JPH08136218A - Method for automatically measuring and analyzing three-dimensional coordinates - Google Patents

Abstract

PURPOSE: To provide an automatic measuring and analyzing method, which measures the three-dimensional shape of a large structure or the like in high accuracy and at high efficiency. CONSTITUTION: The main body of a measuring instrument 1 has a CCD camera, which collimates many targets 6 on an object to be measured 10 and can be, driven by a motor. An image processing device 2 analyzes the target images picked up with the CCD camera. A three-dimensional measuring system performs the setting of measuring conditions, coordinate conversion and analysis. These parts are used, and the designed dimensional values or the coordinate value of the object to be measured 10, which are inputted into the above described system, undergo coordinate conversion. The CCD camera is driven, the targets 6 are automatically tracked and the three-dimensional coordinates are automatically measured.

Description

Detailed Description of the Invention

[0001]

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

[0002]

2. Description of the Related Art For bridges, building steel frames, ships and other large steel structures, parts such as steel plates are assembled and welded at a factory and divided into a plurality of component blocks, which are transferred to a construction site or a sill. , Where it will be built by bolts or welding. Conventionally, after the blocks have been manufactured, prior to transfer to the construction site, temporary assembly is performed in the factory or yard by actual assembly to check the assembled state so that there is no problem in the on-site joining. However, in recent years, the demand for labor saving and space saving of steel structures, cost reduction, improvement of member manufacturing accuracy, and sophistication of measurement technology have progressed. As a result, temporary assembly is being omitted.

In this case, in order to prevent the local joining from being hindered even if the temporary assembly is omitted, the blocks are virtually assembled by using a computer or the like to confirm the assembly accuracy. It is necessary to perform a simulation. When performing this temporary assembly simulation, obtaining accurate measurement data of the three-dimensional shape of the block used is
This is important in determining the accuracy of the temporary assembly simulation. However, the conventional measurement of a three-dimensional shape is a two-dimensional one using a transit, a tape measure, a plumb bob, a level, etc., and is not suitable for accurately grasping the three-dimensional shape. In recent years, triangulation by the forward intersection method, which has been developed in the field of surveying, distance measurement using a light wave range finder, and angle measurement method have come to be used for the measurement of blocks of three-dimensional shape. .

As an example, a three-dimensional coordinate measuring system capable of measuring the three-dimensional coordinate value of an arbitrary point on an object to be measured with one measuring instrument is commercially available from Sokia Co., Ltd. under the trade name "MONMOS". . This system measures three arbitrary points in advance and sets the three-dimensional coordinate system, then collimates the center of the reflective target provided at each measuring point to determine the three elements of horizontal angle, vertical angle, and distance measurement. Simultaneous measurement and analysis of coordinate transformation,
The calculation is performed to obtain a three-dimensional coordinate value, and a high accuracy of ± 1 mm or less can be obtained at a distance of 100 m.

[0005]

However, the conventional three-dimensional coordinate measuring machine including the above-mentioned "MONMOS" is
In the collimation work, the focus of the telescope and the centering of the crosshairs of the telescope with the center of the target were performed by human vision, so the work was complicated and time was required for the collimation work. It was easy to enter, was inefficient, and was a factor that reduced measurement accuracy. In order to eliminate such a defect, it is considered that the collimation work is automated, and an automatic collimation type measuring instrument has been partially developed.

[0006] For example, in "Development of an automatic three-dimensional space surveying system" announced at the "4th Construction Robot Symposium July 19-20, 1994", surveying is performed by automatic collimation for distance measurement and angle measurement. An example of unmanned measurement of the behavior of a large space structure such as a large tank is disclosed by using a device composed of a machine body and a control management control unit that displays, records, and manages data by controlling these devices. ing.
This system initializes conditions such as the target position and measurement order, then extracts the target captured by a motor-driven CCD camera with an image processing device, and the target centroid and C
The horizontal and vertical angles of the CCD camera are driven by a servomotor so that the optical axes of the CD camera coincide with each other, and automatic collimation is performed. When the coordinate value of the target position at the time of initial setting is known, the operator directly inputs the coordinate value, and when the coordinate value is unknown, the controller repeatedly points the CCD camera at the target and puts it on the monitor screen. It is a thing.

