ｘ_２，Ｙ_２，Ｚ_２）から、時間情報受信装置４、４間の距離λ_１１が、式（１１）から求められる。この距離λ_１１と予め知られている２個の時間情報受信装置４、４間の距離λ_１０の差Δλ_１が、式（１２）から求められる。求めたΔλ_１を指標として測定精度を評価する。
【００２８】
上述の測定原理に基づいて発電プラント内の構造物を、具体的に位置測定する例を、以下に示す。図１に示すように、被測定物１を測定するときは、鉄筋コンクリート等により電波を遮蔽する構造物で区切られる空間２毎に、少なくとも４台以上の時間情報発信装置３を配置する。この配置位置は、予め図面等に記載されていて位置情報が既知である発電プラント内構造物に対して相対位置を求めることができる位置とする。時間情報発信装置３の設定位置は、時間情報発信装置３と図示しないハンディタイプのレーザ距離測定装置とを組み合わせ、予め図面等に記載された位置が既知の３平面まで距離を測定することにより、簡易に設定することも可能である。
【００２９】
座標位置を測定するためには、少なくとも４台以上の時間情報発信装置３からの情報が必要であるから、被測定物１に４台以上の時間情報発信装置３から信号が届くようにする。２台の時間情報受信装置４はそれ自身が時間情報を有している。レーザ距離測定装置５は、棒状の固定手段６の両端部に固定されており、この棒状の固定手段６の中間部は、可動台車８ａ上に設けた支柱部８ｂに回動可能に取り付けられている。３次元位置測定装置８は、レーザ距離測定装置５、２個の受信装置４、可動台車８ａおよび演算処理装置７を備えている。
【００３０】
図２に示す位置関係にある本実施例では、２個の時間情報受信装置４とレーザ距離測定装置５が受信した各情報を、演算処理装置７が演算処理し、被測定物１の３次元座標位置Ｏ(Ｘ，Ｙ，Ｚ)を算出する。この際、測定した２個の時間情報受信装置４の座標位置Ｐ_１(Ｘ_１，Ｙ_１，Ｚ_１)、Ｐ_２(Ｘ_２，Ｙ_２，Ｚ_２)から、受信装置４、４間の距離λ_１１を求める。この距離λ_１１と固定装置６の寸法から設定した２個の時間情報受信装置４、４間の距離λ_１０とを比較し、その偏差Δλ_１を求める。この距離の測定値と設定値との偏差Δλ_１を、予め設定した要求精度と比較し、要求精度を満足するときは、測定に基づきえられた被測定物の座標位置Ｏ(Ｘ，Ｙ，Ｚ)を仮想空間の座標上にプロットする。偏差Δλ_１が要求精度を満足しないときは、再度要求精度を満足する測定結果が得られるまで測定を繰返す。
【００３１】
上記実施例においては４台の時間情報発信装置３から発信される信号を受信するようにしているが、時間情報受信装置４が５台以上の時間情報発信装置３からの信号を受信するようにしてもよい。その場合、レーザ距離測定装置５からの１回のレーザ照射で生じる演算量が増える。そこで、任意の４台の時間情報発信装置３の組み合わせを作成し、その組み合わせの中から要求精度を満足する組み合わせを選ぶ。そしてこの組み合わせの中で、最も偏差Δλ_１が小さくなったときの組み合わせを選定して得られた座標位置Ｏ(Ｘ，Ｙ，Ｚ)を、被測定物１の座標位置とする。なお、複数回測定し、その結果を平均した値を被測定物の座標位置としてもよい。
【００３２】
以上の手順を、図３に示す。本発明による位置計測が開始される（ステップ３００）と、空間に多数配置した発信装置３、３、…を初期設定（位置設定）する（ステップ３１０）。レーザ距離測定装置５を使用するかどうかを選択し（ステップ３２０）、レーザ距離測定装置５を使用するときは、レーザ距離測定装置５を位置決めする。この場合、既に位置関係が分かっている３平面までの距離を求めて、発信装置３の距離を求めるようにしてもよい。次に要求精度を設定するために、偏差Δλ_１を定める（ステップ３４０）。
【００３３】
初期設定が済んだので、測定を開始する。レーザ距離測定装置５から被測定物１へレーザを照射する（ステップ３５０）。複数の発信装置３、３、…からデータを得る対象としての発信装置３の組み合わせを作成する（ステップ３６０）。この場合、発信装置３を４台ずつ組み合わせる。４台の発信装置３からの信号を２台の受信装置４が受信し、受信装置４自体の座標位置を求める（ステップ３７０）。各受信装置４の座標位置が求められたので、受信装置４間の距離が式（１１）により得られる（ステップ３８０）。式（１２）を用いて設定した受信装置間の距離と測定した受信装置間の距離との偏差を求め、この偏差が最も小さくなる発信装置３の組み合わせを選択する（ステップ３９０）。このように選択したときに、偏差が初期設定時に設定した要求精度を満たすかどうかを判断する（ステップ４００）。要求精度を満足しないときは、ステップ３６０に戻る。
【００３４】
要求精度を満たす測定結果が得られたら、被測定物１の座標位置を、式（８）〜式（１０）を用いて演算する（ステップ４１０）。演算装置７に作成した仮想空間に、被測定物１の座標位置をプロットする（ステップ４３０）。被測定物１の全体にわたって、この測定およびプロットを繰返すことにより、仮想空間内に被測定物の３次元モデルを構築し、位置計測を終了する（ステップ４３０）。
【００３５】
本実施例によれば、足場設置が必要であった高所における寸法測定でも足場設置が不要となる。また、高所に位置する構造物の調査作業時に大幅な工数低減が図られる。さらに、従来、計測位置の移動毎に初期設定していたが、１回の初期設定で時間情報発信装置からの信号が届く範囲を測定にできる。したがって、発電プラントのような複雑な配置の設備においても、連続計測に要する測定工数を少なくできる。
【００３６】
