JP2010223711A - Apparatus for measuring meandering of long object - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus for measuring the meandering of a long object and capable of safely, easily, and accurately measuring the amount of meandering of a long laid object. <P>SOLUTION: The apparatus for measuring the meandering of a long object is a rail measuring device 1 for measuring the amount of meandering of a linearly laid traveling rail 100 and includes a laser measuring system 20 for irradiating a laser beam 25a approximately in a parallel direction with the diction BL of the axis of the traveling rail 100; a projection plate 44 for receiving the projection of the laser beam 25a irradiated from the laser measuring system 20; a control part 31 for performing image analysis on the position of projection of the laser beam 25a projected to the projection plate 44 and extracting it; and a traveling part 50 for making at least either the laser measuring system 20 or the projection plate 44 travel along the axial direction BL. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a measuring apparatus for measuring the amount of meandering of a long object laid, for example, like a traveling rail of an overhead crane.

For example, laid rails, such as traveling rails for overhead cranes, may move slightly, deform, be damaged, or be damaged by use. It has been. In addition, self-inspection is performed by users who want to use it safely.
However, during such an inspection, the rail cannot be used, and there has been a demand to complete the inspection in a short time.

  In addition, for example, in the case of an overhead crane, since the traveling rail itself is at a high place near the ceiling, in order to directly measure the traveling rail of the overhead crane, it is necessary to perform measurement while ensuring reliable safety.

  In such a situation, for example, there is a detection method in which a plurality of light emitting devices and light receiving devices that emit light beams are arranged on a rail in advance at a predetermined interval, and a deviation amount of the rail is detected based on a light reception result of the light receiving device. It has been proposed (see Patent Document 1).

Japanese Patent Laid-Open No. 7-69212

However, in the case of the detection method described in Patent Document 1, it is necessary to always equip the rail with a light-emitting device and a light-receiving device, and management thereof is difficult. In particular, in the case of an overhead crane arranged near the ceiling, if the light emitting device or the light receiving device is detached from the traveling rail due to traveling vibration of the overhead crane, it is very dangerous because it falls toward the ground.
Further, when the rail becomes longer, there is a problem that a plurality of sets of light emitting devices and light receiving devices are required.

  Furthermore, in the case of the detection method described in Patent Document 1, the amount of deviation between the light emitting device and the light receiving device can be detected, but there is a problem that the case where the entire rail is displaced cannot be detected.

  In the case of a traveling rail such as an overhead crane in which the relative relationship between the left and right rails such as the gauge and the inclination affects the operation, the detection method described in Patent Document 1 cannot detect the relative relationship between the left and right rails. It was.

  Then, an object of this invention is to provide the elongate meandering measuring apparatus which can measure the amount of meandering of the elongate thing laid safely, easily, and correctly.

  The present invention is a long object meandering measuring device for measuring the amount of meandering of a long object laid in a straight line, and a light beam irradiating means for irradiating light in a direction substantially parallel to the axial direction of the long object, , A projection unit that projects the light beam emitted from the light beam irradiation unit, a light beam position detection unit that detects a projection position of the light beam projected onto the projection unit, and at least one of the light beam irradiation unit and the projection unit Traveling means for traveling along the axial direction.

  The long object laid in a straight line can be a traveling rail of an overhead crane or a portal crane, a rail for a traveling vehicle such as a train, a truck or a battery truck.

  The light beam is a light beam having high directivity and convergence, including laser light, and can be a coherent light beam. For example, coherent light obtained by passing monochromatic light from a sodium lamp through a pinhole may be used.

  The projection means includes a translucent projection means that transmits part of the projected light and reflects part of the projected light, a transmissive projection means that transmits all, and a total reflection projection means that reflects all. can do. Further, it can be a plate-like or screen-like projection means made of resin or glass.

  The light ray position detecting means is composed of a detecting means for detecting the position of the light beam projected onto the projecting means from the anti-projection side of the projecting means, and a detecting means for detecting the position of the light beam projected onto the projecting means from the projection side. be able to.

  The traveling means is a direction in which both the light irradiation means and the projection means, the light irradiation means and the projection means are parallel to the long object or in parallel with the long object, Or it can be set as the means to drive in the direction away.

  According to this invention, at least one of the light beam irradiating means and the projecting means travels along the axial direction by the traveling means, and is irradiated from the light beam irradiating means substantially parallel to the axial direction of the elongated object, and the projecting means. Since the projection position of the light beam projected on the light beam is detected by the light beam position detection means, the amount of meandering of the long object laid in a straight line can be accurately measured.

  Specifically, since one of a light beam irradiation means for irradiating a light beam substantially parallel to the axial direction of the long object and a projection means for projecting the irradiated light beam is caused to travel along the axial direction by the traveling means, The projection position of the light beam on the projection means changes according to the meandering of the scale, and by detecting the changed projection position by the light position detection means, the amount of meandering of the long object laid in a straight line can be accurately determined. By detecting, the amount of meandering of the long object can be measured.

  As an aspect of the present invention, the light beam irradiating means is constituted by a laser irradiation device that irradiates a laser beam, and the laser irradiation device is configured to irradiate the laser beam in parallel with the axial direction. A projection means position detecting means for detecting the position of the projection means on the elongated object, the traveling means being configured integrally with the projection means and traveling on the elongated object; A detection result storage means for storing the position of the projection means on the elongated object detected by the projection means position detection means and the projection position of the laser light detected by the light beam position detection means in association with each other. Can be provided.

  The projection means position detection means is a detection means for detecting the position of the projection means on the elongated object according to the distance from the laser irradiation device fixed to one end of the elongated object to the projection means, and the laying position of the elongated object Detection means for detecting the position of the projection means on the long object based on the coordinate position of the projection means in the management coordinate system to be managed, or the position of the projection means on the long object by reading a marking indicating the position on the long object Detection means for detecting

According to the present invention, it is possible to measure an accurate amount of meandering that specifies a measurement location.
Specifically, by projecting laser light with high directivity and convergence toward the projection means, it is possible to accurately detect meandering without diffusing light rays even for long span objects, and the projection means Since the position and the meandering amount can be associated and stored in the detection result storage means, the precise meandering amount specifying the measurement location can be measured.

  Further, in order to fix the laser irradiation device for irradiating the laser beam parallel to the long object to one end side of the long object, for example, compared to the case of running the laser irradiation device, the longer meander of the long object is accurate. The amount can be measured.

  Specifically, when the laser irradiation apparatus travels along the long object by the traveling means, and the irradiation direction of the laser light changes due to the meandering of the long object, the projection means depends on the distance between the laser irradiation apparatus and the projection means. Since the position of the projected laser beam is greatly different, the measurement of the meandering amount becomes complicated, and the accuracy of the meandering amount measurement is lowered.

  On the other hand, by fixing a laser irradiation device that irradiates a laser beam parallel to a long object to one end side of the long object, the irradiation direction of the laser light does not change, and the long object is meandering. Since the projection position changes in accordance with the change in the relative position of the projection means with respect to the laser beam parallel to the axial direction of the long object, the accurate meandering amount of the long object is measured. be able to.

  Further, as an aspect of the present invention, the projection unit is a transmissive projection unit that transmits a part of the laser light to a side opposite to the projection side that is the side on which the laser irradiation apparatus is disposed. An optical imaging unit configured to image the laser beam that is transmitted through the transmissive projection unit, and the laser imaged by the imaging unit. In addition to the imaging laser beam position detecting means for detecting the projection position of light, the traveling means can be configured to travel on the long object integrally with the projecting means.

The imaging means can be composed of a CCD camera or the like.
The imaging laser beam position detection means can be used as a detection means for processing an image picked up by the imaging means and detecting, for example, a projection position of laser light in a pixel unit coordinate system.

