JPH1163988A - Structure measuring system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the burdens of workers by finding the measured point detected by means of a measuring instrument which measures structures from the positional data and stored design data of a measuring robot while a measuring robot holding the measuring instrument is run on a rail. SOLUTION: A measuring robot 5 having a three-dimensional visual sensor 9 attached to the front end of an orthogonal arm 8 is run on a rail 7 laid on the ground. The design data of a member 1 is stored in advance in a member measuring terminal 6 and the terminal 6 is connected to the robot 5 through a communication cable 6a. The rail 7 is laid along the member 1 and a linear scale is provided to detect the moving amount of the robot 5. A measuring point in a structure is calculated based on positional data from the robot 5 and the stored design data about the shape of the structure. When a structure measuring system is constituted in such a way, the measuring point can be searched automatically through picture processing and such difficult work as the collimation, etc., of a range finder can be avoided without sticking target marks to all measuring point.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure measuring system, and more particularly, to a structure measuring system for measuring a shape of a large structure such as a bridge girder.

[0002]

2. Description of the Related Art Conventionally, as a method of measuring the shape and size of a large structure such as a bridge girder as a member to be measured, target marks or reflective seals are provided at all measurement points of the member to be measured. A measurement method is known in which an operator uses an angle measuring device such as a transit or a lightwave distance measuring device that is attached to the target mark and fixed at a predetermined position to visually measure the target mark or the like.

As another measuring method, as shown in FIG. 11, a gate-shaped structure that can run along a guide rail 101 laid in parallel with the measurement target member 100 so as to straddle the measurement target member 100. An object 102 is installed, a measurement hand 103 is attached to the portal structure 102, and the measurement target member 100 is measured by a measuring element 104 at the tip of the measurement hand 103 while the portal structure 102 travels along the guide rail 101. There are also known ways to do this.

Further, as disclosed in Japanese Patent Application Laid-Open No. Sho 60-196615, an imaging device (angle measuring machine) is run along a guide rail along a measurement target member, and the measurement target member is measured by a triangulation method. There is also a method of measuring.

Further, as disclosed in Japanese Patent Application Laid-Open No. 9-89560, a measuring robot that runs in an arbitrary direction, the position of a measuring element provided in the measuring robot, and the position of a member to be measured are set. There is a method of calculating a measurement point by a tracing stylus based on design data on the shape of the measurement target member and position data measured by the range finder.

[0006]

However, in the above-described method of attaching a target mark or the like, since it is necessary to attach the target mark or the like to all measurement locations of the measurement target member, this attaching work is troublesome. In addition, since the attached target mark and the like need to be visually measured by an operator, there is a problem that this measuring operation is a troublesome operation and requires a lot of time. In addition, there is also a problem that, when attaching the target mark, an attachment error occurs and accuracy is deteriorated.

Further, in the method disclosed in FIG.
The measuring hand 103 is located at the top 102 a of the portal structure 102.
Is moved, there is a problem that the measurement accuracy deteriorates due to the bending of the top 102a. In addition, since the measurement hand 103 is configured to move on the gate-shaped structure 102 and the gate-shaped structure 102 travels along the guide rail 101 to perform measurement, it takes a long time to measure, and the measurement efficiency is poor. There is also a problem. Furthermore, since measurement is not possible unless the measurement target member 100 fits within the portal structure 102, there is a problem that the height of the measurement target 100 is limited.

In the method disclosed in Japanese Patent Application Laid-Open No. 60-196615, since measurement is performed by using two imaging devices, there is a problem that high accuracy is difficult due to the resolution of the imaging devices.

On the other hand, Japanese Patent Application Laid-Open No. 9-89456 discloses
According to the method disclosed in Japanese Patent Publication No. 0, it is possible to solve the above-mentioned problems of the related arts, and to obtain a measurement system capable of realizing the reduction of the burden on the worker and the automatic measurement of the measurement points. Although it is possible, according to this method, the measurement points are measured based on the positional relationship between the measurement target member and the tracing stylus obtained by the range finder, so there is a slight difficulty in measurement accuracy. In addition, labor for handling the range finder is required.