In this system, the coordinate value of each target is input in advance in the automatic collimation initial setting. However, the method of calculating the coordinate value of each measuring point for automatic collimation when the measuring instrument is the origin is clarified. Not not. Or C for each station
Teaching is performed by repeating the work of pointing the CD camera on the monitor screen, and the merit of automation cannot be expected so much due to the complicated manual work. In the automatic collimation, the target centroid is obtained by image processing, and the CCD camera is driven by the servomotor in the field of view to drive the CCD.
It takes time to measure because it is a method of collimating by repeating the operation of aligning the optical axis of the camera and the target centroid. Also, there is a mechanical error when aligning the optical axis of the CCD camera and the target centroid. There is a problem that the accuracy becomes poor.

Another automatic surveying system is Leica Corporation's automatic monitoring and surveying system "WILD APS".
This system is a three-dimensional coordinate automatic measurement system that has automatic target tracking, automatic search, and automatic collimation functions. However, like the automatic measurement system described above, the target position input method during initialization is the same. I have a similar problem.

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

If the target on the measuring point cannot be directly collimated, it is necessary to use a plurality of measuring machines or move the measuring machines to measure. In order to minimize the number of measuring instruments and the number of movements, it is necessary to deviate the center of the target from the measuring point and install the target at a position that can be collimated from the measuring instrument. There is a problem that the position of the measurement point cannot be specified only by obtaining the three-dimensional coordinate value of, and the three-dimensional coordinate value of the measurement point, that is, the actual shape of the measurement target cannot be accurately obtained.

Further, these three-dimensional coordinate value measuring systems do not have the design coordinate values of the measurement object corresponding to the actually measured coordinate system, and it is impossible to compare with the design values during the measurement. However, there was a problem that the reliability of the measurement could not be confirmed at the measurement site. An object of the present invention is to solve these problems, to eliminate human work as much as possible, and to provide a highly efficient and highly accurate three-dimensional coordinate automatic measurement and analysis method.

[0012]

[Means for Solving the Problems]

(1) In a system that collimates targets provided at a large number of measurement points on an object to be measured and measures the three-dimensional coordinate values of each measurement point, the vision on the target captured by a CCD camera that can be driven by a motor. A measuring instrument body with functions to measure and measure the position of the quasi-point, an image processing device that analyzes the image of the target captured by the CCD camera of the measuring instrument body, measurement condition setting, coordinate conversion, and analysis. Using a three-dimensional measurement system consisting of a computer with a monitor that operates the program to be executed, enter the design dimension values or three-dimensional design coordinate values of the measurement object into the computer, and then set the installation range of the measuring instrument on the monitor screen. After determining, install a measuring instrument within that range, set the reference coordinate system based on the coordinate values obtained by actually measuring the reference measurement points, and convert the three-dimensional design coordinate values of each measurement point. And then The design coordinate values are converted into polar coordinate values for automatic measurement, the CCD camera of the measuring machine is driven by the converted polar coordinate values, the target attached to each measurement point is automatically tracked, and the optical axis of the CCD camera Distance measurement and angle measurement are performed while the target object is inside the target to be measured, and the target image is analyzed by the image processing device. The amount of deviation between the collimation point and the centroid of the target image, the inclination of the target surface and its direction ， Determine the main axis of the target image and the inclination of the reference written on the target surface, and calculate the three-dimensional coordinate value from the collimation point to the target center point and the three-dimensional coordinate value of the measuring point on the measurement object from these values. A three-dimensional coordinate automatic measurement and analysis method characterized by seeking.

