JP2002228414A - Method and apparatus for measuring three-dimensional position - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method and an apparatus wherein, when the working drawing of a measuring site is created, a measurement in a high place and an operation for installing a measuring point are not required, labor for creating the working drawing is reduced and the operation can be rationalized. SOLUTION: A measuring device 10 is installed on the center line 20 of a pipe corridor (Step 10). A line laser is radiated from a laser oscillator 11. An optical plane which is crossed perpendicularly with the center line 20 of the pipe corridor is created. In succession, a staff 40 is installed in such a way that a reference point 50 is situated on the optical plane (Step 12). Then, the reference point 50 and a line image on the surface of the pipe corridor are photographed by a digital camera 60 (Step 14). After photographed image data has been acquired, a laser range finder 14 is moved in the direction of the center line 20 of the pipe corridor (Step 22), and the movement amount of the measuring device 10 is calculated (Step 24). On the basis of the photographed image data, the position in the measuring point of the pipe corridor is calculated by a photographic measuring method (Step 20).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for measuring a three-dimensional position, and more particularly to a method and an apparatus for measuring a three-dimensional position used for creating a construction drawing from a digital image.

[0002]

2. Description of the Related Art Conventionally, a large existing structure such as a corridor is used.
The following method is used as a method of measuring a dimensional position.

[0003] The corridor is located on the side of the tank of the sewage treatment plant,
It has a rectangular parallelepiped shape with a length in the longitudinal direction of about 50 m.
In the method of measuring the three-dimensional position of the pipe corridor, the height of a pipe or a duct from the floor surface, the length of access from a wall surface, and the like are measured and recorded by hand measurement using a convex.
After that, he took it back to the office together with notes on site, and created a construction drawing with reference to the measurement results.

[0004]

However, in the conventional hand measurement using a convex, there is a problem that the entire pipe section cannot be measured in one coordinate system only by measuring the height of the pipe from the floor. . In addition, hand measurement using a convex is labor intensive and involves danger because measurement is performed at a high place.

As a solution to this problem, a method using a three-dimensional measuring machine for measurement (total station) is conceivable. However, this method requires a target to be mounted at a high place to set a measuring point, and involves a danger.

The present invention has been made in view of such circumstances, and when creating a construction drawing at a measurement site, the work of measuring at a high place and installing measurement points is not required, and the labor for creating the construction drawing is eliminated. It is an object of the present invention to provide a three-dimensional position measurement method and apparatus capable of reducing the number of operations and streamlining work.

[0007]

In order to achieve the above object, the present invention provides (a) irradiating a light which forms a predetermined measurement surface on an existing object, and (b) applying the light to the surface of the existing object. (C) calculating the plane coordinates on the measurement surface of the line image obtained by the imaging device by a photographic measurement method, and (d) calculating the predetermined measurement surface. The light to be formed is moved in a direction orthogonal to the measurement surface, the movement position is measured, and the processing of (a) to (d) is repeated to measure the three-dimensional position of the existing object. And

According to the present invention, an existing object is irradiated with light forming a predetermined measurement surface, and an image is formed on the measurement surface to form a line on the surface of the existing object by the light forming the predetermined measurement surface. Is captured as a line image. And
The illuminating means is moved with respect to the measurement surface, and the line image is fetched every time the illuminating means moves at a predetermined interval, and the planar coordinates of each line image on the measurement surface are determined based on the obtained line image by a photometric method. It is calculated by: Further, the moving position of the lighting means when the line image is captured is detected, and coordinate information in the depth direction is added to each line image based on the moving position to calculate three-dimensional coordinates of the surface of the existing object. I do. Thereby, the work of measuring the data of the entire corridor can be facilitated and rationalized.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a three-dimensional position measuring apparatus according to the present invention will be described below in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram showing an embodiment of a three-dimensional position measuring apparatus according to the present invention. As shown in FIG. 1, a three-dimensional position measuring device according to the present invention mainly includes a measuring device 1.
0, a staff 40, and a digital camera 60.

As shown in FIG. 2, a measuring device 10 comprises a laser oscillator 11, a data reader 1 for a digital camera.
2. A control PC 13 and a laser type distance meter 14 are installed on a transport table 15.

In this embodiment, the object to be measured is the entire inside of a horizontally long structure such as a pipe in a sewage treatment plant. However, the present invention is not limited to this.