図４に、上述の手法により被測定物１の３次元モデルを仮想空間内に構築する様子を、図５にその手順を示す。ステップ５００において、３次元モデルの構築を開始する。被測定物１は、配管である。仮想空間の座標上に配管モデルを構築するためには、被測定物の少なくとも３点の座標位置が必要である。配管９の表面上の多数の点を、図２にしたがって測定する（ステップ５１０）。多数の点の中から、３点Ａ１０、Ｂ１１、Ｃ１２を選択する（ステップ５２０）。測定により仮想空間の座標上にプロットされた３点Ａ、Ｂ、Ｃが、配管９を決定する座標位置と定義する（ステップ５３０）。なお、配管の規格や形状、寸法等は予め演算装置７に登録されている。この登録された規格の形状と寸法の中で、実測から得られた寸法が最も近いものを選択して、３次元モデルを構築する。具体的には、配管の外形寸法が既に知られているときは、外径寸法を指定する（ステップ５４０）。被測定物１が配管以外のときや配管であっても外径以外の情報から被測定物の他の情報を知ることができるときは、その情報を入力してもよい。例えば、モデル化に際して測定者がルート情報として得た平行関係または直交関係にある壁面１３の情報を用いる。また、カメラから取り込んだ画像に示された形状を用いてもよい。
【００３７】
外径寸法を指定するときは、その指定された外径の円筒面に測定点が適合するよう円筒軸をフィッティングする（ステップ５６０）。外径寸法を指定しないときは、測定した３点が外表面上にある円筒を求める（ステップ５５０）。このようにして求めた円筒を、演算装置７内の仮想空間に構築する（ステップ５７０）。このとき、円筒の軸長は無限大とする。
【００３８】
ここで、ルートが指定されているかどうかを判断する（ステップ５８０）。このルート情報は、壁面に平行で床面に垂直などである。ルートが指定されているときは、先に選択した３点Ａ，Ｂ，Ｃでフィッティングしたルートを、指定されたルートに補正する（ステップ５９０）。モデルが構築されたので、モデルの境界を求める。配管の場合は、配管軸の両端を求めることになる。そこで、配管の両端にある点Ｄ１５、点Ｅ１６を、レーザ距離測定装置５を用いて測定する（ステップ６００）。この点Ｄ、点Ｅを配管両端と定義する（ステップ６１０）。これで配管の全体像が得られたので、配管の３次元モデルとして仮想空間に構築する（ステップ６２０）。被測定物物の数だけこの操作を繰り返し、測定を終える（ステップ６３０）。なおこの操作において、配管の肉厚や材質等、外観から判断できない情報については、施工図面に記載の情報等により測定時または測定後に入力する。
【００３９】
本実施例によれば、３次元モデルを測定作業時に構築できるので、現場調査後に測定結果から構築していたデータ構築作業が不要となる。なお、レーザの照射点をカメラ撮影した画像上に写せば、フィッティングの際に画像上の被測定物の形状を利用することができる。
【００４０】
図６および図７に、遠隔操作で位置測定する本発明の他の実施例を示す。図６は、遠隔操作で３次元座標位置を測定する様子を示したものであり、図７はその手順である。測定に基づき得られた第１、第２の時間情報受信装置４の座標位置Ｑ_１(Ｘ_１，Ｙ_１，Ｚ_１)、Ｑ_２(Ｘ_２，Ｙ_２，Ｚ_２)、およびレーザ距離測定装置５の座標位置Ｑ_３(Ｘ_３，Ｙ_３，Ｚ_３)の何れかを用いて、遠隔測定装置１８が測定する。遠隔測定装置１８は、図1の実施例に示した３次元座標位置測定装置８に、データ送受信用アンテナ２０と、遠隔測定装置が自走できるようにバッテリー２７と、このバッテリー２７を駆動源とする制御装置２３とを付加している。
【００４１】
遠隔操作で位置計測を開始する（ステップ７００）ときは、初めに位置が既知の時間情報発信装置３を４台以上用意する。そして、これらの時間情報発信装置３からの信号が、遠隔測定装置１８に届くように配置する。遠隔測定装置１８の位置を、カメラ１９の画像と、時間情報受信装置４の座標位置Ｑ_１(Ｘ_１，Ｙ_１，Ｚ_１)、Ｑ_２(Ｘ_２，Ｙ_２，Ｚ_２)またはレーザ距離測定装置５の座標位置Ｑ_３(Ｘ_３，Ｙ_３，Ｚ_３)を用いて確認する。それとともに、その３次元座標位置測定装置８の位置を、遠隔地２８にいる測定者に送受信アンテナ２０を介して伝える（ステップ７１０）。
【００４２】
この送受信アンテナ２０からの信号は、発電プラント内のＰＨＳ回線基地局２１に伝送される。測定者は伝えられた位置情報に基づいて、位置測定装置８を被測定物１の測定可能範囲まで遠隔操作２２で移動させる（ステップ７２０）。次いで、位置測定装置８に搭載されたレーザ距離測定装置５の向きを、カメラ１９で監視しながら被測定物１に向け、照準をあわせる（ステップ７３０）。
【００４３】
なお、レーザ距離測定装置５を取付けた支持手段６の鉛直方向の角度は鉛直角度制御モータ２６を駆動して、水平方向の角度は水平角度制御モータ２５を駆動して変更する。これら２つのモータを駆動しても、良好な測定結果または情報が得られないときは、遠隔測定装置１８の移動用キャタピラ２４を駆動して遠隔測定装置１８をわずかに移動させる。測定条件が整ったときに、上述した被測定物１の位置測定と３次元モデルの構築を遠隔操作２２で実行する（ステップ７４０）。計測が終了したかどうかを判断し（ステップ７５０）、計測が残っていればステップ７２０に戻る。遠隔測定が終了したら、移動用キャタピラ２４を駆動して遠隔測定装置１８を回収し（ステップ７６０）、遠隔計測を終える（ステップ７７０）。
【００４４】
本実施例によれば、測定者は遠隔地２８からカメラ１９で得られた画像データと測定した遠隔測定装置１８の位置情報を用いて、図1に示した実施例と同様に、構造物を３次元モデル化できる。時間情報発信装置の位置を初期設定するときは、時間情報発信装置とレーザ距離測定装置を組み合わせて使用することにより、既知の３平面との寸法測定をすれば、簡易に設定できる。さらに、実機プラント内に設けられているＰＨＳ回線網を利用して、ＣＣＤカメラから取り込んだ画像を操作者へ伝送することにより、運転中であって立ち入りができない場所の現場調査が可能になる。プラントに不具合が発生してもその発生個所に容易に作業員が近づけないときには、測定装置だけを発生個所に遠隔操作で送ることにより、不具合発生個所の確認や対応処置等を行える。したがって、プラント運転中の改造工事や運転中の点検も可能になり、保守点検に要する時間を低減できる。また、高放射線環境に位置する構造物の調査も可能になる。