(2) A CCD camera with a zoom function is used to capture the target within the field of view by enlarging the field of view, and image processing of the target image is performed to measure the color or pattern of the collimation plane of the target. The target is identified, and the secondary deviation amount between the optical axis of the CCD camera and the centroid of the identified target image of the measurement target is obtained by image analysis, and the measuring instrument main body is driven to set the optical axis of the CCD camera within the field of view. The three-dimensional coordinate automatic measurement / analysis method according to (1) above, wherein the three-dimensional coordinate automatic measurement / analysis method is carried out so as to enter the target to be measured.

[0014]

According to the above (1), since the three-dimensional coordinate value of each measurement point on the measurement object or the dimension value of the measurement object is known in the design value, the known design coordinate value and the measuring machine body are known. The position of a measuring instrument is input to a computer with a monitor, and then a simulation of measurement such as the arrangement of targets at each measurement point and the order of collimation is performed, and a measuring instrument main body that can collimate a predetermined target on the measurement target is installed. The range is calculated on the monitor before actual measurement. By installing the measuring instrument body within this installation range, subsequent automatic measurements will be ensured.

At the measuring site, the position of the target on three measuring points, which are the reference points on the object to be measured, is measured and measured by the measuring machine installed at the above position, and the polar coordinate value with the measuring machine as the origin is used. To be detected. Then, the polar coordinate values are coordinate-converted into coordinate values of a three-dimensional coordinate system, three-dimensional coordinate values of three reference measurement points are obtained, and a reference orthogonal coordinate system is determined based on the three reference points. Using this reference coordinate system as a common coordinate system, the input design coordinate values or design dimension values are converted into three-dimensional design coordinate values in the reference coordinate system. Then, in the measurement of each measurement point, this three-dimensional design coordinate value is converted into a polar coordinate value with the measuring machine main body as the origin, and the collimation direction of the CCD camera on the measuring machine main body is used in a preset order using this coordinate value. The target of each measurement point is sequentially tracked by automatically driving. Furthermore, by using a target having a baseline on the collimation plane, the three-dimensional coordinate value of the measurement point can be obtained by correcting the deviation of the three-dimensional coordinate value of the target center point.

Further, the target of each measurement point captured by the CCD camera is subjected to image analysis of the target image to obtain a one-dimensional displacement amount from the collimation point, and the coordinate value of the collimation point is corrected. Thus, the three-dimensional coordinate value of the target center point is obtained, that is, automatic collimation is performed without matching the collimation axis of the rangefinder to the center point of the target.

According to the above (2), the CC with zoom function is provided.
By using the D camera, when there is no target image in the field of view of the CCD camera, the field of view is enlarged, the target is automatically captured in the field of view, and the measurement target is identified by image processing from the color or pattern recognition of the target, A target to be measured is detected from the plurality of targets. Using the numerical control data calculated from the image analysis, drive the CCD camera of the measuring instrument main body and move the optical axis of the CCD camera into the target to be measured, then perform automatic collimation, and the three-dimensional coordinates of the center point of the target. You can get the value.

The three-dimensional design coordinate values of the measuring points on the measurement object obtained by the above method are converted into coordinate values and dimension values in arbitrary three-dimensional Cartesian coordinates and compared with the design values to calculate the error amount. And then output.

[0019]

Embodiments of the present invention will now be described with reference to the drawings. FIG. 1 is a diagram showing the overall configuration of a three-dimensional coordinate measurement / analysis system for a large structure according to an embodiment of the present invention. The system used in the present invention includes a target 6 provided at each measurement point on an object to be measured and a color CC driven by a servo motor.
The D camera automatically tracks and searches the target 6.
A measuring instrument 1 having a mechanism for collimating, distance measuring, and horizontal and vertical angle measuring, an image processing device 2 for analyzing an image obtained from a CCD camera of the measuring instrument 1, a simulation of measurement, and coordinate conversion. A computer with a monitor 3 for analyzing the above and storing the measurement result, and a portable computer 4 for running a program for calculating polar coordinates for automatic measurement and generating data for numerical control of the measuring machine main body, Controller 5 for remotely controlling the collimation direction, magnification and focus of the CCD camera, printer PRR, plotter PLR, modem M
It is composed of an output device such as an OD. The modem MOD is for performing data communication with other computers via communication lines.