SUMMARY OF THE INVENTION The present invention aims to solve the above-mentioned problems and minimize the work of attaching target marks and the like, thereby reducing the burden on the operator and enabling more accurate measurement. An object of the present invention is to provide a structure measurement system.

[0011]

A structure measuring system according to the present invention has an arm for holding a measuring element for measuring a structure as a member to be measured, in order to achieve the above object. A measurement robot capable of traveling on a robot traveling track laid on the ground along the structure and design data relating to the shape of the structure are stored in advance, and the design data and the position data of the measurement robot are stored. And a measurement point calculation unit that calculates a measurement point in the structure by the measurement element based on the measurement point.

According to the present invention, a measuring robot having a track laid on the ground along a structure as a member to be measured and an arm capable of traveling on the track and holding a measuring element for measuring the structure. Is provided. further,
A measurement point calculation unit is provided for calculating a measurement point in the structure detected by the measurement element based on position data obtained from the measurement robot and design data on the shape of the structure stored in advance. ing.

When a structure as a measurement object is measured by the structure measuring system configured as described above, the installation position of the structure is measured by measuring a reference point of the structure by a measuring robot. At the same time, the position of the measuring element at the tip of the arm is measured by acquiring the current position of the measuring robot. Then, based on the position data of the arm and the structure obtained in this way and the design data relating to the shape of the structure stored in advance, the position and direction of the measurement point in the structure in the coordinate system of the measurement robot are calculated. Is done. Thus, when the calculation of the predetermined measurement range within the movement range of the arm is completed, measurement using the tracing stylus is performed.

According to the structure measuring system of the present invention, since the arm holding the measuring element is supported by the measuring robot to perform the measurement, it is necessary to affix a target mark or the like to all the measuring points. In addition, it is possible to avoid a burden on an operator for attaching the target mark and the like. In addition, it is possible to avoid deterioration of measurement accuracy due to attachment of a target mark or the like, and it is possible to perform measurement with high accuracy. Furthermore, the position and direction of the measurement point can be automatically calculated and determined by the measurement point calculation unit using the design data relating to the shape of the structure stored in advance, so that the interference part of the structure can be avoided. These measurement points can be automatically measured to save labor.

In the present invention, the measuring element is a non-contact type three-dimensional visual sensor that captures a three-dimensional image of a measurement target member and measures the position and direction of a measurement point on the measurement target member by image processing. Preferably it is. By using such a three-dimensional visual sensor, it is possible to measure the three-dimensional coordinates of the measurement point including the depth direction, and to achieve high accuracy without having to direct the measuring element in the direction orthogonal to the measurement target member accurately. Measurement can be realized. Further, since this measuring element is of a non-contact type, there is an advantage that the measuring element has a long life without fear of wear.

It is preferable that the robot traveling trajectory is laid on both sides of the member to be measured, and that one or a plurality of measurement robots can travel on each trajectory. In this way, the robot traveling trajectory is laid on both sides of the measurement target member, and the measurement robot is mounted on each trajectory, so that the measurement of the front side and the back side of the structure can be performed simultaneously, and the measurement time is reduced. The measurement efficiency can be improved by shortening. Further, if a plurality of measurement robots are mounted on the same track and the measurement work is executed while avoiding the elimination of the measurement robots, the measurement efficiency can be further improved.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, a specific embodiment of a structure measuring system according to the present invention will be described with reference to the drawings.

FIG. 1 is a schematic configuration diagram of a structure measuring system according to a first embodiment of the present invention. In the first embodiment, a large number of bolt holes 2, convex corner points (edges) 3 and concave corners are formed in a measurement target member (hereinafter, referred to as a member) 1 made of H-shaped steel for a bridge girder. Corner point (edge) 4
The system is applied to a system for measuring the position of.
In this structure measuring system, a measuring robot 5 and a member measuring terminal 6 are provided so that the measuring robot 5 can run on a running rail (robot running track) 7 laid on the ground.