【００４５】
【発明の効果】
本発明によれば、少なくとも４個の発信装置の信号を２台の受信装置が受信し、かつ、４個ずつの発信装置の組み合わせを設定し、各組み合わせにおいて測定した受信装置間の距離が、設定された受信装置間の距離に最も近いときの発信装置の組み合わせを用いることにより、多数の反射電波が存在している場合でも高精度に３次元構造物の位置計測が可能になる。
【図面の簡単な説明】
【図１】本発明に係る位置計測方法の一実施例を説明する図。
【図２】計測原理を説明する図。
【図３】計測のフローチャート。
【図４】本発明に係る位置計測におけるモデル化を説明する図。
【図５】３次元モデル化フローチャート。
【図６】本発明に係る位置計測方法を他の実施例の図。
【図７】遠隔操作による計測のフローチャート。
【符号の説明】
１…被測定物、２…空間、３…時間情報発信装置、４…時間情報受信装置、５…レーザ距離測定装置、６…固定装置、７…演算処理装置、８…３次元座標位置測定装置、９…配管、１０…点Ａ、１１…点Ｂ、１２…点Ｃ、１３…壁面、１４…円筒モデル、１５…点Ｄ、１６…点Ｅ、１８…遠隔測定装置、１９…カメラ、２０…データ送受信用アンテナ、２１…ＰＨＳ回線基地局、２２…遠隔制御、２３…制御装置、２４…移動用キャタピラ、２５…水平角度制御モータ、２６…鉛直角度制御モータ、２７…バッテリー、２８…遠隔地。[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a position measurement method, a position measurement device, and a position information construction method for a structure in a nuclear power plant or a thermal power plant.
[0002]
[Prior art]
Japanese Laid-Open Patent Publication No. 2001-280958 discloses an example of positioning piping and valves using a three-dimensional sensor in power plant construction work and periodic inspection work. In this publication, a three-dimensional sensor is used so as to be able to cope with a wide range of measurements and restrictions on sensor mounting spacers. Using the information measured by this sensor, the moving range of structures such as pipes and valves is adjusted and positioned. At this time, the length of the existing pipe and the pipe to be piped from now on are also measured using this sensor. Based on the angle and length detected by the sensor, the control means obtains the amount of movement and the rotation angle of the pipe relative to the existing pipe. Using the obtained movement amount and rotation angle, the control unit instructs the chain block to move the pipe.
[0003]
In order to accurately position a measuring device or the like indoors, Japanese Patent Application Laid-Open No. 11-287858 provides targets at a plurality of predetermined positions inside a building surrounded by wall surfaces. The holding means holds the position coordinates of the target, and the laser distance meter measures the distance to each target among appropriate ones. The processing means calculates the position in the building from the measured distances to the targets and the held position coordinates regarding the targets.