According to the present invention, the projection position of the laser light projected onto the projection means can be detected more accurately, and the meandering amount of the long object can be measured.
Specifically, the projection unit is configured by a transmissive projection unit that transmits a part of the laser light to a side opposite to the projection side that is the side on which the laser irradiation device is disposed, and the light beam. Position detecting means is disposed on the anti-projection plane side of the transmissive projection means, and imaging means for imaging the laser light transmitted through the transmissive projection means, and a projection position of the laser light imaged by the imaging means. In addition to the imaging laser beam position detection means to detect, the traveling means is configured to travel on the elongated object integrally with the projection means by the traveling means, so that the imaging means transmits the laser light to the projection means. The laser beam projected on the projection unit is imaged from the front side on the anti-projection surface side of the projection unit without disturbing the projection and the distance between the projection unit and the imaging unit is kept constant. position Projection position of the laser beam projected onto the projection means by a means output can be detected.

  Therefore, when the imaging unit is arranged on the projection surface side of the projection unit, the imaging unit interferes with the projection of the laser light onto the projection unit, and the laser beam cannot be projected onto the projection unit. The projection position detection error due to the distance due to the change of the distance, and the projection position detection error due to the deflection of the imaging direction for imaging the laser light projected onto the projection means by the projection method of the laser light onto the projection means and the imaging means. Since this can be prevented, a more accurate meandering amount can be measured.

Further, as an aspect of the present invention, the imaging laser beam position detection unit can include a laser beam center extraction unit that extracts the center of the laser beam imaged by the imaging unit.
The laser beam center extracting means discriminates the laser light imaged by the imaging means, for example, in units of pixels, and extracts the pixel barycentric position determined as the projected laser light as the laser beam center, The outer edge of the laser beam imaged by the imaging unit can be discriminated, and the center position based on the outer edge can be extracted as the laser beam center.

  According to the present invention, the center of the projected laser beam can be extracted even if the projection shape of the laser beam projected onto the projection unit changes depending on the projection distance, so that an accurate meandering amount can be measured regardless of the projection distance. Can do.

Moreover, as an aspect of the present invention, the long object can be constituted by a steel rail, and the traveling means can be constituted by a restricted traveling means that travels while restraining the steel rail.
The restraining traveling means that travels while restraining the steel rail includes restraining traveling means that travels while restraining the steel rail by a traveling roller having magnetism, and restraint by a roller that presses the steel rail from a plurality of directions in a cross section. It can be set as a travel means and the restraint travel means which combined them.

  According to the present invention, it is possible to accurately and safely measure the meandering amount of the long object laid in a straight line by the light beam irradiating means, the projecting means, and the light beam position detecting means while traveling by the traveling means.

  Specifically, since the steel rail is restrained by the restraining travel means, it is possible to prevent the danger that the light beam irradiating means and the projection means traveling by the travel means fall from the steel rail. In addition, in order to travel smoothly with the traveling means, a predetermined play is required with respect to the steel rail. However, since the steel rail is restrained with the restraining traveling means, the traveling by the traveling means is accurate without being shaken. The amount of meandering can be measured.

  The present invention is also a long object meandering measuring device for measuring a meandering amount of a long object laid in a straight line, wherein the long object is constituted by a steel rail, and one end side of the long object And a laser irradiation device that irradiates laser light substantially parallel to the axial direction of the long object toward the other end, and the laser irradiation device that travels on the long object and is irradiated from the laser irradiation device. A laser light receiving device that receives the laser light and a detection result storage means that stores the detection result. The laser light receiving device is configured such that a part of the laser light emitted from the laser irradiation device is the laser. A transmissive projection unit that projects the laser light in a mode that transmits to a side opposite to the projection plane on which the irradiation device is arranged, and is arranged on the side opposite to the projection plane of the transmissive projection unit And imaging for imaging the laser beam transmitted through the transmissive projection means A laser beam center extracting unit for extracting the center of the laser beam imaged by the imaging unit, and an imaging laser beam position for detecting a projection position of the laser beam by the center position extracted by the laser beam center extracting unit; A restraint travel that travels while restraining the steel rail, and a detection means, a surrounding means that surrounds at least the transmissive projection means and the imaging means, in an aspect in which the projection plane side of the transmissive projection means is exposed. Comprising a distance measuring means for receiving the laser light reflected by the transmissive projection means and measuring a distance from the laser irradiation apparatus to the transmissive projection means. In the detection result storage means, the projection position of the laser beam detected by the imaging laser beam position detection means and the distance measured by the distance measurement means are stored. And to store wearing communication.

According to the present invention, in addition to the above effects, the amount of meandering of a long object can be accurately measured with a small number of equipment without being affected by the surrounding environment.
Specifically, since the laser irradiation device is provided with a distance measurement unit that receives the laser light reflected by the transmission projection unit and measures the distance from the laser irradiation device to the transmission projection unit, the laser irradiation device includes another distance measurement unit. Compared to the case, the number of necessary equipment is small, and control for measuring each piece of equipment in synchronization is facilitated, and the labor for setting each piece of equipment is reduced.

  Further, since the projection surface side of the transmissive projection means is exposed and the surrounding means for surrounding at least the transmissive projection means and the imaging means is provided, it is affected by the light amount of the measurement environment for measuring the meandering amount. In addition, the laser beam projected on the transmissive projection unit can be imaged by the imaging unit arranged on the side opposite to the projection surface of the transmissive projection unit, and the accurate meandering amount of the long object can be measured.

  As an aspect of the present invention, a rail laying pedestal for laying the steel rail on the upper surface is disposed in the laying direction over the entire length of the laid steel rail, and the steel rail and the rail laying pedestal Relative position detection means for detecting a relative position is provided, and the traveling means can travel the relative position detection means integrally in addition to the transmissive projection means and the light beam position detection means.

The rail laying pedestal may be a steel material such as H-shaped steel called a garter.
The relative position detecting means for detecting the relative position between the steel rail and the rail laying pedestal is a means for detecting the position of the steel rail laid on the upper surface of the rail laying pedestal on the upper surface of the rail laying pedestal, separation, etc. can do.

  By this invention, the laying position of the steel rail on the upper surface of the rail laying pedestal can be measured. Therefore, for example, it is possible to confirm a problem in the laid state such that the steel rail that receives the load of the traveling overhead crane and the rail laying pedestal that supports the steel rail are eccentric.

  According to the present invention, it is possible to provide a long object meandering measuring apparatus capable of measuring a meandering amount of a long object laid safely, simply and accurately.

The block diagram of a rail measuring device. The perspective view of a driving | running | working measuring device. Explanatory drawing about a laser measuring device. Explanatory drawing about a laser measuring device. Explanatory drawing about a laser measuring device. Explanatory drawing about the running rail and garter which are measured with a rail measuring device. Explanatory drawing about the running rail and garter which are measured with a rail measuring device. The flowchart which showed the measuring method of the rail measuring device. Explanatory drawing explaining the measurement condition of a rail measuring device. The flowchart about the image analysis process in the measuring method of a rail measuring apparatus, and a data conversion process. Explanatory drawing about the measurement condition of the amount of meandering by a travel measuring device. Explanatory drawing about the measurement condition of the laying position by a garter measurement part. Explanatory drawing about the center point extraction in an image analysis process. The perspective view of the driving | running | working measuring device provided with another driving | running | working part. Explanatory drawing about another driving | running | working part.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a block diagram of the rail measuring device 1, FIG. 2 is a perspective view of the travel measuring device 30, FIGS. 3 and 4 are explanatory diagrams of the travel measuring device 30, and FIG. FIG.