The measuring robot 5 has an orthogonal arm 8 having six degrees of freedom, and a three-dimensional visual sensor 9 as a measuring element attached to the tip of the arm 8. Here, the three-dimensional visual sensor 9 emits laser slit light or coded pattern light to the member 1 and performs image processing to determine the center position of the bolt hole 2, the convex corner point 3, and the concave corner point 4. It is a non-contact type sensor that measures the position and the like.

On the outer peripheral portion of the three-dimensional visual sensor 9 and the outer peripheral portion of the arm 8, a contact-type interference detection sensor 10 for preventing the three-dimensional visual sensor 9 from contacting the member 1 and a non-contact type interference detector Each of the detection sensors 11 is provided. This non-contact type interference detection sensor 11
Of the detection range is around 100 around the three-dimensional visual sensor 9.
mm. At the tip of the arm 8, a member initial position detecting sensor 12a for detecting a position in the front-rear direction with respect to the member 1 and a member initial position detecting sensor 12b for detecting a position in the vertical and horizontal directions are provided at the base of the arm. I have. Note that a vibration sensor (not shown) for detecting the vibration of the three-dimensional visual sensor 9 is provided in the arm 8.

The member measuring terminal 6 stores design data (CAD / CAM drawing information; hereinafter, referred to as CAD data) of the member 1 in advance.
And a communication cable 6a. The communication cable 6 a is adapted to withstand the movement of the measuring robot 5. Further, the traveling rail 7 is arranged along the member 1. The traveling rail 7 is provided with a linear scale (not shown), and can detect a moving amount of the measuring robot 5.

Next, a processing procedure in the structure measuring system according to the first embodiment will be sequentially described with reference to a flowchart shown in FIG.

S1: First, as preparation processing, a measuring robot 5, a three-dimensional visual sensor 9, a contact type interference detection sensor 10, a non-contact type interference detection sensor 11, sensors 12a and 12b for initial member position detection, and a vibration sensor Then, the power of the member measuring terminal 6 and the peripheral devices is turned on.

S2 to S3: A member measuring program in the member measuring terminal 6 is started. Next, the ID of the measurement target member is input to the member measurement terminal 6. Measurement control data is created based on this member ID, and the measurement control data and the CA of the member 1 stored in advance are stored.
The D data is stored in the member measuring terminal 6. Here, the measurement control data indicates the position (x, y, z coordinates), direction, and type (hole or edge) of the measurement point with respect to the member ID.
And so on.

S4: As shown in the overall view of the member 1 in FIG. 3, several reference points (four in the first embodiment) are selected from the measurement control data, and the reference points on the member 1 are selected. The target mark 13 is attached at the position. Next, in order to determine the position of the member 1 on the robot coordinate system, each of the target marks 13 is manually measured by the measuring robot 5 and the measurement result is transmitted to the member measuring terminal 6. The member measuring terminal 6 calculates a conversion parameter between the CAD data coordinate system and the robot coordinate system based on the reference point measurement end command.

S5: Next, automatic measurement of the measurement points is performed. The automatic measurement of the measurement points is performed according to the following procedure according to the flowchart shown in FIG. S501: The measurement is started by pressing the measurement start button. Next, data G relating to the next measurement position is acquired from the measurement control data, and the relative movement amount H from the origin of the measurement robot 5 is calculated from the data G by the equation H = G-α. α is determined so that the tracing stylus comes before the object to be measured. The arm 8 of the measurement robot 5 is moved by this movement amount H.