[0004]
[Problems to be solved by the invention]
In the structure positioning method described in Japanese Patent Laid-Open No. 2001-280958, the pipes at a relatively short distance are measured using a three-dimensional sensor or the like. Position measurement in an environment where the distance between them is long or the structure is complicated and the three-dimensional sensor is difficult to use as it is is not sufficiently considered.
[0005]
Japanese Patent Laid-Open No. 11-287858 describes that a clean room is measured using a laser beam. Since those described in this publication use laser light, there are problems such as the need to position the measuring device precisely as preparation before measurement and the necessity of initial adjustment of the laser emission angle. In addition, there are structures intermingled in the power plant, etc., and the positions where these measuring instruments are installed are limited, and it is necessary to change the measurement position for measurement. Requires a lot of man-hours.
[0006]
The present invention has been made in view of the above problems of the prior art, and an object thereof is to enable highly accurate three-dimensional position measurement in a short time. Another object of the present invention is to clarify the relationship between structures by constructing a three-dimensional structure model in a virtual space.
[0007]
[Means for Solving the Problems]
  To achieve the above object, the present inventionThe feature is that there are five or more time information transmitters, and two receivers receive signals from at least four time information transmitters to measure the position of the object to be measured. The receiving device determines the position of each receiving device based on the signal transmitted from the transmitting device and received by the receiving device, and the distance between one receiving device and the laser distance measuring device that irradiates the measured object with laser light, and The position of the laser distance measuring device is obtained using the position of the receiving device, and the object to be measured is irradiated with the laser from the laser distance measuring device, and the object is measured based on the time required from the irradiation to the reception of the reflected light. Obtaining the position of the object to be measured, setting four combinations of the plurality of time information transmitting devices, and the distance between the receiving devices measured in each combination being the maximum distance between the set receiving devices. And it is characterized in using a combination of the originating device when close.
[0008]
  Also, to achieve the above purposeThe feature of the present invention is that there are five or more time information transmitting devices, and in the position measuring device that two receivers receive signals from at least four time information transmitting devices and measure the position of the object to be measured. Means for obtaining the position of each receiving device based on a signal transmitted from the transmitting device and received by the receiving device, and a laser distance measuring device for irradiating one receiving device and an object to be measured with laser light And means for obtaining the position of the laser distance measuring device using the distance and the position and direction of the receiving device, and irradiating the object to be measured with the laser from the laser distance measuring device and receiving the reflected light from the irradiation Means for determining the position of the object to be measured based on the time required until and the direction of the laser beam, and sets four combinations from among the plurality of time information transmitters, and measures each combination. The distance between the receiving apparatus is characterized in that using a combination of transmitter when closest to the distance between the set receiver.
[0009]
Another feature of the present invention for achieving the above object is that a transmitter capable of obtaining at least four pieces of position information, two receivers having time information, and a laser capable of irradiating a device under test with laser light. The apparatus includes a distance measuring device and a computing device that computes information received by the receiving device.
[0010]
Still another feature of the present invention for achieving the above object is that at least four time information transmitters having known coordinate positions arranged in each space partitioned by a structure that shields radio waves, and at least two A time information receiving device having time information of a table, a laser distance measuring device, a fixing device having a known distance for fixing the time information receiving device and the laser distance measuring device, and an arithmetic processing device for received information is there.
[0011]
And in this feature, there is provided unmanned moving means for mounting the laser distance measuring device and the time information receiving device, the unmanned moving means has communication means capable of data communication, and means for processing signals transmitted and received by the communication means. And a camera capable of transmitting data may be placed so that the three-dimensional coordinate position of the object to be measured can be measured by remote control.
[0012]
Still another feature of the present invention for achieving the above object is that two receivers receive signals from at least four time information transmitters, measure the position of the object to be measured, and In the position information construction method for constructing a structural model in the virtual space based on the two receiving devices transmitted from the transmitting device and obtaining the distance between the receiving devices based on the signals received by the receiving device, The position of the laser distance measuring device is obtained by using the distance to the laser distance measuring device that irradiates the measured object with laser light and the distance between the receiving devices, and the laser is applied to the measured object from the laser distance measuring device. Irradiate, determine the position of the object to be measured based on the time required from irradiation to reception of the reflected light, execute this position measurement on a plurality of different points of the object to be measured, and obtain the obtained plurality of position information Based on It is intended to construct a structural model of the object in the virtual space.
[0013]
Preferably, when the structural model is determined by a standard, the measured position information is fitted to the standard information. Preferably, the three-dimensional coordinate position information of the object to be measured is plotted on the coordinates of the virtual space, and this plot is applied to at least one part data of a pipe, an elbow, a branch pipe and a valve whose shape and dimensions are registered in advance. By associating points, a three-dimensional model is constructed on the coordinates of the virtual space.
[0014]
Still another feature for achieving the above object is that at least four time information transmitters having known coordinate positions disposed in a space delimited by a structure that shields radio waves such as reinforced concrete, and at least 2 A method for measuring a three-dimensional coordinate position using a time information receiving device of a table and a laser distance measuring device, wherein the position of each time information receiving device is obtained by a signal from a time information transmitting device, and the obtained receiving device The distance between the receivers is obtained from each position, and the distance between the receivers based on this transmission signal is compared with the distance between the receivers obtained by measuring the distance between the two receivers in advance. It is something to evaluate.
