JP2012225869A - Measurement system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a measurement system for rapidly and exactly measuring a position and an attitude of a measuring object at a remote position by externally attaching a camera to a measuring device regardless of an optical axis.SOLUTION: In a measurement system which mounts a plurality of targets on an object to be measured and measures positions to each target or a three-dimensional coordinate by the measuring device, the camera externally attached to the measuring device and a remote controller for remotely controlling the measuring device are provided. The remote controller includes: a positional relation memory section for storing positional relation data of the measuring device and camera; a display indicator for displaying a screen picked up by the camera; a specification section for specifying an optional position on the screen of the display indicator; and a control section for applying a control to a tracking mechanism so that the measuring device moves to the position specified by the display indicator based on a specification by the specification section.

Description

  The present invention relates to a measurement system that measures a three-dimensional position of a structure or the like in the field of plant construction.

  In periodic inspection work of a nuclear power plant, as shown in FIG. 10, a suspended load 10 of a large structure, which is an object to be measured inside a pressure vessel of a nuclear reactor, is taken out of the reactor with an overhead crane or the like and placed in a pool 11. When temporarily placed, a part of the structure may be exposed to the air, and if this exposure time is long, the exposure dose of the operator may increase. Also, if there is an existing obstacle in the pool, it is necessary to change the posture of the large structure to avoid it. Therefore, it is necessary to reduce the travel time from removal from the furnace to installation in the pool as much as possible. To shorten the time, the position of the large structure during the movement process is constantly monitored to ensure smooth and quick operation. Movement is necessary.

  For this type of position monitoring, it is considered effective to use a surveying technique such as a light wave distance meter or a three-dimensional measuring machine (measuring device, total station, TS). In these measuring instruments, distance measurement light is transmitted toward a target installed at a measurement point, and distance is measured by receiving distance measurement light reflected by the target. Since the large structure is suspended from an overhead crane or the like, if the target is attached to the large structure, the position can be constantly monitored. The monitoring information is appropriately presented to the crane operator as the operation direction and the operation amount, and smoothly moves.

  Conventionally, as shown in Patent Document 1, a technique has been shown in which a video camera is detachably attached to a telescope eyepiece of a measurement apparatus, and a cross line on the screen is aligned with a target point while viewing a video screen on a display. In Patent Document 2, a CCD camera that can adjust the focus and adjust the position vertically and horizontally is attached to the eyepiece of a remote-controlled surveying instrument to improve the efficiency of erection of pillars on the floor slab. The camera position is collimated and the camera position is automatically adjusted so that the installation target position is at the center, and the positional relationship with the current target center is obtained in three dimensions.

  Patent Document 3 discloses details of an automatic collimation device in an automatic collimation measuring device in which an imaging device, an illumination device, and a distance measuring optical system are configured as a coaxial optical system. Patent Document 4 discloses a system that displays image data captured by a surveying instrument on the remote control apparatus side via a radio in a surveying instrument with a tracking function including an imaging unit. A technique is disclosed in which the measurement point coordinates are displayed as an infinite line up and down on an image device, and the collimation correction amount is indicated by a triangle mark.

Japanese Patent No. 7-159158 JP 2000-275044 A Japanese Patent No. 3626141 JP 2009-229350 A

  However, in order to provide an imaging unit coaxially with the telescope optical system of the existing surveying instrument disclosed in Patent Documents 1 and 2, it is necessary to attach a camera to the eyepiece. In this case, if the focus adjustment mechanism provided on the eyepiece of the surveying instrument is not rotated to focus, the image from the telescope cannot be viewed with an external camera, and the focusing operation is cumbersome and practical. Not.

  In Patent Document 3, since the imaging device, the illumination device, and the distance measuring unit optical system are all configured as a coaxial optical system, high accuracy is required during assembly, leading to an increase in cost. In Patent Document 4, since images are acquired by two types of imaging units through optical systems of two types of telescopes, it is necessary to match the optical axes of the telescope and the imaging unit, and the situation is similar to that of Patent Document 3.

  In addition, in order to move a measurement object with a high dose accurately and promptly, it is necessary to install multiple targets that measure the position and orientation of the measurement object, and to switch the target quickly to measure, It is essential to perform measurement at a position away from the measurement object. In each of the above-mentioned patent documents, a configuration in which the target is switched quickly and the position of the switched target is measured at a position away from the measurement object is not shown.