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

FIG. 2A shows a sheet type target having a perfect circle collimation surface. A cross line indicating the center of the target is not necessarily required on the target surface, but a cross line as shown in FIG. 2B may be written so that the center of the target can be easily aligned with the measurement point.
FIG. 2C is an example of a target used when it is difficult to mount the center of the target at the measuring point,
The collimation plane 7 of the target can be used by inclining or rotating in the biaxial directions. In this case, a base line 8 that passes through the center of the target indicating the direction of the measurement point is marked on the target collimation plane 7.

The measuring instrument 1 is a light-wave range finder for measuring distances by near infrared rays, a goniometer for measuring horizontal and vertical angles, and a target 6 for automatically tracking, searching and collimating. It is equipped with a color CCD camera with a zoom mechanism and a servo motor for varying the horizontal and vertical angles that can numerically control the collimation direction. Then, distance measurement and angle measurement are performed, and the coordinates are output as polar coordinates of the coordinates of the center of the target. The collimation axis of the light distance meter and the optical axis of the CCD camera are coaxial. If there is no need to identify the target by color, the black and white C
It may be a CD camera.

The computer 3 with a monitor is for performing measurement simulation, analysis of coordinate conversion, etc., graphic display and storage of design values and measurement results, and analysis software for measurement simulation, coordinate conversion, correction calculation, etc. It works.

The portable computer 4 has almost the same function as the computer with a monitor 3 described above, and the cubic of each measurement point is determined based on the positional relationship between the measuring object 10 and the measuring machine 1 at the time of actual measurement. The original design coordinate value is converted, the polar coordinate value for automatic measurement is calculated, and the data for numerical control is created, and a notebook computer or a handy terminal is used.
The portable computer 4 is omitted and the image processing apparatus 2 is omitted.
May be directly connected to the monitor-equipped computer 3 online or the like.

The controller 5 has a function of remotely controlling the collimation direction, magnification and focusing of the CCD camera of the measuring instrument 1, and among the measuring points on the measuring object 10, the origin, the reference axis and It is used to collimate the three reference points for setting the reference plane. Further, it is also used when manually measuring the three-dimensional coordinate values of a measuring point whose three-dimensional design coordinate values on the measurement object 10 are unknown.

-First Embodiment- A first embodiment for automatically measuring the three-dimensional coordinate values of a measurement point on a measurement object using the system configured as described above will be described below. FIG. 3 is a flow chart showing the outline of the measurement procedure, and FIG. 4 shows a mode in which the measurement target is automatically measured. In the first embodiment, automatic three-dimensional coordinate value measurement is performed as follows. The known 3D design coordinate values created for the design or manufacture of the structure to be measured are input using the computer with monitor 3, and the 3D of the structure to be measured is displayed on the monitor screen. Create a design model and determine measurement points. In this case, you may input the design dimension value of the structure and convert it into the three-dimensional design coordinate value in the computer; enter the installation position of the measuring instrument 1 on the same screen; measure this point as the origin A design polar coordinate value of a measurement point on the target structure 10 is obtained, simulation of measurement conditions such as determination of the target 6 on the measurement point to be collimated, setting of measurement order, etc. is performed, and an installable range of the measuring instrument 1 is obtained. The measuring device 1 is installed within the installable range; the three measurement points on the measurement target structure 10 are reference points (9a, 9a).
b, 9c), the polar coordinate value of the target on the measurement point is measured by the measuring instrument 1 and converted into the three-dimensional coordinate value of the measurement point; any one of these three points is the origin, the origin 9a and the The line connecting the two points 9b is defined as the x-axis, the plane including this axis and the third point 9c is defined as the xy (x-z) plane, and the axis perpendicular to this plane is defined as the z-axis. Use the local coordinate system of the object.