[0015]
In the accuracy evaluation, when the difference between the distance based on the transmission signal and the predetermined distance is not more than a predetermined value and is the smallest, it is desirable to use it as the measurement result of the three-dimensional coordinate position of the object to be measured.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
First, the measurement principle used in the position measurement method and the position information construction method according to the present invention will be described. As shown in FIG. 2, a large number of time information transmission devices 3 are attached to the space. The main principle is to calculate the three-dimensional coordinate position (X, Y, Z) of the object to be measured using the information of the four time information transmitters 3 among them.
[0017]
The three-dimensional coordinate positions of the four time information transmitters 3 are obtained using a tape measure or a handy type laser rangefinder, and each transmitter 3 is assigned a coordinate P₁(X₁, y₁, z₁) ~ P₄(X₄, y₄, z₄) Is set. The distance between the time information receiving devices 4 and 4 fixed at both ends of the fixing device 6 is λ._TenThe distance between the laser distance measuring device 5 fixed at the tip of the fixing device 6 and the second time information receiving device 4 provided at the opposite end of the laser distance measuring device 5 with respect to the fixing device 6 is λ.₂₀And The three-dimensional coordinate position of each time information transmitter 3, 3, ... is already known before the start of measurement.
[0018]
The coordinates of the first time information receiver 4 are Q₁(X₁, Y₁, Z₁), The coordinates of the second time information receiving device 4 are Q₂(X₂, Y₂, Z₂), The coordinates of the laser distance measuring device 5 are Q₃(X₃, Y₃, Z₃). The first and second time information receiving devices 4 and 4 and the laser distance measuring device 5 are respectively connected to the arithmetic processing device 7 and received by the first and second time information receiving devices 4 and 4. Information is transmitted to the arithmetic processing unit 7. The arithmetic processing unit 7 calculates the three-dimensional coordinate position of the object to be measured based on the received information.
[0019]
The time of the four time information transmitters 3, 3,... Is all adjusted with respect to the reference time. The time information generated by the four time information transmitters 3, 3,.₁~ T₄, The time information generated by the first time information receiver 4 is t_aThe time information 2 generated by the second time information receiver 4 is t_bAnd The laser distance measuring device 5 receives the reflected light when the laser light is irradiated from the laser distance measuring device 5 onto the object 1 to be measured. At that time, the two time information receiving devices 4 and 4 receive the position information and the time information transmitted from the four time information transmitting devices, and reflect from the irradiation of the laser light measured by the laser distance measuring device 5. The coordinate position of the DUT 1 is obtained using the time Δt required to receive the light.
[0020]
A method for calculating the coordinate position of the DUT 1 will be described in detail below. Relative distance L between first time information receiver 4 and four time information transmitters 3, 3,.₁₁~ L₁₄(The first subscript indicates the type of the time information receiving device 4 and the next subscript indicates the type of the time information transmitting device) is expressed by the equations (1) and (2). Here, the subscript n indicates the type of the time information transmitting device 4, and n = 1, 2, 3, or 4. c is the speed of light, and c = 2.99792458 × 10⁸m / s. S is an error distance of a clock which is a reference of time information generated by the time information receiving device 4 and the time information transmitting device 3.
[0021]
L_1n= C (t_a−t_n) ……… Formula (1)
[0022]
[Expression 1]

Expression (3) is derived from Expression (1) and Expression (2). Four unknowns X included in the four equations of equation (3)₁, Y₁, Z₁, S to obtain the coordinate position Q of the first time information receiver 4₁(X₁, Y₁, Z₁) Is obtained.
[0023]
[Expression 2]

Coordinate position Q of the second time information receiver 4₂(X₂, Y₂, Z₂) Is also required in the same way. These two coordinate positions Q₁, Q₂And the distance λ between the time information receivers 4 and 4_TenAnd the distance λ between the laser distance measuring device 5 and the second time information receiving device 4₂₀Using the coordinate position Q of the laser distance measuring device 5₃(X₃, Y₃, Z₃) Is obtained from the equations (4) to (6).
[0024]
X₃= Λ₂₀(X₁-X₂) / Λ₁₀+ X₂    ......... Formula (4)
Y₃= Λ₂₀(Y₁-Y₂) / Λ₁₀+ Y₂    ......... Formula (5)
Z₃= Λ₂₀(Z₁-Z₂) / Λ₁₀+ Z₂    ......... Formula (6)
The distance L from the laser distance measuring device 5 to the object to be measured 1 is calculated from the time Δt required from the irradiation of the laser beam received by the laser distance measuring device 3 to the reception of the reflected light and the speed of light c using equation (7). Is required.
[0025]
L = cΔt / 2 ......... Formula (7)
From the above calculation results, the coordinate position O (X, Y, Z) of the DUT 1 can be obtained by the equations (8) to (10).
[0026]
X = L (X₁-X₂) / Λ₁₀+ X₃    ......... Formula (8)
Y = L (Y₁-Y₂) / Λ₁₀+ Y₃    ......... Formula (9)
Z = L (Z₁-Z₂) / Λ₁₀+ Z₃    ......... Formula (10)
The measurement results obtained in this way are evaluated by equations (11) and (12).