S504 to S506: The vibration state of the three-dimensional visual sensor 9 is checked by the vibration sensor, and when the vibration is detected, the process stands by until the vibration stops. When the vibration is not detected, the distance image of the measurement point is acquired by the three-dimensional visual sensor 9. Next, image processing is performed on this distance image to acquire the position e of the measurement point. In the case of the bolt hole 2, the position of the measurement point is data indicating the center position of the bolt hole 2.

S507-S508: The position e of the measurement point is converted from the coordinate system of the three-dimensional visual sensor into the value e 'of the robot coordinate system by using a parameter previously obtained by calibration. As a result, the measured value H ′ is changed to H ′
= H + e '.

S509: If the measurement has not been completed, the processing of step S501 and subsequent steps are repeated, and if the measurement has been completed, the flow is terminated.

S6 to S8: After the measurement is completed, the measured values are checked, and if re-measurement is necessary, the measurement points are edited, and the processing from step S5 is repeated.

S9 to S10: When the measurement at all the measurement points is completed, the measurement result is output and the power is turned off.

According to the first embodiment, a measurement point can be automatically searched for by image processing, so that it is not necessary to attach a target mark or the like to all measurement points, and it is necessary to collimate the measurement point with a distance measuring instrument. It can also avoid troublesome work. Also, the CA stored in advance at the measurement point
Since the position and direction of the measurement point can be automatically determined by utilizing the D data, labor saving can be achieved. In addition, since the non-contact type three-dimensional visual sensor 9 is used to measure the measurement points, there is no trouble such as wear of the measuring element, and there is an advantage that the life is long. Furthermore, since the measurement is performed while always monitoring the three-dimensional shape in front of the three-dimensional visual sensor 9 and avoiding interference, the reliability can be improved. In addition, it is possible to reduce an error caused by attaching a target mark or the like, and to improve measurement accuracy.

In the first embodiment, the measuring robot 5 is of the rectangular coordinate type. However, the measuring robot may be of the articulated type.

In the first embodiment, the target mark 13 is attached to the surface of the member 1 as a reference point of the member 1, but a bolt hole (reference hole) serving as a reference in the member 1 is defined in advance. Then, the reference point can be measured by manually (manually) measuring these reference holes. Further, automatic positioning using a proximity sensor may be performed.

FIG. 5 is a schematic plan view of a structure measuring system 21 according to the second embodiment. in this way,
In the second embodiment, one traveling rail 22a, 22b is laid on the ground on both sides in the longitudinal direction of the member 1, and a total of two measuring robots 23a, 22a, one on each of the traveling rails 22a, 22b. 23b is installed so that it can run. The measuring robots 23a and 23b are arranged at diagonal positions of the member 1, respectively. The measuring robot 23
Since the configurations of a and 23b and other configurations are the same as those of the first embodiment, detailed description thereof will be omitted.

Next, with respect to the structure measuring system of the second embodiment, a procedure for determining the position where the member 1 and the measuring robots 23a and 23b are arranged as shown in FIG. 5, that is, shown in FIG. The procedure for determining the coordinates of the points A ₁ , A ₂ , B ₁ , and B ₂ will be sequentially described with reference to the flowcharts shown in FIGS. 7, 8, and 9. At this time, X
The coordinate is the longitudinal direction of the member 1, the Y coordinate is the depth direction of the member 1,
The Z coordinate is the height direction of the member 1.

T1: As shown in FIG. 5, the member 1 is disposed between the two traveling rails 22a and 22b.

T2 to T3: Input of the starting position of the measuring robot 23a; roughly check the X coordinate of the end of the member 1 visually, and input this value to the member measuring terminal 6. Then, fixing the Z-coordinate of the arm 8 to Z _1. At this time, arm 8
Is retracted with respect to the member 1.

T4 to T5: The measuring robot 23a is moved in the longitudinal direction (-X coordinate) until the sensor 12b for initial position detection provided at the base of the arm 8 is turned on, that is, until the member 1 is detected. Direction).