Of the three-dimensional design coordinate values of the measuring object 10, the origin 9a consisting of the design coordinate values of three points corresponding to the above-mentioned three reference points (9a, 9b, 9c), the coordinate axis, the reference plane,
By matching the origin 9a, the reference axis, and the reference plane on the measurement target structure, the actual local coordinate system of the measurement target structure and the local coordinate system of the three-dimensional design model match. If expressed graphically, it can be regarded as a state in which a three-dimensional design model having common coordinate axes is projected on the actual object of the measurement target structure 10 as shown in FIG. As a result, the design polar coordinate value of the measurement point on the three-dimensional design model when the position of the measuring instrument 1 at the time of actual measurement is the origin 9a is obtained by coordinate conversion. Also,
As shown in FIG. 5, the measuring points 15 and 16 that cannot be collimated from one installation point of the measuring instrument 1 are known from the above-described measurement simulation, and therefore, a plurality of measuring instruments that can collimate the targets installed on them. A common measurement point 1 where the installation points 12 and 13 of 1A are provided and collimation can be performed both inside and outside the measurement object
The target 6 is installed on the surface 4, and the coordinates are made to coincide with each other by using this as a junction point for measurement. The number and position of measuring instruments installed and the number and position of common measurement points are also simulated in advance.

Numerical control data for automatic tracking, search and collimation of each target is created by adding attribute data such as the type, color and size of the target of the measurement point to the design polar coordinate value of the target to be measured; The machine 1 is driven and the collimating direction of the CCD camera, the magnifying power, and the remote control of focusing are performed, and the target to be measured is automatically tracked, searched, and collimated.

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

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

[0031]

[Equation 1]

The angle θ formed with the optical axis of the target surface is positive or negative depending on the direction of inclination of the target surface 7,
The direction of the inclination of the target surface 7 cannot be judged only from the elliptical image 17 of the target surface captured by the CCD camera. The procedure for determining the direction of the target surface 7 will be described with reference to the flowcharts of FIGS. 8 and 9. 8 O
The point is the origin of the overall coordinate system at the position of the measuring instrument 1, the collimation point on the target target is P, and the point on the target collimated by arbitrarily moving the optical axis in the short axis direction of the target image is P '
Is. In the two-point collimation method, the point P on the target to be measured is collimated, and the polar coordinate value of the point, that is, the oblique distance R, the horizontal angle Hp,
Obtain the vertical angle Vp, and from the image analysis of the target image (Δx, Δy, θ, α)
Then, the optical axis on the target is moved parallel to the short axis of the target image 20 to collimate another point P ′, and the oblique distance R ′ at that point is measured to obtain R and R ′. By comparing the values of, the direction of the target surface 7, that is, the sign of θ is known.

It is also possible to perform the one-point collimation. In this case, as an example, the target surface 7 as shown in FIG.
When a target (b) such as a cylindrical table having a side surface 19 perpendicular to the target can be used to determine the tilt direction, when the target has a tilt, the side surface 19 of the target is changed as shown in (c). The visible side can be judged to be the front side, and the positive / negative of θ can be judged by one collimation.

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

[0035]

[Equation 2]

Next, a method of calculating the coordinate value of the center point of the target will be described with reference to FIG. The measuring instrument 1 is the origin O
And the three-dimensional coordinate value (Xc, Yc, Zc) of the target center point T in the overall coordinate system is the polar coordinate value (R, Hp, Vp) of the collimation point P of the tilted target image and the image coordinate system. Deviation amount from the sighting point P (Δx, Δy, Δ
From z), the following formula is used.

[0037]

(Equation 3)

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

[0039]

[Equation 4]

The three-dimensional coordinate values (Xs, Ys, Zs) of the measuring point S when the coordinate value of the measuring point S in the image coordinate system is converted into the overall coordinate system and the measuring machine 1 is the origin O are It is calculated by the following formula.