[0027]
[Equation 3]

Here, the coordinate position Q of the first and second time information receivers 4 and 4 obtained using the equations (1) and (2).₁(X₁, Y₁, Z₁), Q₂(X₂, Y₂, Z₂) To the distance λ between the time information receivers 4 and 4₁₁Is obtained from the equation (11). This distance λ₁₁And the distance λ between the two known time information receivers 4, 4 in advance.₁₀Δλ difference₁Is obtained from the equation (12). Obtained Δλ₁The measurement accuracy is evaluated using as an index.
[0028]
An example in which the position of the structure in the power plant is specifically measured based on the above-described measurement principle will be described below. As shown in FIG. 1, when measuring a device under test 1, at least four time information transmission devices 3 are arranged in each space 2 partitioned by a structure that shields radio waves with reinforced concrete or the like. This arrangement position is a position where a relative position can be obtained with respect to the structure in the power plant, which is described in advance in the drawing and the position information is known. The set position of the time information transmitting device 3 is a combination of the time information transmitting device 3 and a handy type laser distance measuring device (not shown), and by measuring the distance to three planes whose positions described in the drawings and the like are known in advance, A simple setting is also possible.
[0029]
In order to measure the coordinate position, information from at least four or more time information transmitting devices 3 is necessary, so that a signal can be sent from the four or more time information transmitting devices 3 to the device under test 1. The two time information receivers 4 themselves have time information. The laser distance measuring device 5 is fixed to both ends of a rod-shaped fixing means 6, and an intermediate portion of the rod-shaped fixing means 6 is rotatably attached to a column portion 8b provided on a movable carriage 8a. Yes. The three-dimensional position measuring device 8 includes a laser distance measuring device 5, two receiving devices 4, a movable carriage 8 a, and an arithmetic processing device 7.
[0030]
In the present embodiment in the positional relationship shown in FIG. 2, each piece of information received by the two time information receiving devices 4 and the laser distance measuring device 5 is processed by the arithmetic processing device 7, and the three-dimensional of the DUT 1 is measured. A coordinate position O (X, Y, Z) is calculated. At this time, the coordinate position P of the two time information receiving devices 4 measured is measured.₁(X₁, Y₁, Z₁), P₂(X₂, Y₂, Z₂) To the distance λ between the receiving devices 4 and 4₁₁Ask for. This distance λ₁₁And the distance λ between the two time information receiving devices 4 and 4 set from the dimensions of the fixing device 6₁₀And the deviation Δλ₁Ask for. Deviation Δλ between measured value and set value of this distance₁Is compared with the preset required accuracy, and when the required accuracy is satisfied, the coordinate position O (X, Y, Z) of the object to be measured obtained based on the measurement is plotted on the coordinates of the virtual space. Deviation Δλ₁Does not satisfy the required accuracy, the measurement is repeated until a measurement result that satisfies the required accuracy is obtained again.
[0031]
In the above embodiment, the signals transmitted from the four time information transmitters 3 are received, but the time information receiver 4 receives signals from five or more time information transmitters 3. May be. In that case, the amount of calculation generated by one laser irradiation from the laser distance measuring device 5 increases. Therefore, a combination of arbitrary four time information transmitting devices 3 is created, and a combination satisfying the required accuracy is selected from the combinations. And among these combinations, the deviation Δλ is the most₁The coordinate position O (X, Y, Z) obtained by selecting the combination when becomes small is set as the coordinate position of the DUT 1. In addition, it is good also considering the value which measured several times and averaged the result as a coordinate position of a to-be-measured object.
[0032]
The above procedure is shown in FIG. When position measurement according to the present invention is started (step 300), a large number of transmitters 3, 3,... Arranged in the space are initialized (position setting) (step 310). Whether to use the laser distance measuring device 5 is selected (step 320), and when the laser distance measuring device 5 is used, the laser distance measuring device 5 is positioned. In this case, the distance to the three planes whose positional relationship is already known may be obtained to obtain the distance of the transmission device 3. Next, to set the required accuracy, the deviation Δλ₁(Step 340).
[0033]
Since the initial setting is completed, measurement is started. A laser is irradiated from the laser distance measuring device 5 to the DUT 1 (step 350). A combination of transmitting devices 3 as a target for obtaining data from a plurality of transmitting devices 3, 3,... Is created (step 360). In this case, four transmission devices 3 are combined. The two receiving devices 4 receive signals from the four transmitting devices 3, and obtain the coordinate positions of the receiving devices 4 themselves (step 370). Since the coordinate position of each receiving device 4 has been obtained, the distance between the receiving devices 4 is obtained by equation (11) (step 380). The deviation between the distance between the receivers set using the equation (12) and the measured distance between the receivers is obtained, and the combination of the transmitters 3 that minimizes the deviation is selected (step 390). When such a selection is made, it is determined whether the deviation satisfies the required accuracy set at the time of initial setting (step 400). If the required accuracy is not satisfied, the process returns to step 360.
[0034]
When a measurement result that satisfies the required accuracy is obtained, the coordinate position of the DUT 1 is calculated using the equations (8) to (10) (step 410). The coordinate position of the DUT 1 is plotted in the virtual space created in the arithmetic unit 7 (step 430). By repeating this measurement and plotting over the entire object to be measured 1, a three-dimensional model of the object to be measured is constructed in the virtual space, and the position measurement is terminated (step 430).