T6-T7: When the initial position detecting sensor 12b is turned on, that is, when the X coordinate of the end of the member 1 is detected, the coordinates (X ₁ , Y ₁ , Z ₁ ) of the arm 8 are obtained. Then, the measurement robot 23a is stopped.

T8 to T9: The measuring robot 23a is moved to the start position. Next, the Z coordinate of the arm 8 is changed to Z ₂
(Z ₂ <Z ₁ ). At this time, the arm 8 is retracted with respect to the member 1.

T10 to T11: The measuring robot 23a is moved in the longitudinal direction of the member 1 until the initial position detecting sensor 12b provided at the base of the arm 8 is turned on again, that is, until the member 1 is detected. Direction).

T12 to T13: coordinates (X ₂ , Y ₁ , Z ₂ ) of the arm 8 when the initial position detection sensor 12b is turned on, that is, when the X coordinate of the end of the member 1 is detected.
And the measurement robot 23a is stopped.

T14 to T16: The arm 8 is in the initial position.
Only ε from the position where the detection sensor 12b turns on
The direction away from the shifting member 1, that is, the coordinates (X₁+
ε, Y ₁, Z₁) (Ε is an arbitrary value). Next
Then, the arm 8 retracted with respect to the member 1 is
The initial position detection sensor 12a provided at the end is off.
Arm, until the member 1 is detected.
8 is extended in the direction of the member 1 (the negative direction of the Y coordinate).

T17: The initial position detecting sensor 12
When a is turned on, that is, when the surface of the member 1 is detected, the coordinates (X ₁ + ε, Y ₁₁ , Z ₁ ) of the arm 8 are acquired.

T18 to T21: The arm 8 is in the initial position
Only ε from the position where the detection sensor 12b turns on
The direction away from the shifting member 1, that is, the coordinates (X_Two+
ε, Y ₁, Z_Two) (Ε is an arbitrary value). Next
Then, the arm 8 retracted with respect to the member 1 is
The initial position detection sensor 12a provided at the end is off.
Arm, until the member 1 is detected.
8 is extended in the direction of the member 1 (the negative direction of the Y coordinate). like this
Then, the initial position detection sensor 12b was turned on.
Time, that is, the seat of the arm 8 when the surface of the member 1 is detected.
Mark (X_Two+ Ε, Y₁₂, Z_Two) To get.

T22 to T24: a position lower than the member 1 and the position where the measuring robot 23a faces the member 1, that is, coordinates (X ₂ −β, Y ₁ , Z ₂ −γ) (β and γ are arbitrary values) Is moved to the arm 8. Next, the arm 8
For the initial position detection provided at the base
Until 2b turns on, that is, until the member 1 is detected.
Move in the + direction of the axis.

T25: The initial position detecting sensor 12
When b is turned on, that is, when the lower end of the member 1 is detected, the coordinates (X ₂ −β, Y ₁ , Z ₂₂ ) of the arm 8 are acquired.

T26 to T29: A position higher than the member 1 and the position where the measuring robot 23a faces the member 1, that is, coordinates (X ₁ −β, Y ₁ , Z ₁ + γ) (β and γ are arbitrary values) The arm 8 is moved. Next, the arm 8
Is moved in the negative direction of the Z-axis until the initial position detection sensor 12b at the base thereof is turned on, that is, until the member 1 is detected. Thus, the initial position detection sensor 12
When b is turned on, that is, when the upper end of the member 1 is detected, the coordinates (X ₁ −β, Y ₁ , Z ₁₁ ) of the arm 8 are acquired.

T30: Based on the coordinate values obtained above, FIG.
Coordinate A of two points shown₁(X₁, Y ₁₁, Z₁₁), A
_Two(X_Two, Y₁₂, Z_{twenty two}) Is required.