  3A is a plan view of the travel measuring device 30, FIG. 3B is a left side view of the travel measuring device 30, FIG. 3C is an AA cross-sectional view of the travel measuring device 30, and FIG. BB sectional drawing of the measuring device 30, (e) shows CC sectional drawing of the driving | running | working measuring device 30, (f) has shown the enlarged view of the a part in (e).

4A is a front view of the travel measuring instrument 30, and FIG. 4B is a DD cross-sectional view of the travel measuring instrument 30.
5A is a plan view of the laser measuring instrument 20, FIG. 5B is a right side view of the laser measuring instrument 20, and FIG. 5C is a front view of the laser measuring instrument 20.

  6 is a front view of the traveling rail 100 and the garter 110 measured by the rail measuring device 1, and FIG. 7 is an explanatory view of the traveling rail 100 and the garter 110 measured by the rail measuring device 1 by a plan view. Is shown.

  FIG. 8 shows a flowchart of the measuring method of the rail measuring device 1, and FIG. 9 shows an explanatory diagram for explaining the measurement status of the rail measuring device 1. 9A shows a plan view of the measurement situation of the rail measurement device 1, and FIG. 9B shows a side view of the measurement situation of the rail measurement device 1. FIG.

  FIG. 10 shows a flowchart of image analysis processing and data conversion processing in the measurement method of the rail measuring device 1, FIG. 11 shows an explanatory diagram of the measurement state of the meandering amount by the travel measuring device 30, and FIG. FIG. 13 shows an explanatory diagram about the center point extraction in the image analysis processing.

The rail measuring device 1 includes a measurement management device 10, a laser measuring device 20, and a travel measuring device 30.
The measurement manager 10 is a computer that controls the laser measuring instrument 20 and the traveling measuring instrument 30 that measure the meandering amount of the traveling rail 100, and includes a control unit 11, an operation unit 12, a display unit 13, a storage unit 14, and a time measuring unit 15. And a communication unit 16 and the like.

  The control unit 11 includes a CPU, a ROM, and a RAM, and executes control operations and arithmetic operations of each unit in accordance with a program stored in the ROM or the like. In this embodiment, the measurement results are received from the laser measuring instrument 20 and the travel measuring instrument 30, and the measurement results are stored and managed in the storage unit 14 together with the position information of each measuring point.

The operation unit 12 includes an operation input device such as a keyboard and a mouse, and sends an input signal input by the operation to the control unit 11.
The display unit 13 includes a display device such as a liquid crystal display or a CRT display, and performs display according to a control signal from the control unit 11.

The storage unit 14 is configured by a storage device such as a hard disk, and stores appropriate programs and data.
Specifically, the storage unit 14 stores and manages setting information regarding the laser measuring instrument 20 and the travel measuring instrument 30, measurement results, and the like, and the rail measuring device 1 such as a pixel-length conversion program or a plotting program. Stores and manages the information and programs necessary to run the system.

The timer unit 15 manages current date information.
The communication unit 16 can be configured by an appropriate communication interface suitable for data communication with the measuring instrument 100 such as Bluetooth (registered trademark), wireless communication using infrared rays, or communication via a LAN (Local Area Network). In this embodiment, wireless communication based on Bluetooth (registered trademark) is used.

  With the above configuration, the measurement manager 10 measures the traveling rail 100 and the garter 110 using the laser measuring device 20 and the traveling measuring device 30 which will be described later by communicating via the communication unit 16, and the measurement results at each. Can be managed.

As shown in FIGS. 1 and 5, the laser measuring instrument 20 installed by the tripod 29 includes a control unit 21, an operation unit 22, a display unit 23, a storage unit 24, a laser irradiation unit 25, a laser receiving unit 26, and a communication unit. 27, an irradiation direction adjusting unit 28, and the like.
The control unit 21 is configured by a CPU, a ROM, a RAM, or a microcomputer (microcomputer), and executes a control operation and a calculation operation of each unit according to a program stored in the ROM or the like.

The operation unit 22 is a button for receiving operation inputs such as setting input, laser irradiation ON / OFF switching, and start of distance measurement, and sends a press signal to the control unit 21.
The display unit 23 is configured by a display device such as a liquid crystal screen (see FIG. 5), and displays images such as characters and figures according to image signals sent from the control unit 21. Information to be specifically displayed is measurement results and setting information.

  The storage unit 24 stores appropriate programs necessary for the laser measuring instrument 20 such as a distance measurement measurement program by the laser irradiation unit 25 and the laser light receiving unit 26 and a communication control program for controlling the communication unit 27 described later.

The laser irradiation unit 25 is configured to generate laser light 25a in the visible light region using a laser oscillator and irradiate it in a predetermined direction.
The laser light receiving unit 26 can receive a laser beam 25a reflected by a travel measuring device 30 to be described later, and can transmit a light reception result to the control unit 21 to measure the distance to the travel measuring device 30.

  The communication unit 27 includes an appropriate interface such as wireless communication or communication via a LAN. In this embodiment, the communication unit 27 communicates the measurement result with the measurement manager 10 by wireless communication using Bluetooth (registered trademark) according to the control signal of the control unit 21.

  The irradiation direction adjustment unit 28 is an adjustment unit for adjusting the irradiation direction of the laser light 25a emitted from the laser irradiation unit 25, and can be rotated and adjusted in each of the front-rear direction, the width direction, and the rotation direction. . The main body of the laser measuring instrument 20 includes bubble tubes 28a and 28b for checking the horizontal level.

  With the above configuration, the laser measuring instrument 20 irradiates the traveling measuring instrument 30 with the laser light 25a by the laser irradiation unit 25, receives the laser light 25a reflected by the traveling measuring instrument 30, and travels with the laser measuring instrument 20. The distance to the measuring device 30 can be measured.

As shown in FIGS. 1 to 4, the travel measuring instrument 30 that travels on the travel rail 100 includes a main body 40, a travel unit 50, and a garter measuring unit 60.
The main body portion 40 is, in order from the bottom, a main body lower portion 41, a main body upper portion 42 provided with a projection plate 44 arranged on the front surface of the front surface 41 a of the main body lower portion 41, and a rear side of the main body upper portion 42. The control system unit 43 is arranged at the upper part of the lower part 41 of the main body.
The projection plate 44 is made of a resin plate that transmits part of the laser light 25a projected in white.

  The main body lower portion 41 includes sandwiching roller portions 51 of the traveling portion 50 before and after the bottom portion, and an axial direction of the traveling rail 100 equipped with a traveling magnetic roller 52 and a driving motor 53 that rotationally drives the traveling magnetic roller 52 inside. Long rectangular parallelepiped shape.

  The main body upper part 42 is constituted by a vertically long rectangular upper cover 42a provided in such a manner that a rectangular projection plate 44 is exposed on the front surface, and the upper cover 42a is detachably fixed to the upper surface of the main body lower part 41.

  Then, as shown in FIGS. 3C and 3D, the camera unit 36 disposed at the rear position of the projection plate 44 on the upper surface of the main body lower portion 41 is surrounded by the upper cover 42 a having a vertically long rectangular parallelepiped shape.

A 360-degree mirror 45 is provided on the front right side of the upper surface of the main body upper part 42.
The camera unit 36 disposed inside the main body upper part 42 is controlled by the control unit 31 to be described later and captures the laser light 25 a projected onto the projection plate 44 and transmits the captured image to the control unit 31. is there.

  The control system unit 43 is disposed at the rear of the main body upper part 42 and is a rectangular parallelepiped that is slightly smaller than the main body upper part 42, and includes a control unit 31, an operation unit 32, a display unit 33, a storage unit 34, and a communication unit 35. ing.