At the time of measurement of the above-mentioned corridor, an ink mark line (corridor center line) 20 is drawn in the longitudinal direction of the corridor floor, and a target (reference measurement point) 70 is set on the corridor center line 20.
The measuring device 10 is installed on the gallery centerline 20 and is moved along the gallery centerline 20.

The laser oscillator 11 irradiates a line laser, and the direction of the center line 20 (Y
A light plane (XZ plane) that intersects perpendicularly with the direction is created. The light surface of the line laser is applied to the surface of the gallery, and draws a line-shaped bright line on the surface of the gallery.

On the staff 40, there are arranged reference points 50 whose positional relationship is clearly set. The reference point 50 on the staff 40 is set on the optical surface formed by the line laser, and serves as a reference for the length when the plane coordinates of the tube on the measurement surface are photographed.

The laser type distance meter 14 is incorporated in the measuring device 10 so as to oscillate a laser beam in the direction of movement of the measuring device 10, that is, perpendicular to the light plane created by the line laser, and has a distance from the reference measuring point 70. Is measured, and the movement amount of the measuring device 10 is calculated.

The line laser forms a light surface, and the light surface is reflected on the surface of the tube. In the digital camera 60, the linearly reflected light is received by a pixel corresponding to the reflection position.

The photographed image data obtained by the digital camera 60 is read by the data reader 12 and transferred to the control PC 13. Control PC 13
Calculates the two-dimensional coordinates of the gallery on the measurement surface based on the transferred image data and the position data of the respective reference points 50 on the imaging surface when the staff 40 is photographed, by a photographic measurement method.

As shown in FIG. 3, in the three-dimensional position measuring apparatus according to the present invention, each section (X, Z coordinates) of the corridor is measured by the photometric method, and the distance between the sections is measured by the laser range finder 14. (Y coordinate) is measured, and the measurement results are integrated to calculate three-dimensional coordinates (X, Y, Z coordinates) of the duct.

FIG. 4 is a flowchart showing the procedure of measurement by the three-dimensional position measuring apparatus according to the present invention.

When measuring the gallery, first, the gallery centerline 20 is drawn in the longitudinal direction of the gallery floor, and the reference measurement point 70 and the measuring device 10 are set on the gallery centerline 20 (step 1).
0).

Subsequently, a line laser is irradiated from the laser oscillator 11 to create a light plane (XZ plane) perpendicular to the direction of the tube centerline 20 (Y direction).

Next, the staff 40 is set so that the reference point 50 on the staff 40 is positioned on the optical surface of the line laser (step 12).

On the optical surface formed by the line laser, the staff 4
The digital camera 60 captures a line image appearing on the reference point 50 located at 0 and the surface of the gallery (step 1).
4).

The photographed image data in each section of the tube section obtained by the digital camera 60 is transferred to the control PC 13 by the data reader 12.

As shown in FIG. 5, the image data obtained by the digital camera 60 is
Is transferred to the control PC 13,
It is stored in association (step 16).

It is determined whether or not to end the measurement in the corridor (step 18). If not, the measuring device 10 is moved toward the center line 20 of the corridor, and the pipe is bent. Stop at the location (step 22). The amount of movement of the measuring device 10 is calculated by measuring the distance before and after the movement from the reference measurement point 70 with the laser distance meter 14 (step 24).

Until the measurement of the corridor is completed, acquisition of photographed image data by the digital camera 60 and the measurement device 10
(Steps 14, 16, 2)
2, 24).

When the measurement of the corridor is completed (step 18), the photograph measurement method is used based on the data indicating the length between the reference points 50 and the position on the image plane, the pixels of the digital camera 60, and the like. The position (X, Z coordinates) of the measurement point in the canal is calculated (step 20).

As for the reference point 50 and the measurement point of the corridor, a rough position such as the reference point 50 is indicated on the image as shown in FIG. Thereafter, a detailed position is automatically determined by image processing.

Subsequently, the photographic measurement method and the laser distance meter 14
The three-dimensional coordinates of the gallery are calculated by integrating the measurement results (Y coordinates) obtained by the measurement by the.

From the calculated three-dimensional coordinates, data of the entire pipe gallery is detected, and a construction drawing is created. For example, dimensions can be entered in a captured image, a measurement sheet can be created, and the like can be used in CAD drawing.