T31 to T32: Input of the start position of the measuring robot 23b; The X coordinate of the end of the member 1 is roughly confirmed visually, and this value is input to the member measuring terminal 6. Then
The Z coordinates of the arm 8 is fixed to the Z _1. At this time, the Y coordinate of the arm 8 is set to be retracted with respect to the member 1.

T33 to T34: The longitudinal direction of the member 1 (+ direction of the X coordinate) until the measurement robot 23b is turned on by the initial position detecting sensor 12b provided at the base of the arm 8, that is, until the member 1 is detected. ).

T35 to T36: coordinates (X ₃ , Y ₃ , Z ₁ ) of the arm 8 when the initial position detection sensor 12b is turned on, that is, when the X coordinate of the end of the member 1 is detected.
And stops the measuring robot 23b.

T37 to T38: The measuring robot 23b is moved to the start position. Next, the Z coordinate of the arm 8 is fixed at Z ₂ (Z ₂ <Z ₁ ). Arm 8 at this time
Is retracted with respect to the member 1.

T39-T40: The measuring robot 23b is moved in the longitudinal direction of the member 1 (+ X of the X coordinate) until the initial position detecting sensor 12b provided at the base of the arm 8 is turned on again, that is, until the member 1 is detected. Direction).

T41 to T42: coordinates (X ₄ , Y ₃ , Z ₂ ) of the arm 8 when the initial position detection sensor 12b is turned on, that is, when the X coordinate of the end of the member 1 is detected.
Is obtained, and the measuring robot 23b is stopped.

T43 to T45: The arm 8 is in the initial position
Only ε from the position where the detection sensor 12b turns on
The direction away from the shifting member 1, that is, the coordinates (X_Three−
ε, Y _Three, Z₁) (Ε is an arbitrary value). Next
Then, the arm 8 retracted with respect to the member 1 is
The initial position detection sensor 12a provided at the end is off.
Until the member 1 is detected.
The arm 8 is extended in the direction of the member 1 (+ direction of the Y coordinate).

T46: The initial position detecting sensor 12
When a is turned on, that is, when the back surface of the member 1 is detected, the coordinates (X ₃ −ε, Y ₃₃ , Z ₁ ) of the arm 8 are acquired.

T47 to T50: Arm 8 at initial position
Only ε from the position where the detection sensor 12b turns on
The direction away from the shifting member 1, that is, the coordinates (X_Four−
ε, Y _Three, Z_Two) (Ε is an arbitrary value). Next
Then, the arm 8 retracted with respect to the member 1 is
The initial position detection sensor 12a provided at the end is off.
Arm, until the member 1 is detected.
8 is extended in the direction of the member 1 (+ direction of the Y coordinate). like this
When the initial position sensor 12a is turned on,
The coordinates of the arm 8 when the back surface of the toe member 1 is detected (X
_Four−ε, Y₃₄, Z_Two) To get.

T51 to T53: lower than the member 1 and at a position where the measuring robot 23a faces the member 1, that is, coordinates (X ₄ + β, Y ₃ , Z ₂ -γ) (β and γ are arbitrary values) The arm 8 is moved. Next, the arm 8
For the initial position detection provided at the base
Until 2b turns on, that is, until the member 1 is detected.
Move in the + direction of the axis.

T54: The initial position detecting sensor 12
When b is turned on, that is, when the lower end of the member 1 is detected, the coordinates (X ₄ + β, Y ₄ , Z ₄₄ ) of the arm 8 are acquired.

T55 to T58: Move to a position higher than the member 1 and at which the measuring robot 23a faces the member 1, that is, coordinates (X ₃ + β, Y ₃ , Z ₁ + γ) (β and γ are arbitrary values). I do. Next, the arm 8 is moved in the negative direction of the Z axis until the initial position detection sensor 12b at the base thereof is turned on, that is, until the member 1 is detected. Thus, the coordinates (X ₃ + β, Y ₃ , Z ₃₃ ) of the arm 8 when the initial position detection sensor 12b is turned on, that is, when the upper end of the member 1 is detected, are obtained.