[0035]
According to the present embodiment, it is not necessary to install the scaffold even in the dimension measurement at a high place where the scaffold installation is necessary. In addition, the number of man-hours can be greatly reduced when investigating structures located in high places. Furthermore, although the initial setting is conventionally performed every time the measurement position is moved, it is possible to measure a range in which a signal from the time information transmitting device reaches by one initial setting. Therefore, even in a complicated arrangement such as a power plant, the number of measurement steps required for continuous measurement can be reduced.
[0036]
FIG. 4 shows how a three-dimensional model of the DUT 1 is constructed in the virtual space by the above-described method, and FIG. 5 shows the procedure. In step 500, construction of a three-dimensional model is started. The DUT 1 is a pipe. In order to construct a piping model on the coordinates of the virtual space, at least three coordinate positions of the object to be measured are required. A number of points on the surface of the pipe 9 are measured according to FIG. 2 (step 510). Three points A10, B11, and C12 are selected from a large number of points (step 520). Three points A, B, and C plotted on the coordinates of the virtual space by the measurement are defined as coordinate positions for determining the pipe 9 (step 530). The standard, shape, dimensions, etc. of the piping are registered in the arithmetic device 7 in advance. Among the registered standard shapes and dimensions, the one having the closest dimension obtained from actual measurement is selected to construct a three-dimensional model. Specifically, when the outer dimensions of the pipe are already known, the outer diameter is designated (step 540). When the object to be measured 1 is other than a pipe, or even if it is a pipe, other information on the object to be measured can be known from information other than the outer diameter, the information may be input. For example, information on the wall surface 13 in a parallel relationship or an orthogonal relationship obtained by the measurer as route information at the time of modeling is used. Alternatively, the shape shown in the image captured from the camera may be used.
[0037]
When the outer diameter is designated, the cylindrical axis is fitted so that the measurement point fits the cylindrical surface having the designated outer diameter (step 560). When the outer diameter is not designated, a cylinder having three measured points on the outer surface is obtained (step 550). The cylinder thus obtained is constructed in the virtual space in the arithmetic unit 7 (step 570). At this time, the axial length of the cylinder is infinite.
[0038]
Here, it is determined whether a route is designated (step 580). This route information is parallel to the wall surface and perpendicular to the floor surface. When the route is designated, the route fitted with the three points A, B, and C selected previously is corrected to the designated route (step 590). Now that the model has been built, find the model boundaries. In the case of piping, both ends of the piping shaft are obtained. Therefore, the points D15 and E16 at both ends of the pipe are measured using the laser distance measuring device 5 (step 600). The points D and E are defined as both ends of the pipe (step 610). Now that an overall image of the pipe is obtained, it is constructed in the virtual space as a three-dimensional model of the pipe (step 620). This operation is repeated by the number of objects to be measured, and the measurement is finished (step 630). In this operation, information that cannot be determined from the appearance, such as the thickness and material of the pipe, is input at the time of measurement or after measurement according to the information described in the construction drawings.
[0039]
According to the present embodiment, since the three-dimensional model can be constructed at the time of measurement work, the data construction work constructed from the measurement results after the field survey becomes unnecessary. If the laser irradiation point is captured on an image captured by the camera, the shape of the object to be measured on the image can be used for fitting.
[0040]
6 and 7 show another embodiment of the present invention in which the position is measured by remote control. FIG. 6 shows how the three-dimensional coordinate position is measured by remote operation, and FIG. 7 shows the procedure. The coordinate position Q of the first and second time information receiving devices 4 obtained based on the measurement₁(X₁, Y₁, Z₁), Q₂(X₂, Y₂, Z₂), And the coordinate position Q of the laser distance measuring device 5₃(X₃, Y₃, Z₃) Is measured by the telemetry device 18. The telemetry device 18 includes, in addition to the three-dimensional coordinate position measurement device 8 shown in the embodiment of FIG. 1, a data transmission / reception antenna 20, a battery 27 so that the telemetry device can self-run, and this battery 27 as a drive source. A control device 23 is added.
[0041]
When the position measurement is started by remote operation (step 700), four or more time information transmitting devices 3 whose positions are known are prepared first. And it arrange | positions so that the signal from these time information transmission apparatuses 3 may reach the telemetry apparatus 18. FIG. The position of the telemetry device 18 is determined based on the image of the camera 19 and the coordinate position Q of the time information receiving device 4.₁(X₁, Y₁, Z₁), Q₂(X₂, Y₂, Z₂) Or the coordinate position Q of the laser distance measuring device 5₃(X₃, Y₃, Z₃) To confirm. At the same time, the position of the three-dimensional coordinate position measuring device 8 is transmitted to the measurer in the remote place 28 via the transmission / reception antenna 20 (step 710).
[0042]
The signal from the transmission / reception antenna 20 is transmitted to the PHS line base station 21 in the power plant. The measurer moves the position measuring device 8 to the measurable range of the DUT 1 by the remote operation 22 based on the transmitted position information (step 720). Next, the direction of the laser distance measuring device 5 mounted on the position measuring device 8 is directed toward the object 1 while being monitored by the camera 19 (step 730).