In the present invention, each section obtained by sectioning the gallery is calculated by a photographic measurement method, and the distance of each section is measured by the laser range finder 14. Then, the X and Z plane coordinates of the measurement point in each cross section of the tube wall surface are obtained by the photographic measurement method, and the Y-direction coordinates are obtained from the position of the measurement device 10 (movement amount from the reference measurement point 70). From the three-dimensional coordinates of each section of the gallery surface obtained in this way, the entire three-dimensional coordinates of the gallery surface can be calculated.

The performance of the present apparatus is as follows.
The resolution (actual length per pixel) when shooting a range of 5 m using the digital camera 60 of 3 million pixels is
It is about 2.5 mm per pixel. Therefore, assuming that the error of the measurement point has a deviation of about 5 pixels, about 12.5 m
m measurement accuracy. In addition, since the measurement error of the laser distance meter 14 is about ± 2 mm, the measurement accuracy of the movement amount of the laser distance meter 14 is within 5 mm. Furthermore, since the laser oscillator 11 has a line width of about 2 mm at a distance of 5 m, sufficient measurement accuracy cannot be obtained for photograph measurement at a distance of 5 m or more. In such a case, there is a method of attaching the image of the site, the measurement result of the laser rangefinder 14 and the like to the measurement result within 5 m together.

FIG. 7 shows another embodiment of the present invention.
In this example, the laser type distance meter 14 is rotated by a motor, instead of using a photographing means such as a digital camera 60, and the distance between the laser type distance meter 14 and the gallery at each angle is determined. The tube section is measured using the rotation amount of No. 14. This makes it possible to automate the measurement operation.

[0036]

As described above, according to the three-dimensional position measuring method and apparatus according to the present invention, the existing object is irradiated with the light forming the measurement surface and the linear image is taken. The plane coordinates on each light-section plane are calculated by a photographic measurement method, and the light forming the measurement plane is moved in a direction orthogonal to the measurement plane, and the amount of movement is measured. Three-dimensional coordinates can be calculated. This eliminates the need for measurement work at high altitudes,
Risk of measurement work can be avoided, work can be facilitated and rationalized.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing an embodiment of a three-dimensional position measuring device according to the present invention.

FIG. 2 is a diagram showing a detailed configuration of a measuring device.

FIG. 3 is a diagram of a measuring method using the three-dimensional position measuring device according to the present invention.

FIG. 4 is a flowchart showing a processing procedure of measurement by the three-dimensional position measuring device according to the present invention.

FIG. 5 is a conceptual diagram of a method of managing photographed image data and a moving amount.

FIG. 6 is a diagram illustrating a method of determining a position of a reference point or the like by image processing.

FIG. 7 is a diagram showing another embodiment of the present invention.

[Explanation of symbols]

10 measuring device, 11 laser oscillator, 12 data reader, 13 control PC, 14 laser rangefinder,
15 ... Transportation stand, 20 ... Ink line (center line of the gallery), 40
... Staff, 50 ... Reference point (mark), 60 ... Digital camera, 70 ... Target (reference measurement point)

Claims (2)

[Claims] (A) irradiating an existing object with light that forms a predetermined measurement surface; (b) taking an image of a line image drawn on the surface of the existing object by the light; (c) Calculating plane coordinates of the line image obtained by the imaging means on the measurement surface by a photographic measurement method; and (d) moving light forming the predetermined measurement surface in a direction orthogonal to the measurement surface. , The movement position is measured, and the above-mentioned processes (a) to (d) are repeated so that 3
A three-dimensional position measurement method characterized by measuring a three-dimensional position. 2. Illumination means for irradiating an existing object with light forming a predetermined measuring surface; moving means for moving the illuminating means; position detecting means for detecting a moving position of the illuminating means; Imaging means for capturing, as a line image, light that appears in a line on the surface of the existing object by light forming the light source, and each time the illuminating means moves by the moving means, based on each line image obtained by the imaging means, The plane coordinates of each line image on the measurement surface are calculated by a photographic measurement method, and based on the plane coordinates calculated for each movement position of the illumination unit and each line image detected by the position detection unit, the existing object is calculated based on the plane coordinates. And a three-dimensional data calculating means for calculating three-dimensional data of the surface.