  The control unit 31 is configured by a CPU, a ROM, a RAM, or a microcomputer (microcomputer), and executes a control operation and a calculation operation of each unit according to a program stored in the ROM or the like.

The operation unit 32 is a button that receives an operation input such as a setting input, and sends a press signal to the control unit 31.
The display unit 33 is configured by a display device such as a liquid crystal screen, and displays images such as characters and figures in accordance with image signals sent from the control unit 31. Information to be specifically displayed is measurement results and setting information.

  The storage unit 34 is an imaging program in the camera unit 36, a measurement program by the garter measuring unit 60, a communication control program for controlling the communication unit 35 described later, and a center extraction for extracting the center point CP of the laser beam 25a from the captured image. An appropriate program necessary for the travel measuring instrument 30 is stored, such as a program and an image processing program for performing image processing such as contrast on the captured image.

  The communication unit 35 includes an appropriate interface such as wireless communication or communication via a LAN. In this embodiment, the communication unit 35 communicates the measurement result with the measurement manager 10 by wireless communication using Bluetooth (registered trademark) according to the control signal of the control unit 31.

  As described above, the traveling unit 50 includes the sandwiching roller unit 51, the traveling magnetic roller 52, the drive motor 53, and the rotating belt 54. The sandwiching roller portion 51 is slidably mounted in the width direction on two guide rails 51b disposed in the width direction on the bottom portion of the main body lower portion 41, and each of the sandwiching roller portions 51 in the width direction is moved in the width direction by a spring 51a. It is biased to the inside (see arrow a) (see FIG. 3 (f), which is an enlarged view of a part in FIG. 3 (e)).

  The drive motor 53 disposed inside the lower part 41 of the main body is configured to rotate and drive the traveling magnetic roller 52 under the control of the control unit 31. The traveling magnetic roller 52 that is rotationally driven by the drive motor 53 is magnetized and is configured to be attracted to the traveling rail 100.

  One traveling magnetic roller 52 of the two traveling magnetic rollers 52 provided at the front and rear is directly driven to rotate by the drive motor 53, and the rotation is transmitted to the other traveling magnetic roller 52 by the rotating belt 54.

The garter measuring unit 60 includes an arm 61 formed in an L shape that is inverted from the front and a laser measuring device 62 disposed at the tip of the arm 61 from the rear of the lower body 41.
The laser measuring device 62 is controlled by the control unit 31 to irradiate the side surface of the upper flange 110a of the garter 110, which is the base of the traveling rail 100, with the laser beam 62a, to receive the reflected laser beam 62a, and to control the light reception result. This is a configuration for transmitting to the unit 31.

  Next, with respect to the traveling rail 100 and the garter 110 and the overhead crane 200 that are measured using the rail measuring device 1 configured by the measurement management device 10, the laser measuring device 20, and the traveling measuring device 30 configured as described above, FIG. 7 together with the description.

  The overhead crane 200 is fixed to the upper surface of the arranged garter 110 so as to straddle the rail bracket 130 fixed to the pillar 120b constituting a part of the left and right wall surfaces 120a of the structure 120 such as a factory or a soundproof house. It is a device that travels on the rail 100 with a traveling device (not shown) and performs a cargo handling operation in cooperation with the hoisting device.

  Therefore, the left and right traveling rails 100 (100a, 100b) need to be laid straight and not inclined with respect to the installation direction (axial directions BLa, BLb). Also, between the left and right traveling rails 100, the gauge RG (the distance between the inner sides of the left and right rails) needs to be set at a constant and the same height.

  If the gauge RG is not constant, the wheels of the traveling device installed near the left and right ends of the overhead crane 200 compete with the traveling rail 100 to be unable to travel, or derail from the traveling rail 100 to cause derailment. .

Moreover, when each rail inclines or inclines between rails, it becomes easy for the overhead crane 200 to travel in the inclining direction, or the load of the suspended load is unevenly related and becomes unstable.
Therefore, the left and right traveling rails 100 must be in a parallel state installed on the same horizontal plane.

  The traveling rail 100 is a crane rail having a wide rail top 101, and the garter 110 is an H-shaped steel disposed along the axial direction BL of the traveling rail 100, that is, the traveling direction of the overhead crane 200. .

  Moreover, the garter 110 is arrange | positioned so that the web 110b may become a perpendicular direction, and has fixed the traveling rail 100 to the upper surface of the upper flange 110a. At this time, as shown in FIG. 12A, the center line CL1 of the traveling rail 100 is fixed so as to coincide with the center line CL2 of the garter 110.

  Furthermore, a walkway 140 formed of a checker plate is formed between the garter 110 and the wall surface 120a and outside both end portions of the garter 110.

In the traveling rail 100 and the garter 110 configured as described above, as shown in FIG. 7, the laser measuring instrument 20 is set on one end side, and the traveling measuring instrument 30 travels from the other end side toward the laser measuring instrument 20. The vehicle travels on the rail 100 and the rail measuring device 1 measures the traveling rail 100 and the garter 110.
The measurement method will be described in detail below.

The measurement of the traveling rail 100 and the garter 110 using the rail measuring device 1 is carried out by using two traveling rails 100 (100a, 100b) and a starting point (starting point a, starting point b) and ending point (ending point a) of the garter 110 arranged in parallel. , End point b), measuring the coordinates of a total of four points, and measuring the travel rail 100 and the garter 110 between the start point and the end point, thereby measuring the meandering amount of each travel rail 100, the position of the rail 100 with respect to the garter 110 This is a measurement method.
In the following description, first, the right rail 100a and its garter 110 on the right side when viewed from the front are measured, and then the left rail 100b and its garter 110 on the left side when viewed from the front are measured.

  First, the laser measuring device 20 is arranged in the gallery 140 on the end point a side on the axial direction BLa of the right rail 100a, the irradiation direction of the laser light 25a is adjusted, and the traveling measuring device 30 is set at the starting point a of the same right rail 100a. Is set (step s1). As shown in FIG. 9, the irradiation direction of the laser beam 25 a at this time coincides with the axial direction BL of the traveling rail 100 and is parallel to the upper position of the traveling rail 100. Adjust by.

  Further, against the urging force of the spring 51 a of the traveling unit 50, the sandwiching roller unit 51 is once opened outward, and the traveling measuring device 30 is set so that the rail top portion 101 is sandwiched by the sandwiching roller unit 51. As a result, the traveling magnetic roller 52 attracts the rail top 101 with the traveling magnetic roller 52 having magnetism, and sandwiches and restrains the upper portion of the rail top 101 with the sandwiching roller 51, and attracts the rail top 101. , The travel measuring device 30 can travel with the travel rail 100 restrained.

  In this state, the measurement preparation of the right rail 100a and the garter 110 is completed. Next, it is installed on the ground portion 120c inside the plane of the left and right traveling rails 100, and is 360 degrees of the traveling measuring instrument 30 set at the start point a with a light wave range finder (not shown) whose setting of the management coordinate system is completed. The mirror 45 is collimated, the angle and distance are measured, and the coordinates of the starting point a in the management coordinate system are calculated (step s2).

After completing the calculation of the coordinates of the starting point a, the measurement manager 10 controls the laser measuring instrument 20 and the travel measuring instrument 30 to start measurement (step s3).
Specifically, the laser beam 25 a is irradiated from the laser irradiation unit 25 toward the travel measurement device 30 under the control of the measurement manager 10. The traveling measuring device 30 traveling by the traveling unit 50 captures an image of the laser light 25a projected on the projection plate 44 by the camera unit 36, and from the laser measuring device 62 toward the flange 110a on the upper side of the garter 110. The distance from the laser measuring device 62 to the upper flange 110a side is measured by irradiating the laser beam 62a.