[0041]

(Equation 5)

Next, the automatic search for the target will be described. Generally, the deviation from the design value of the measurement object such as civil engineering, construction, structures and members of ships and blocks is about several mm to several cm, and the size and the mounting direction of the target 6 are appropriately selected. Therefore, if collimating with the design value, the optical axis of the CCD camera usually enters the target with one collimation, but in the case of a large-scale measurement object or a measurement object with poor manufacturing accuracy, the design value CCD even if collimated
The camera may not be able to capture the target image. In such a case, automatic search for the target is required. FIG. 13 is a flow chart showing the procedure of automatic target search. On screen by image analysis (in view)
It is determined whether or not there is a target image in the image, and if there is no target image, the zoom mechanism of the CCD camera is automatically activated to expand the field of view and search for the target. Also, the target image is CC
CC in the target even if it is within the field of view of the D camera
When the optical axis of the D camera is not included, or when the entire target image of the measurement target is not included in the field of view of the CCD camera, the amount of deviation from the optical axis by image analysis of the entire image or partial image of the target. (Δx, δy) is obtained, the optical axis is moved, and the target is collimated. Then, the magnification of the CCD camera when performing the automatic collimation is switched to the optimum state for the image processing of the target.

Next, a method of identifying the target to be measured when a plurality of targets are captured within the field of view of the CCD camera will be described. When measuring a close-up measuring point or a distant measuring point on an object to be measured, a plurality of target images may exist in the field of view 22 of the CCD camera as shown in FIG.
In this case, the target 23 whose target collimation surface is colored with a specific color is used for identification by a color CCD camera, or the shape of the target collimation surface or a specific mark on the collimation surface is marked. By the pattern recognition used,
Automatically select the target.

By the above method, the three-dimensional coordinate value of the center point of the target on the measurement object which is automatically tracked, searched and collimated is determined by the installation deviation of the target (the amount of deviation between the measurement point and the center of the target). After correction, the three-dimensional coordinate value of the measurement point is obtained. Further, it is compared with the design value stored in the portable computer 4, and the state of measurement such as the arrangement of the measuring instrument 1 and the installation of the target 6 is confirmed and the error amount of the measurement object is output in real time.

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

The three-dimensional coordinate value automatic measuring method of the second embodiment is carried out as follows. First, a known three-dimensional design coordinate value created for designing or manufacturing a structure to be measured is provided with a monitor. Input as graphic data of three-dimensional CAD using a computer, create a three-dimensional design model of the structure to be measured on the monitor screen, and determine the measurement points. In this case, the three-dimensional model may be drawn by inputting the design dimension value of the structure. Next, the installation position of the measuring instrument 1 is input on the same three-dimensional CAD screen; with this point as the origin, the design polar coordinate value of the measurement point on the structure to be measured is obtained by the coordinate display function of CAD. Further, a target on a measurement point that can be collimated from the position where the measuring instrument 1 is installed is selected by using the hidden line processing function of the three-dimensional CAD, and the deviation of the target from the measurement point and the orientation of the target surface are set. Then, the design polar coordinate value of the center point of the target is obtained in the same manner as above, and the measurement conditions such as the setting of the measurement order are simulated to obtain the installable range of the measuring instrument 1; The polar coordinate values of the targets on the three measurement points that form the reference plane on the structure to be measured are measured by the measuring machine 1; these coordinate values are input to the three-dimensional CAD and the coordinate display function of the CAD measures the points. The three-dimensional coordinate value of is determined, and an arbitrary point is defined as the origin, the line connecting the origin and the second point is defined as the x-axis, and the plane including this axis and the third point is defined as the xy (xz) plane. The local coordinate system of the structure to be measured. Set on the original CAD; perform copying of the three-dimensional design model of the measurement object that is created on its local coordinates.

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

Next, as shown in FIG. 15, data (Δx, Δy, θ, α,) obtained by image analysis of the target image 17 captured by the CCD camera in automatic collimation.
β) and the polar coordinate values (R, Hp, Vp) of the collimation point P measured and measured by the light-wave rangefinder and goniometer to determine the three-dimensional coordinate values of the center point of the target 6 and the measurement point. A method of obtaining using three-dimensional CAD will be described.