T59 to T60: Two points B ₁ (X ₃ , Y ₃₃ , Z ₃₃ ) and B ₂ shown in FIG. 6 are obtained from the coordinate values obtained above.
The coordinates of (X ₄ , Y ₃₄ , Z ₄₄ ) are obtained. Thus, the end points A ₁ , A ₂ , B ₁ , and B ₂ of the member 1 are obtained, and the arrangement position of the member 1 is determined.

After the arrangement position of the member 1 with respect to the traveling rails 22a and 22b is determined in this way, the measurement robot 23a and 23b can simultaneously measure the member 1 in the same processing procedure as in the first embodiment. it can. However, the measurement robot 23a on the traveling rail 22a and the measurement robot 23b on the traveling rail 22b do not simultaneously measure the same place, in other words, the measurement robot 23a and the measurement robot 23b do not interfere with each other. While the measurement operation is controlled by the processing procedure shown,
Automatic measurement of measurement points is performed.

R1 to R2: The measuring robot 23a moves in the longitudinal direction of the member 1 (the negative direction of the X coordinate) from the origin position.

R3 to R4: The state of the measuring robot 23b is checked. If the measuring robot 23b is not measuring, the measurement is started. When the measurement robot 23b is measuring, the X coordinate (B) of the measurement robot 23b is acquired.

R5 to R6: The X coordinate (A) of the measuring robot 23a is compared with the X coordinate (B) of the measuring robot 23b, and B-δ <A <B + δ (δ is an arbitrary predetermined value) If this relationship does not hold, it means that the measurement robot 23a is at a position where it does not interfere with the measurement robot 23b, and thus measurement is started in the same procedure as the flowchart shown in FIG. 4 of the first embodiment. On the other hand, when the relationship is established, the measurement is started after the measurement robot 23a is stopped and the measurement robot 23b is moved, or after the measurement robot 23a is moved to the X coordinate position where the relationship is not established. At this time, after the measuring robot 23b moves and no longer interferes, the measuring robot 23a returns to a position where measurement was not possible (an interference position with the measuring robot 23b) and performs measurement. When the measurement robot 23a and the measurement robot 23b come to the interference area at the same time, the measurement with the larger number of measurement points is preferentially measured, and the measurement with the smaller number is stopped and waited or moved to the next measurement area and measured. When the number of measurement points is the same, the measurement robot 23a is
Takes precedence over b.

R7-R8: If the measurement is not completed,
The processing of step R2 and subsequent steps is repeatedly performed, and when the measurement is completed, the measurement robot 23a is set in the evacuation posture and the processing ends.

At the same time as the processing of steps R1 to R7 is being performed, the processing of steps R11 to R17 described below is being performed on the measuring robot 23b.

R11 to R12: The measurement robot 23b moves in the longitudinal direction (X-axis direction) of the member 1 from the origin position.

R13 to R14: The state of the measuring robot 23a is checked, and if the measuring robot 23a is not measuring, the measurement is started. When the measuring robot 23a is measuring, the X coordinate (A) of the measuring robot 23a is acquired.

R15 to R16: X of measuring robot 23b
By comparing the coordinate (B) with the X coordinate (A) of the measuring robot 23a, if the relationship of A−δ <B <A + δ (δ is a predetermined value) does not hold, the first embodiment is used. The measurement is started in the same procedure as the flowchart shown in FIG. On the other hand, when the above relationship is established, the measuring robot 2
The measurement is started after the measurement robot 23b is moved by stopping the 3a or after the measurement robot 23a is moved to the X coordinate position where the above relationship is not established. At this time,
After the measurement robot 23b moves and stops interfering with the measurement robot 23a, the measurement robot 23a returns to a position where measurement was not possible (an interference position with the measurement robot 23b) and performs measurement. When the measurement robot 23a and the measurement robot 23b come to the interference area at the same time, the measurement is performed by giving priority to the one with the larger number of measurement points, and the measurement is stopped and stopped by the one with the smaller number of measurement points, and the measurement moves to the next measurement area. If the number of measurement points is the same, the measurement robot 23a is given priority over the measurement robot 23b.