  SUMMARY OF THE INVENTION In view of the above-described problems of the prior art, the present invention provides a measurement system in which a camera is simply externally attached to a measurement device, and the position of a measurement object is quickly and accurately measured from a remote position.

In order to solve the above problems, the present invention provides a measurement system in which a plurality of targets are attached to an object to be measured, and a position or three-dimensional coordinate with each target is measured by a measurement device having a target tracking mechanism.
A camera externally attached to the measurement device, and a remote control device for remotely controlling the measurement device;
The remote control device is:
A positional relationship memory unit for storing positional relationship data between the measuring device and the camera;
A display for displaying a screen imaged by the camera;
A designation unit for designating an arbitrary position on the display screen;
A control unit that gives control to the tracking mechanism so that the measuring device moves to a specified position of the display unit based on the specification by the specifying unit.
It is characterized by having.

  Further, in the measurement system described above, a target is attached near the center and near the end of the object to be measured, and the remote control device allows the measurement device to measure the position or three-dimensional coordinates of the target near the center. The movement of the object to be measured is detected, and the rotation of the object to be measured is detected by measuring the position of the target near the end or the three-dimensional coordinates.

  Further, in the measurement system described above, the control unit converts the designated position of the display device into a position of the measurement device based on data stored in the positional relationship memory, and moves the movement as a control signal. It is characterized by giving to the mechanism.

  Further, in the measurement system described above, the measurement device stops the target tracking operation while moving to the designated position of the display based on the control from the control unit.

  Further, in the measurement system described above, the measurement device starts a target tracking operation after moving to a designated position of the display based on a control signal from the control unit.

  According to the present invention, it is possible to quickly and accurately measure the position and angle of a measurement object at a remote position with little exposure by the linked operation of the measurement device and the external camera.

It is a block diagram of the measurement system of the Example of this invention. It is a connection diagram of a measuring device, a camera, and a remote control device. It is explanatory drawing of a movement and positioning measurement of a measurement object. It is explanatory drawing of the recognition method of the measuring device visual field center on a camera. It is explanatory drawing of the display method on the camera image of a measuring device measurement point. It is a general | schematic flowchart of the measurement procedure by a measurement system. FIG. 7 is a detailed flowchart of the storage procedure in S101 of FIG. 6. It is a detailed flowchart of the measurement of the target object of S103 of FIG. It is explanatory drawing of the modified example of camera mounting to a measuring device. It is operation | movement explanatory drawing which takes out a measuring object with a crane and temporarily places it in a pool.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of the measurement system of the embodiment, and FIG. 2 is a connection diagram of the measurement device, camera, and remote control device.

  1 and 2, reference numeral 1 denotes a measuring device (measuring instrument, TS) having a horizontally rotating tracking mechanism 3 (3a) mounted on a pedestal 2, such as a tripod, and includes a lightwave distance meter 1a. The optical wave rangefinder 1a includes a telescope unit 1c, and is attached between a column 1b mounted on the tracking mechanism 3a so as to rotate vertically (vertically) via the tracking mechanism 3b. In response to a tracking command signal (described later), the tracking mechanism 3a rotates the entire measuring device 1 above the column 1b in the horizontal direction, and the tracking mechanism 3b rotates the optical distance meter 1a in the vertical direction (vertical direction). The measuring device 1 irradiates light from a light wave distance meter 1a to a target (described later) attached to the object to be measured, and receives the reflected light. The tracking command signal is generated inside the measuring apparatus 1 based on the reception of the reflected light, drives the tracking mechanisms 3a and 3b, directs the lightwave distance meter 1a to the target, and maximizes the amount of received (received) reflected light. Tracking control is performed as follows.

  A video camera 4 is mounted on the upper surface of one support column 1b of the measuring apparatus 1 and is arranged so as to rotate in the horizontal direction together with the measuring apparatus 1. The camera 4 does not need to coincide with the optical axis of the telescope unit 1c of the optical wave distance meter 1a when mounting, and can be easily mounted in the same direction as the telescope unit 1c.