First, with the measuring instrument 1 as the origin, this origin O
Segment OP (optical axis) that connects the collimation point P of the target and the target
Set a plane A (25) that is perpendicular to. FIG. 15A is a plane 25 including the target image 17, and the collimation point P on the target and the centroid C of the target image 17 are within the plane 2.
Exists in 5. As shown in (b) of FIG.
A straight line that passes through the collimation point P on (A) and is parallel to the major axis of the ellipse of the target image 17 is defined by an intersection line RR and the plane 25 and (π /
A plane 26 (B) having an angle of 2-θ) is set. This plane 26 is a plane including the target surface 7 shown in FIG. 15C, and a point obtained by projecting the centroid C of the target image on the plane B is the center point T of the target. The measuring machine 11 is the origin O
At this time, the three-dimensional coordinate value of the target center point T in the overall coordinate system is directly obtained by the CAD coordinate display function.
Further, in FIG. 15A, the center point T of the target image
A radial line C passing through and having an angle of β with the major axis of the target image 17
D27 is drawn and projected on the plane 26. As shown in FIG. 15 (c), the projection line of this radial line coincides with the base line marked on the target. FIG. 15D is a sectional view taken along the projection line TE28 and perpendicular to the target surface 7. However, since the positional relationship between the target center point T and the measuring point Q is known, the projection line TE28 from the target center point T is known. Direction h, vertical d
The point of the distance is the measurement point Q, and the three-dimensional coordinate value is directly obtained by the coordinate display function of CAD.

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

[0051]

According to the present invention, in the measurement of the three-dimensional coordinates of the object to be measured, C is calculated by using the known three-dimensional design coordinate values.
In order to automatically control the measuring instrument 1 consisting of a CD camera, a rangefinder, and a goniometer to perform automatic tracking, automatic search, and automatic collimation of targets installed at measurement points on the measurement target, In the measurement work, the acquisition work is largely omitted, human error is reduced, and the measurement work at the measurement site can be performed quickly and reliably. Also, during automatic collimation, the C axis of the optical rangefinder does not have to be perfectly aligned with the center point of the target.
The target image obtained by the CD camera is analyzed and the amount of deviation is obtained and corrected, so the time required for the collimation operation can be greatly shortened, the measurement speed is fast, and the center of the target is fast. It is possible to eliminate the mechanical error that occurs when the collimation axis of the range finder and the collimation axis of the range finder are matched and to perform highly accurate measurement. Furthermore, it becomes possible to install a rotatable target at a position deviated from the measurement point on the measurement object, and it is possible to reduce the number of measuring machines installed or the number of movements, reducing the measurement equipment cost and measurement time. In addition to being able to greatly suppress it, it is possible to minimize the measurement error that occurs when the coordinates are joined due to the switching and movement of the measuring machine, and it is possible to perform highly accurate measurement. In addition, the measured value of the measurement target can be compared with the design value during measurement, and the state of measurement and the amount of error of the measurement target can be confirmed in real time, and the reliability of measurement is improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing an overall configuration of a measuring and measuring apparatus for a large structure, which embodies the present invention.

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

FIG. 3 is a flow chart showing the outline of the measurement procedure of the first embodiment of the present invention.

FIG. 4 is a perspective view showing a structure to be measured (solid line) shown in FIG. 1 and an image (dotted line) represented by a three-dimensional design model having common coordinate axes of the structure with the measuring machine 1 as a reference point. It is a figure.

5 is a perspective view showing a measurement mode of measurement points that cannot be collimated by the measuring instrument 1 at one place shown in FIG. 1. FIG.

6 is a target image (ellipse) obtained by collimating a perfect circular target having an angle of θ with respect to the optical axis of the CCD camera of the measuring instrument 1 shown in FIG. It is a top view which shows the image (circle) of the target which does.