  And the control part 31 which received the image imaged with the camera part 36 analyzes an image (step s4), and the position of the detected laser beam 25a and the distance to the upper flange 110a are measured values of the starting point a. Is transmitted to the measurement manager 10 and registered in the storage unit 14 (step s5).

  In the image analysis process in step s4, as shown in the flowchart of image analysis in FIG. 10A, the control unit 31 acquires an image captured by the camera unit 36 (step t1), and depends on the measurement environment. It is determined whether there is an image processing setting to be set (step t2).

  The image processing at this time is an image for adjusting the brightness, hue, contrast, etc. of the image so that the laser beam 25a can be clearly recognized in the image analysis from the image obtained by imaging the laser beam 25a projected on the projection plate 44. It is processing.

  If the image processing setting is set in step t2 (step t2: Yes), the image brightness, hue, and image so that the image captured by the camera unit 36 can clearly recognize the laser beam 25a by the image processing program. The contrast is adjusted (step t3).

  The laser beam 25a in the image that has been subjected to the image processing in step t3 or the image processing setting that has not been set in step t2 (step t2: NO) is recognized, and the center point is extracted (step t4).

  Specifically, as shown in FIG. 13A, which is an enlarged view of the laser beam 25a projected onto the projection plate 44, when the distance between the laser measuring instrument 20 and the travel measuring instrument 30 is increased, it is compared with the case where the distance is close. Then, the laser beam 25a becomes larger and flattened. The center point CP in the enlarged and flattened laser beam 25a is extracted using a center point extraction program.

  In the present embodiment, the center point extraction program extracts the center point CP by dividing the laser beam 25a shown in white in FIG. 13A in units of pixels and counting the white pixels to calculate the position of the center of gravity. . The outer shape of the laser beam 25a may be calculated, and the center point CP ′ may be calculated from the calculated outer shape. As shown in FIG. 13A, the center point CP calculated from the center of gravity position, It has been confirmed that a large error does not occur even at the center point CP ′ based on the outer shape.

  In this way, the center point CP extracted in step t4 is dropped into the coordinate system of the pixel unit in the image captured by the camera unit 36, the pixel coordinate value of the center point CP is calculated (step t5), and this image analysis is performed. The process ends. In step s 5, the pixel coordinate value of the center point CP calculated in this image analysis process is transmitted to the measurement manager 10 and registered in the storage unit 14.

  When the data is registered in step s5, the distance between the travel measuring instrument 30 and the laser measuring instrument 20 is measured by the laser measuring instrument 20 (step s6), and the traveling measuring instrument 30 has advanced to the end point a based on the measured distance. Determination is made (step s7).

  If the traveling measuring instrument 30 has not advanced to the end point a (step s7: No), whether or not the traveling position has been advanced a predetermined distance from the previous measurement location, that is, the location where the laser beam 25a projected onto the projection plate 44 is imaged by the camera unit 36. Judgment is made (step s8). The predetermined distance is a pitch at which the camera unit 36 images the laser light 25a projected onto the projection plate 44, that is, a measurement pitch.

  If the predetermined distance has not been advanced from the previous measurement point (step s8: No), the process returns to step s6 to measure the distance between the travel measurement device 30 and the laser measurement device 20 that has advanced further, and the travel measurement device 30. Is repeated until the distance traveled from the previous measurement point reaches a predetermined distance.

  If the predetermined distance has been reached from the previous measurement location (step s8: Yes), the process returns to step s4, and the camera unit 36 images the laser beam 25a projected onto the projection plate 44, analyzes the image, and measures the laser. At 62, the distance to the upper flange 110a is measured.

  At this time, as shown in FIG. 11, which is an explanatory view of the projection plate 44 viewed from the camera unit 36 side, the laser beam 25a projected onto the projection plate 44 at the start point a is projected near the center of the projection plate 44. If the right rail 100a at the measurement point advanced by a predetermined distance meanders in the upper right direction (see FIG. 11B: upper left direction when viewed from the laser measuring instrument 20) with respect to the start point a, the start point The laser beam 25a projected in the vicinity of the center of the projection plate 44 at a is projected at a position shifted in the lower left direction (lower right direction as viewed from the laser measuring instrument 20).

On the contrary, when the right rail 100a at the measurement location advanced by a predetermined distance meanders in the upper left direction (see FIG. 11C: upper right direction when viewed from the laser measuring instrument 20) with respect to the start point a, the laser beam 25a Is projected at a position shifted in the lower right direction (lower left direction when viewed from the laser measuring instrument 20).
Thus, the amount of deviation of the laser beam 25a projected at a position displaced from the laser beam 25a projected near the center becomes the meandering amount of the right rail 100a.

  Further, from the normal state where the center line CL1 of the traveling rail 100 and the center line CL2 of the garter 110 coincide (FIG. 12A), as shown in FIG. Is shifted to the right, the distance measured by the laser measuring device 62 is shorter than the normal state, and when the traveling rail 100 is shifted to the left with respect to the garter 110, the distance measured by the laser measuring device 62 is normal. It becomes longer than the state of.

  Such measurement at the measurement location and registration of the measurement result are repeated until the end point a is reached. Note that the measurement result is registered in the storage unit 14 in association with the distance information of each measurement location.

  When it is confirmed that the travel measurement device 30 has reached the end point a (step s7: Yes), the 360-degree mirror 45 of the travel measurement device 30 at the end point a is detected by a light wave range finder (not shown) installed on the ground portion 120c. , Measure the angle and distance, and calculate the coordinates of the end point a in the management coordinate system (step s9). This completes the measurement of the right rail 100a on the right side of the front view and the garter 110 thereof.

  Next, since the left rail 100b and its garter 110 have not been measured yet (step s10: Yes), the process returns to step s1, and the travel measuring instrument 30 is set at the start point b of the left rail 100b and the left rail 100b. The laser measuring instrument 20 is set on the end point side, and steps s2 to s9 are repeated to measure the left rail 100b and the garter 110 in the same manner as the measurement of the right rail 100a and the garter 110 described above.

  Thereby, the position coordinates of the start point b and the end point b of the left rail 100b, the meandering amount of the left rail 100b at the measurement point from the start point b to the end point b, and the position of the left rail 100b with respect to the garter 110 are measured. The measurement result can be registered in the storage unit 14 in association with the information.

  Thus, when the measurement of the left and right traveling rails 100 and the respective garters 110 is completed (step s10: No), the control unit 11 converts the measurement data stored in the storage unit 14 (step s11).

  Note that the data change process in step s11 runs to the pixel coordinate value of the center point CP of the laser beam 25a extracted from the image captured by the camera unit 36, as shown in the flowchart of the data change process in FIG. This is a process of reflecting the initial conditions such as the irradiation height from the rail 100 to the laser beam 25a and converting it into a length display, and is executed by a pixel-length conversion program stored in the storage unit 14.

  First, in the data conversion process, calibration conditions such as the irradiation height of the laser beam 25a are read from the storage unit 14 (step u1), and the pixel coordinate values of the center point CP of each measurement location registered in the storage unit 14 are calibrated. The offset is made according to the application condition (step u2). Thereby, the pixel coordinate value of the center point CP of the laser beam 25 a projected onto the projection plate 44 can be converted into, for example, a meandering amount at the center of the rail top portion 101 of the traveling rail 100.

  Then, for example, the coordinate value converted into the center coordinate of the rail top portion 101 of the traveling rail 100 is converted into a length unit (step u3). In detail, since it has been managed by coordinates in the pixel coordinate system based on the pixel which is the minimum unit constituting the image so far, the meandering amount of the traveling rail 100 is converted into a manageable length unit. Thereby, the amount of meandering of the traveling rail 100 by length can be managed.