R17 to R18: If the measurement is not completed, the processing from step R12 is repeated, and if the measurement is completed, the measurement robot 23b is set to the retreating posture and the measurement operation is completed.

According to the second embodiment, in addition to the effects obtained by the first embodiment, the front side and the back side of the structure can be measured simultaneously using two measurement robots 23a and 23b. This has the effect of reducing the time required for measurement and improving the measurement efficiency.

According to the second embodiment, two measurement robots are used. However, the number is not limited to two and may be three or more. For example, when a total of four measurement robots are mounted on each of the traveling rails, each of the measurement robots on one of the traveling rails performs a measuring operation from the end toward the center, and the other traveling robot on the other traveling rail. It is preferable that the above measurement robots perform measurement while avoiding interference between the measurement robots, such as performing a measurement operation from the center to both ends. As described above, particularly, as the size of the structure increases, the number of the measurement robots is increased, so that the measurement efficiency can be improved.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a structure measuring system according to a first embodiment of the present invention.

FIG. 2 is a flowchart illustrating a processing procedure according to the first embodiment;

FIG. 3 is an overall view of a member of the first embodiment.

FIG. 4 is a flowchart illustrating a processing procedure of automatic measurement according to the first embodiment;

FIG. 5 is a schematic plan view of a structure measuring system according to a second embodiment.

FIG. 6 is a coordinate diagram of members of the second embodiment.

FIG. 7 is a flowchart illustrating a procedure for determining a member position with respect to a measurement robot position according to the second embodiment.

FIG. 8 is a flowchart illustrating a procedure for determining a member position with respect to a measurement robot position according to the second embodiment.

FIG. 9 is a flowchart illustrating a procedure for determining a member position with respect to a measurement robot position according to the second embodiment.

FIG. 10 is a flowchart illustrating a procedure for avoiding interference of the measurement robot according to the second embodiment.

FIG. 11 is a schematic configuration diagram of a conventional structure measurement system.

[Explanation of symbols]

 Reference Signs List 1 member 2 bolt hole 3 convex corner point (edge) 4 concave corner point (edge) 5, 23a, 23b measuring robot 6 member measuring terminal 7, 22a, 22b running rail 8 arm 9 three-dimensional visual sensor 10 contact Type interference object detection sensor 11 non-contact type interference object detection sensor 12a, 12b sensor for detecting the initial position of members 13 target mark

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Daiki Morimoto 3-1-1 Ueno, Hirakata-shi, Osaka Prefecture Inside Komatsu Manufacturing Co., Ltd. (72) Inventor Toshiaki Kondo 3-1-1 Ueno, Hirakata-shi, Osaka Komatsu Manufacturing Co., Ltd.

Claims (4)

[Claims] 1. A measuring robot having an arm for holding a measuring element for measuring a structure as a member to be measured and capable of traveling on a robot traveling track laid on the ground along the structure and the structure. A design point calculation unit that stores design data relating to the shape of the object in advance and calculates a measurement point in the structure by the measurement element based on the design data and the position data of the measurement robot. Structure measurement system. 2. The sensor according to claim 1, wherein the measurement element is a three-dimensional visual sensor that captures a three-dimensional image of the measurement target member and measures the position and direction of a measurement point on the measurement target member by image processing. The structure measurement system according to claim 1. 3. The robot running trajectory is laid on both sides of a measurement target member, and one or a plurality of measuring robots can run on each trajectory. Or the structure measurement system according to 2. 4. The measurement operation of each measurement robot is controlled so as not to measure the same place simultaneously with another measurement robot arranged on the other side with the measurement target member interposed therebetween. 3. The structure measuring system according to 3.