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

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

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

10 is a plan view showing an image taken by a CCD camera of the measuring instrument 1 shown in FIG. 1, showing a modified example of the target used in the present invention. FIG. 10 (a) shows that the target is directly opposed to the CCD camera. The image when the user is present, (b) shows the image in the horizontal direction, and (c) shows the image when tilted.

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

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

FIG. 13 is a flowchart showing a procedure of automatic target search in the first embodiment of the present invention.

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

15 is a plan view showing the three-dimensional relationship between the center C and the measurement Q of the target image taken by the CCD camera of the measuring instrument 1 shown in FIG. 1 in the second embodiment of the present invention, FIG. C
A target image on a plane 25 perpendicular to the optical axis of the CD camera is shown, and (b) is a plane showing the relationship between the reference plane X-Z, the plane 25, and the plane 26 forming a predetermined angle with the plane 25. Figure, (c) is a plan view showing the target image on the surface 26, (d) is (c)
FIG. 9 is a plan view showing a cross section of the target surface 7 taken along the projection line TE28 shown in FIG.

[Explanation of symbols]

1: Measuring device 2: Image processing device 3: Computer with monitor 4: Portable computer 5: Controller 6: Target 7: Target plane (collimation plane) 8: Base line 9a, 9b, 9c: Reference point 9a : Origin 10: Measurement object 11: Projection drawing of design value of measurement object 12: Measuring machine A 13: Measuring machine B 14: Common measuring point 15: Measuring point which cannot be measured by measuring machine B 16: Measuring by measuring machine A Impossible measuring points 17: Target image with an angle of θ to the optical axis 18: Target surface normal vector 19: Target side surface 20: Target image 21: Target side surface image 22: CCD camera field of view (monitor screen) 23 : Target image colored on collimation surface 24: Target of measurement 25: Plane A 26: Plane B 27: Radial line CD 28: Projection line TE

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical display location G06T 7/00 // G06F 17/00

Claims (2)

[Claims] 1. A system for measuring the three-dimensional coordinate values of each measuring point by collimating the targets provided at a large number of measuring points on an object to be measured, the target being captured by a CCD camera capable of driving a motor. Measuring instrument main body equipped with functions to measure and measure the position of the collimation point, image processing device that analyzes the image of the target captured by the CCD camera of the measuring instrument main body, measurement condition setting,
Using a three-dimensional measurement system consisting of a computer with a monitor that operates a program that performs coordinate conversion and analysis, input the design dimension values or three-dimensional design coordinate values of the measurement target into the computer, and then use the measurement screen on the monitor screen. After determining the installable range of the equipment, install a measuring machine within that area, set the reference coordinate system based on the coordinate values obtained by actually measuring the reference measurement points, and set the three-dimensional design of each measurement point. Performs coordinate conversion of the coordinate values, converts the design coordinate values to polar coordinate values for automatic measurement, drives the CCD camera of the measuring machine with the converted polar coordinate values, and automatically targets attached to each measurement point. Tracking, distance measurement and angle measurement are performed with the optical axis of the CCD camera inside the target to be measured, and the target image is analyzed by the image processing device, and the amount of deviation between the collimation point and the centroid of the target image is measured. ， Target The inclination of the image plane and its direction, the main axis of the target image and the reference inclination described on the target plane are obtained,
A three-dimensional coordinate automatic measurement and analysis method, characterized in that the three-dimensional coordinate value from the collimation point to the target center point and the three-dimensional coordinate value of the measuring point on the measuring object are obtained from these values. 2. Using a CCD camera with a zoom function,
By enlarging the field of view, the target is captured within the field of view, the target image is image-processed, and the measurement target is identified from the color or pattern of the collimation plane of the target, and the measurement target is identified as the optical axis of the CCD camera. A secondary displacement amount of the target image from the centroid is obtained by image analysis, and the main body of the measuring machine is driven to move the optical axis of the CCD camera so as to enter the target to be measured in the visual field. The three-dimensional coordinate automatic measurement and analysis method according to claim 1.