  In this manner, the amount of meander converted from the pixel coordinate value of the center point CP of each measurement location stored in the storage unit 14 in step s11 into a length unit is stored together with the distance stored in the storage unit 14 in association with each other. The meandering amount of the rail 100 and the deviation amount from the garter 110 are plotted using a plotting program stored in the storage unit 14 (step s12), and the measurement of the traveling rail 100 and the garter 110 by the rail measuring device 1 is finished. .

In addition, the influence of the image processing setting at the time of the center point extraction at step t4 of the image analysis processing described above will be described with reference to FIGS.
FIG. 13B shows an error when the center point CP of the laser beam 25a of the image obtained by capturing the image of the laser beam 25a projected on the projection plate 44 in the dark outdoors with the camera unit 36 is extracted. c) shows an error when image processing is set in the same state.

  The error here refers to the center point CP based on the center of gravity position calculated by dividing the laser beam 25a into pixels and using the center point extraction program stored in the storage unit 14, and then calculating and summing the laser beam 25a. This is an error in pixel units with respect to the center point CP ′ calculated from the calculated outer shape and calculated from the calculated outer shape, and the error is reduced in correctly recognized image analysis.

  On the other hand, FIG. 13D shows an error when extracting the center point CP of the laser beam 25a of the image obtained by the camera unit 36 when the laser beam 25a is projected onto the projection plate 44 in a bright room. FIG. 13E shows an error when the image processing setting is performed in the same state.

  As a result, the difference between the laser measuring instrument 20 and the traveling measuring instrument 30 is small when the distance between the laser measuring instrument 20 and the traveling measuring instrument 30 is short, but the error increases as the distance increases. It was confirmed.

Then, it was confirmed that the measurement in the dark outdoors, that is, when the measurement environment is dark, the image processing is set can reduce the error in the long distance measurement. On the contrary, it was confirmed that the error at the time of long distance measurement can be reduced if the measurement is performed in a bright indoor environment, that is, when the measurement environment is bright, the image processing is not set.
Thus, it was confirmed that the position of the center point CP can be extracted more accurately by setting image processing according to the measurement environment.

  The rail measuring apparatus 1 configured as described above is fixed to one end side of the traveling rail 100 and irradiates a laser beam 25a substantially parallel to the axial direction BL of the traveling rail 100 toward the other end side. And a traveling measuring device 30 that travels on the traveling rail 100 and receives the laser beam 25a emitted from the laser measuring device 20, and a storage unit 14 that stores the detection result.

  The travel measuring instrument 30 is arranged on the projection plate 44 through which a part of the laser beam 25 a irradiated from the laser measuring instrument 20 is transmitted to the anti-projection plane side, and disposed on the anti-projection plane side of the projection plate 44. The camera unit 36 that images the laser beam 25a to be extracted, the center point CP of the laser beam 25a imaged by the camera unit 36 is extracted, the control unit 31 that detects the projection position, and the projection plane side of the projection plate 44 are exposed. In this embodiment, the upper cover 42a surrounds at least the projection plate 44 and the camera unit 36, and the sandwiching roller unit 51 and the traveling magnetic roller 52 travel while restraining the traveling rail 100.

  Further, the laser measuring instrument 20 that irradiates the laser beam 25a is provided with a laser receiving unit 26 that receives the laser beam 25a reflected by the projection plate 44, and the image analysis is performed in the storage unit 14 of the measurement manager 10 in step s4. The projection position of the laser beam 25a detected by the control unit 31 and the distance measured by the laser measuring instrument 20 having the laser receiving unit 26 are stored in association with each other.

  With the above configuration, the travel unit 50 causes the travel measuring instrument 30 having the projection plate 44 to travel on the travel rail 100, and is irradiated from the laser measuring instrument 20 substantially parallel to the axial direction BL of the travel rail 100 to the projection plate 44. Since the projection position of the projected laser beam 25a is detected by the control unit 31, the amount of meandering of the traveling rail 100 laid in a straight line can be measured accurately and safely.

  Specifically, in the conventional case, first, measurement points for each measurement interval are installed on the traveling rail 100, and the measurement hand is used by using a light wave range finder installed on the ground portion 120c inside the plane of the left and right traveling rails 100. A mirror is installed at each measurement point from the side corridor 140 on the side of the travel rail 100 to the rail top 101 of the travel rail 100, and the direction angle and distance for each measurement point are measured, and the coordinates are converted into a three-dimensional solid coordinate system. Then, the meandering amount of each traveling rail 100 is calculated.

  During this time, the measurement operator needs to be in the walkway 140 near the ceiling throughout the measurement, which is dangerous. Further, since measurement is performed at each measurement point, it takes a long time to measure all the traveling rails 100, and the overhead crane 200 cannot be used all the time, which is inconvenient.

  On the other hand, in the measuring method using the rail measuring device 1, the projection plate 44 is irradiated with the laser measuring device 20 fixed to the traveling rail 100 once and projects the laser beam 25a substantially parallel to the axial direction BL. Therefore, the projection position of the laser beam 25a on the projection plate 44 changes according to the meandering of the running rail 100, and the changing projection position is controlled. The meandering amount of the traveling rail 100 detected by the unit 31 and laid in a straight line can be accurately detected, and the meandering amount of the traveling rail 100 can be measured safely.

  Further, in comparison with meandering measurement by three-dimensional coordinates of each measuring point based on each direction and each direction based on the distance measured from the ground at a distance to the traveling rail 100, the direction perpendicular to the axial direction BL of the traveling rail 100. Since the meandering amount of the traveling rail 100 is measured with the laser beam 25a projected onto the projection plate 44, an accurate meandering amount with little error can be measured.

Further, the position of the projection plate 44 detected by the laser measuring instrument 20 having the laser light receiving unit 26 on the traveling rail 100 and the projection position of the laser beam 25a detected by the control unit 31 are associated and stored in the storage unit 14. Thus, it is possible to measure an accurate meandering amount specifying the measurement location.
Specifically, by irradiating the projection plate 44 with laser light 25a having high directivity and convergence, meandering can be accurately detected even on the long-span traveling rail 100, and the position and meandering of the projection plate 44 are detected. Since the amount can be stored in the storage unit 14 in association with each other, it is possible to measure the accurate meandering amount specifying the measurement location.

  Further, since the laser measuring instrument 20 that irradiates the laser beam 25a parallel to the traveling rail 100 is fixed to one end of the traveling rail 100, for example, the traveling rail 100 is more accurate than when the laser measuring instrument 20 is traveling. The amount of meandering can be measured.

  Specifically, when the laser measuring instrument 20 travels along the traveling rail 100 by the traveling unit 50 and the irradiation direction of the laser light 25 a changes due to the meandering of the traveling rail 100, the laser measuring instrument 20 depends on the distance between the laser measuring instrument 20 and the projection plate 44. Since the position of the laser beam 25a projected onto the projection plate 44 is different, the measurement of the meandering amount becomes complicated and the accuracy decreases.

  On the other hand, by fixing the laser measuring device 20 that irradiates the laser beam 25a parallel to the traveling rail 100 to one end side of the traveling rail 100, the irradiation direction of the laser beam 25a does not change, and the traveling rail meanders. As the projection means travels along 100, the projection position changes according to the change in the relative position with respect to the laser beam 25a parallel to the axial direction BL of the travel rail 100. Therefore, the accurate meandering amount of the travel rail 100 is measured. can do.