[0043]
The vertical angle of the support means 6 to which the laser distance measuring device 5 is attached is driven by a vertical angle control motor 26, and the horizontal angle is changed by driving a horizontal angle control motor 25. If satisfactory measurement results or information cannot be obtained even if these two motors are driven, the moving caterpillar 24 of the telemetry device 18 is driven to slightly move the telemetry device 18. When the measurement conditions are satisfied, the above-described position measurement of the DUT 1 and the construction of the three-dimensional model are executed by the remote operation 22 (step 740). It is determined whether or not the measurement is completed (step 750). If the measurement remains, the process returns to step 720. When the telemetry is finished, the moving caterpillar 24 is driven to collect the telemetry device 18 (step 760), and the telemetry is finished (step 770).
[0044]
According to the present embodiment, the measurer uses the image data obtained by the camera 19 from the remote place 28 and the position information of the measured remote measuring device 18 as in the embodiment shown in FIG. 3D modeling is possible. When initially setting the position of the time information transmitter, the time information transmitter and the laser distance measuring device can be used in combination, and can be easily set by measuring the dimensions of three known planes. Further, by transmitting the image captured from the CCD camera to the operator using the PHS network provided in the actual plant, it is possible to conduct a field survey of places where the vehicle is in operation and cannot be accessed. Even if a failure occurs in the plant, if the worker cannot easily approach the location where the failure occurs, the failure location can be confirmed and countermeasures can be taken by sending only the measuring device to the location where the failure occurs. Therefore, remodeling work during plant operation and inspection during operation are possible, and the time required for maintenance inspection can be reduced. In addition, it is possible to investigate structures located in a high radiation environment.
[0045]
【The invention's effect】
  According to the present invention, two receivers receive signals from at least four transmitters.And, by setting a combination of four transmitting devices, and using the combination of transmitting devices when the distance between the receiving devices measured in each combination is the closest to the set distance between the receiving devices, Even when a large number of reflected radio waves exist, the position of the three-dimensional structure can be measured with high accuracy.
[Brief description of the drawings]
FIG. 1 is a diagram for explaining an embodiment of a position measuring method according to the present invention.
FIG. 2 is a diagram for explaining a measurement principle.
FIG. 3 is a measurement flowchart.
FIG. 4 is a diagram illustrating modeling in position measurement according to the present invention.
FIG. 5 is a three-dimensional modeling flowchart.
FIG. 6 is a diagram of another embodiment of the position measuring method according to the present invention.
FIG. 7 is a flowchart of measurement by remote operation.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Object to be measured, 2 ... Space, 3 ... Time information transmitter, 4 ... Time information receiver, 5 ... Laser distance measuring device, 6 ... Fixed device, 7 ... Arithmetic processing device, 8 ... Three-dimensional coordinate position measuring device , 9 ... piping, 10 ... point A, 11 ... point B, 12 ... point C, 13 ... wall surface, 14 ... cylindrical model, 15 ... point D, 16 ... point E, 18 ... telemetry device, 19 ... camera, 20 Data transmission / reception antenna, 21 PHS line base station, 22 Remote control, 23 Control device, 24 Caterpillar for movement, 25 Horizontal motor, 26 Vertical angle control motor, 27 Battery, 28 Remote Earth.

Claims (6)

In a position measurement method in which there are five or more time information transmitting devices, and two receiving devices receive signals from at least four time information transmitting devices and measure the position of the object to be measured. The position of each receiving device is obtained based on a signal transmitted from the transmitting device and received by the receiving device, and the distance between one receiving device and a laser distance measuring device that irradiates laser light to the object to be measured, and of the receiving device Using the position, the position of the laser distance measuring device is obtained, and the object to be measured is irradiated with the laser from the laser distance measuring device, and based on the time required from the irradiation to the reception of the reflected light, Finding the position ,
Four combinations are set from among the plurality of time information transmitters, and a combination of transmitters when the distance between the receivers measured in each combination is closest to the set distance between the receivers is used. A position measurement method characterized by that . The position measurement method according to claim 1,
Position measuring method, wherein the two receiving devices are those each having time information. The position measurement method according to claim 1,
A position measurement method comprising: performing distance measurement between receiving devices again when a distance between receiving devices determined based on a signal transmitted from the transmitting device and received by the receiving device is not within a predetermined range. In the position measuring device in which there are five or more time information transmitting devices and two receiving devices receive signals from at least four time information transmitting devices and measure the position of the object to be measured .
Means for determining the position of each receiving device based on a signal transmitted from the transmitting device and received by the two receiving devices ;
Means for determining the position of the laser distance measuring device using the distance between the one receiving device and the laser distance measuring device for irradiating the object to be measured with the laser light, and the position and direction of the receiving device ;
Means for irradiating the object to be measured with a laser from the laser distance measuring device, and determining the position of the object to be measured based on the time taken from the irradiation to the reception of the reflected light and the direction of the laser beam ,
Four combinations are set from among the plurality of time information transmitters, and a combination of transmitters when the distance between the receivers measured in each combination is closest to the set distance between the receivers is used. A position measuring device characterized by that . In the position measuring device according to claim 4,
Each of the two receiving devices has time information, respectively. In the position measuring device according to claim 4,
A position measuring device which performs distance measurement between receiving devices again when a distance between receiving devices determined based on a signal transmitted from the transmitting device and received by the receiving device is not within a predetermined range.

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