  Furthermore, since the coordinates of the start point and end point of the right rail 100a and the left rail 100b are measured by the light wave range finder installed on the ground portion 120c, the axial direction BL of the right rail 100a and the left rail 100b can be measured, The gauge RG can be calculated.

  Further, since the coordinates of the start point and the end point of the right rail 100a and the left rail 100b are measured, even if the axial direction BL of each traveling rail 100 is deviated from the normal axial direction BL, the traveling rail 100 It is possible to accurately measure the amount of meandering from the shifted axial direction BL.

  Further, when measuring the coordinates of the start point and end point of the right rail 100a and the left rail 100b with the light wave range finder installed on the ground part 120c, a 360 degree mirror provided on the upper surface of the travel measuring instrument 30 located at the start point and the end point. Since the measurement is carried out by collimating 45, it is not necessary to install a mirror for distance measurement on the traveling measuring instrument 30 traveling on the traveling rail 100 near the ceiling, thereby improving convenience. Can do.

  Further, the projection plate 44 is formed of a white transparent resin plate that transmits a part of the laser light 25a on the side opposite to the projection side that is the side on which the laser measuring instrument 20 is disposed, and that projects the laser beam 25a. The camera unit 36 that images the laser beam 25a that is disposed on the anti-projection surface side of the plate 44 and transmits the projection plate 44, and the projection position of the laser beam 25a imaged by the camera unit 36 are detected by image analysis. The projection position of the laser beam 25a projected onto the projection plate 44 can be detected accurately, and the amount of meandering of the traveling rail 100 can be measured.

  More specifically, with the above-described configuration, the camera unit 36 does not interfere with the projection of the laser beam 25a onto the projection plate 44, and the distance between the projection plate 44 and the camera unit 36 is kept constant. The laser beam 25a projected onto the projection plate 44 is imaged from the front side of the projection plate 44 on the side opposite to the projection surface, and the projection position of the laser beam 25a projected onto the projection plate 44 is detected by the control unit 31 that analyzes the image at step s4. can do.

  Therefore, when the camera unit 36 is disposed on the projection surface side of the projection plate 44, the camera unit 36 interferes with the projection of the laser beam 25a onto the projection plate 44, and the laser beam 25a cannot be projected onto the projection plate 44. A projection position detection error due to a change in the distance between the projection plate 44 and the camera unit 36, a projection method of the laser beam 25a onto the projection plate 44, and the laser beam 25a projected on the projection plate 44 by the camera unit 36 Since it is possible to prevent occurrence of a projection position detection error due to deflection of the imaging direction for imaging, it is possible to measure a more accurate meandering amount.

  Further, since the control unit 31 extracts the center point CP of the laser beam 25a picked up by the camera unit 36 using the center extraction means program, the projection shape of the laser beam 25a projected onto the projection plate 44 differs depending on the projection distance. However, since the center point CP of the projected laser beam 25a can be extracted, an accurate meandering amount can be measured regardless of the projection distance.

  Further, since the traveling unit 50 includes the sandwiching roller unit 51 and the traveling magnetic roller 52 that travel while restraining the traveling rail 100, the laser measuring instrument 20, the projection plate 44 that travels by the traveling unit 50, and a step The meandering amount of the traveling rail 100 laid in a straight line can be accurately and safely measured by the control unit 31 that performs image analysis in s4.

  Specifically, since the traveling rail 100 is restrained by the traveling unit 50 including the sandwiching roller unit 51 and the traveling magnetic roller 52, the traveling measuring instrument 30 traveling by the traveling unit 50 falls from the traveling rail 100. Risk can be prevented.

  In addition, in order to smoothly travel with the traveling unit 50 including the sandwiching roller unit 51 and the traveling magnetic roller 52, predetermined play is required with respect to the traveling rail 100. However, the sandwiching roller unit 51 and the traveling magnetic roller are required. Since the traveling rail 100 is restrained at 52, the amount of meandering can be accurately measured without the traveling by the traveling unit 50 being shaken.

  Further, since the projection cover 44 is exposed so that the projection surface 44 is exposed, the upper cover 42a that surrounds at least the projection plate 44 and the camera unit 36 is provided, so that it is influenced by the amount of light in the measurement environment for measuring the amount of meandering. The laser beam 25a projected on the projection plate 44 can be imaged by the camera unit 36 disposed on the side opposite to the projection plane of the projection plate 44, and the amount of meandering of the traveling rail 100 can be measured accurately.

  Further, a garter 110 for laying the traveling rail 100 on the upper surface is disposed in the laying direction over the entire length of the laid traveling rail 100, and a laser measuring device 62 for detecting the relative position between the traveling rail 100 and the garter 110 is provided. The traveling unit 50 causes the laser measuring device 62 to travel integrally with the traveling measuring device 30, whereby the laying position of the traveling rail 100 on the upper surface of the garter 110 can be measured. Therefore, for example, it is possible to confirm a problem in the laid state such that the traveling rail 100 that receives the load of the traveling overhead crane and the garter 110 that supports the traveling rail 100 are eccentric.

  In addition, the traveling unit 50 of the above-described embodiment is disposed inside the sandwiching roller unit 51 that is slidably mounted in the width direction on the two guide rails 51b disposed in the width direction on the bottom of the lower body 41. The traveling magnetic roller 52 and the drive motor 53 that rotationally drives the traveling magnetic roller 52 are used. However, as illustrated in FIGS. 14 and 15, the traveling magnetic roller 52 may be configured by another traveling unit 50 ′.

  As shown in FIG. 14 which is a perspective view of a travel measuring device 30 ′ provided with another traveling unit 50 ′, and FIG. 15 which is an explanatory view of a bottom view of the travel measuring device 30 ′ provided with the traveling unit 50 ′. The travel measuring device 30 ′ has the same configuration as that of the above-described embodiment travel measuring device 30 except for the travel unit 50 ′.

  15A shows a bottom view of the state in which the connecting beam 55 is opened for mounting on the traveling rail 100, and FIG. 15B shows a state in which the rail top 101 is sandwiched and restrained by the connecting beam 55. A bottom view is shown.

  The sandwiching roller portion 51 is attached to the guide rail 51b so as to be slidable in the width direction, and each of the sandwiching roller portions 51 is urged inward in the width direction (see arrow a) by a spring 51a. In contrast, the traveling portion 50 ′ is fixed to a connecting beam 55 that connects the front and rear sandwiching roller portions 51, and is biased together with the connecting beam 55 by the spring 51 a in the width direction (see arrow a).

  Specifically, the connecting beam 55 is mounted so as to be slidable in the width direction with respect to the guide rail 51b, and the sandwiching roller portion 51 is fixed inside the front and back surfaces thereof. In the vicinity of the center of the connecting beam 55 in the front-rear direction, the connection beam 55 is urged inward in the width direction (see arrow a) by a spring 51 a fixed to the bottom of the main body lower portion 41. The connecting beam 55 slidably mounted on the guide rail 51b in the width direction is configured to slide in the width direction while maintaining a state parallel to the front-rear direction of the travel measuring instrument 30 '.

  As shown in FIG. 15A, the travel measuring device 30 ′ equipped with the travel unit 50 ′ configured as described above has a connecting beam 55 on the outer side in the width direction (see arrow b) against the urging force of the spring 51a. And set it on the running rail 100.

  As shown in FIG. 15 (b), the travel measuring instrument 30 ′ set on the travel rail 100 has a connecting beam 55 that is connected to the rail top of the travel rail 100 by the biasing force on the inner side in the width direction (see arrow a) by the spring 51 a. The traveling rail 100 can be restrained together with the traveling magnetic roller 52 with the 101 interposed therebetween.

  Thus, since the two front and rear sandwiching roller portions 51 are fixed to the connecting beam 55 and are biased together with the connecting beam 55 by the spring 51a in the width direction, the front and rear sandwiching roller portions 51 use the rail top portion. 101 can be sandwiched equally from the left and right. Therefore, the front-rear direction of the travel measuring instrument 30 ′ can be surely restrained by making it coincide with the axial direction of the travel rail 100.

As described above, in the correspondence between the configuration of the present invention and the above-described embodiment,
The long object and the steel rail of the present invention correspond to the traveling rail 100,
Similarly,
The long meandering measuring device corresponds to the rail measuring device 1,
The light beam and the laser beam correspond to the laser beam 25a,
The beam irradiation means and the laser irradiation apparatus correspond to the laser measuring instrument 20,
The projection means and the transmissive projection means correspond to the projection plate 44,
The light beam position detection unit and the imaging laser beam position detection unit correspond to the control unit 31 that performs image analysis in step s4.
The traveling means corresponds to the traveling units 50 and 50 ′,
The projection means position detection means corresponds to the laser measuring instrument 20 having the laser light receiving unit 26,
The detection result storage means corresponds to the storage unit 14,
The imaging means corresponds to the camera unit 36,
The center of the laser beam corresponds to the center point CP,
The laser beam center extraction means corresponds to the control unit 31 that executes the center extraction program,
The restraining traveling means corresponds to the sandwiching roller portion 51 and the traveling magnetic roller 52,
The laser beam receiver corresponds to the travel measuring devices 30 and 30 ′,
The go means corresponds to the upper cover 42a,
The rail laying pedestal corresponds to the garter 110,
The relative position detecting means corresponds to the laser measuring device 62,
The present invention is not limited to the above-described embodiment, but includes an embodiment applied to the meandering amount measurement of any linear long object.

  In the above-described embodiment, the traveling rail 100 of the overhead crane is measured by the rail measuring device 1. However, the present invention is not limited to this. For example, a straight portion such as a rail for a traveling vehicle such as a train, a truck, a battery truck, etc. Can be used for measurement.

  Further, as an alternative to the laser beam 25a, a coherent beam may be used. For example, a coherent beam obtained by passing a monochromatic light from a sodium lamp through a pinhole may be used.

  Further, in the above-described embodiment, the measurement is performed by running the travel measuring instrument 30 in a direction approaching the laser measuring instrument 20 fixed to one end of the traveling rail 100. Conversely, laser measurement is performed from the end point side toward the start point side. The travel measuring device 30 may travel in a direction away from the device 20.

  Further, the laser measuring instrument 20 measures the distance between the traveling measuring instrument 30 and the laser measuring instrument 20, but the configuration is such that the marking or the like set in advance on the traveling rail 100 is read to detect the position of the traveling measuring instrument 30. Also good.

  Further, the image of the laser beam 25a picked up by the camera unit 36 is image-processed by the control unit 31 using an image processing program, and further the center point CP of the laser beam 25a is extracted by the control unit 31 using a center extraction program. Then, the coordinates of the center point CP are transmitted to the measurement management device 10 and registered in the storage unit 14, but the image processing program and the center extraction program are stored in the storage unit 14 and imaged by the camera unit 36 from the travel measurement device 30. The image data may be transmitted to the measurement manager 10, and the control unit 11 may extract the image processing of the received image and the center point CP of the laser beam 25a.

DESCRIPTION OF SYMBOLS 1 ... Rail measuring apparatus 11 ... Control part 14 ... Memory | storage part 20 ... Laser measuring instrument 25a ... Laser beam 26 ... Laser light-receiving part 30, 30 '... Traveling measuring instrument 36 ... Camera part 42 ... Upper cover 44 ... Projection plates 50, 50 '... traveling part 51 ... sandwiching roller part 52 ... traveling magnetic roller 62 ... laser measuring instrument 100 ... running rail 110 ... garter BL ... axial direction CP ... center point

Claims (7)

A long object meandering measuring device for measuring the amount of meandering of a long object laid in a straight line,
A light beam irradiation means for irradiating a light beam in a direction substantially parallel to the axial direction of the elongated object;
Projection means for projecting the light beam emitted from the light beam irradiation means;
Ray position detection means for detecting a projection position of the ray projected on the projection means;
An elongate meandering measurement apparatus comprising: a traveling unit configured to travel at least one of the light beam irradiation unit and the projection unit along the axial direction. The beam irradiating means is constituted by a laser irradiating device that irradiates a laser beam, and the laser irradiating device is fixed to one end side of the long object so as to irradiate the laser beam in parallel to the axial direction. ,
The travel means is configured integrally with the projection means, and travels on the long object.
Projection means position detecting means for detecting the position of the projection means in the elongated object;
A detection result storage unit that stores the position of the projection unit detected by the projection unit position detection unit in the elongated object and the projection position of the laser beam detected by the light beam position detection unit in association with each other. The long object meandering measuring apparatus according to claim 1. The projection means;
It is constituted by a transmissive projection means that transmits a part of the laser light to the side opposite to the projection side that is the side on which the laser irradiation apparatus is disposed, and the side opposite to the projection side.
The light beam position detecting means,
An imaging unit that is disposed on the anti-projection plane side of the transmissive projection unit and that images the laser light that is transmitted through the transmissive projection unit, and an imaging laser beam that detects a projection position of the laser beam captured by the imaging unit With the position detection means,
The long object meandering measurement apparatus according to claim 2, wherein the traveling means is configured to travel on the long object integrally with the projection means. In the imaging laser beam position detection means,
The long object meandering measuring apparatus according to claim 3, further comprising a laser beam center extracting unit configured to extract a center of the laser beam captured by the imaging unit. The long object is composed of steel rails,
The travel means,
The long meandering measuring apparatus according to claim 1, wherein the long meandering meander is configured by restraint travel means that travels while restraining the steel rail. A long object meandering measuring device for measuring the amount of meandering of a long object laid in a straight line,
The long object is composed of steel rails,
A laser irradiation device fixed to one end side of the long object, and irradiating laser light substantially parallel to the axial direction of the long object toward the other end side;
A laser light receiving device that travels on the long object and receives the laser light emitted from the laser irradiation device;
It comprises a detection result storage means for storing the detection result,
The laser beam receiver
It is possible to project the laser light in such a manner that a part of the laser light emitted from the laser irradiation device is transmitted to the anti-projection surface side opposite to the projection surface side on which the laser irradiation device is disposed. Transmission projection means;
An imaging unit that is disposed on the anti-projection plane side of the transmissive projection unit and that images the laser light that is transmitted through the transmissive projection unit;
Laser light center extraction means for extracting the center of the laser light imaged by the imaging means;
Imaging laser beam position detecting means for detecting the projection position of the laser light based on the center position extracted by the laser light center extracting means;
A surrounding means that surrounds at least the transmissive projection means and the imaging means in a mode of exposing the projection plane side of the transmissive projection means;
The restraint travel means that travels while restraining the steel rail,
In the laser irradiation device,
A distance measuring unit that receives the laser beam reflected by the transmissive projecting unit and measures a distance from the laser irradiation device to the transmissive projecting unit;
In the detection result storage means,
An elongate meandering measurement apparatus that stores a projection position of a laser beam detected by the imaging laser beam position detection unit and the distance measured by the distance measurement unit in association with each other. A rail laying pedestal for laying the steel rail on the upper surface is disposed in the laying direction over the entire length of the steel rail laid,
Relative position detection means for detecting the relative position of the steel rail and the rail laying pedestal,
The long meandering meander measuring apparatus according to claim 5 or 6, wherein the traveling means integrally travels the relative position detecting means in addition to the transmissive projection means and the light beam position detecting means.

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