  The remote control device 5 is disposed at a position distant from the measurement device 1 and the camera 4 and is connected to both by wired or wireless. The input / output unit 5a inputs / outputs the measurement signal from the measurement device 1 and the image signal from the camera 4, the control unit (CPU) 5b performs calculation and controls each unit, and the target position coordinate memory unit 5c is the measurement device 1. The positional relationship memory unit 5d stores data indicating the positional relationship between the measuring apparatus 1 and the camera 4. The display 5e includes a touch panel that displays an image captured based on an image signal from the camera 4 and target position information based on the measurement signal, and allows an input operation on the display screen. The touch pen (designation unit) 5f designates an arbitrary position of the touch panel of the display 5e, and the designation unit 5g including a keyboard and a mouse can designate an arbitrary position with a cursor on the screen of the display 5e.

  The positional relationship data in the positional relationship memory unit 5d is stored in advance by grasping the relationship between the visual field center of the telescope unit 1 of the measuring instrument 1 and the screen of the display of the camera 4.

  The remote control device 5 outputs a control signal to the measuring device 1 based on an input operation by the designation unit 5f or the designation unit 5g including a keyboard and a mouse. This control signal controls the operation state (tracking operation, tracking stop) of the tracking function of the measuring device 1, and when the measurement position is input and designated on the display screen, the measuring device 1 designates separately from the tracking function. The mechanism parts of the tracking mechanisms 3a and 3b are driven and controlled to face the position.

  FIG. 3 is an explanatory diagram of the movement of the measurement object and its position measurement. The suspended load 10 to be measured is horizontally suspended from both ends of a balance 11 by wires 11a and 11b, and the balance 11 is suspended at a central portion by a hook 12 such as an overhead crane (not shown). The suspended load 10 is conveyed and installed at a predetermined position while moving in the vertical direction and the horizontal direction by an overhead crane.

  Two targets 13 (13a, 13b) are installed on the balance 11. One target 13a is provided at the center of the lower surface of the balance 11, detects the center position (coordinates) of the suspended load 10, and the other target 13b is provided near the end of the lower surface of the balance 11, and is suspended. The turning angle at the time of turning of the load 10 is detected.

  The measuring device 1 is installed at a position away from the suspended load 10 in a state where it can irradiate both the targets 13a and 13b with light waves and receive the reflected light. The remote control device 5 is installed at a position where an operator can visually observe the suspended load 10 and at a remote position where the dose of the suspended load 10 can be avoided.

  In FIG. 3, when measuring the position of the suspended load 10, the measuring device 1 measures the position while tracking the target 13 a that moves together with the suspended load 10 by the automatic tracking function. The rotation of the suspended load 10 (the rotation around the crane hook 12) detects the position while tracking the target 13b. The suspended load 10 is rotated by an operator pulling an intermediate rope 11c fixed to the end of the balance 11 in the direction of an arrow by hand.

  Since the measuring device 1 automatically tracks and measures only one of the targets 13a and 13b at the time of position measurement, in order to measure the position and rotation angle of the suspended load according to the moving path of the suspended load 10, tracking is appropriately performed. It is necessary to switch the target. This switching is performed by forcibly changing the direction of the measuring device 1 to the target to be measured, and by driving the tracking mechanisms 3a and 3b by a control signal output from the remote control device 5 to the measuring device 1, This is done by changing the direction of the optical distance meter 1a.

  In this embodiment, for example, in FIG. 3, the control signal is generated from the remote control device 5 based on the designation of the position 5k on the screen of the display 5e, and the lightwave distance meter 1a of the measuring device 1 is designated. The tracking mechanisms 3a and 3b are driven and controlled to change the direction to the 5k position. The position 5k designated on the screen of the display 5e of the remote control device 5 is converted into the target position of the measuring device 1 in the control unit 5b based on the related data in the memory unit 5d and stored in the memory unit 5c. . The target position in the memory 5c is supplied to the measuring device 1 as the control signal via the input / output unit 5a.

  Next, how to obtain positional relationship data between the measuring instrument 1 and the camera 4 will be described with reference to FIGS. In FIG. 4, first, the measuring device 1 is installed toward a wall surface that is installed at a predetermined distance, and the telescope unit 1 c is leveled. In this state, for example, if the optical pointer can emit light from the same axis as the optical system, the pointer is irradiated onto the wall surface. The position of the pointer light that hits the wall surface by irradiation is the center of the visual field of the measuring device 1 (telescope unit).

  Next, on the camera image displayed on the screen of the display 5e of the remote control device 5, the position where the pointer shines is clicked with a mouse or the like, and the visual field center of the measuring device 1 is set to the memory unit of the remote control device 5. Store in 5d. Therefore, the memory unit 5d stores the visual field center of the measuring device 1 on the camera screen as data, and this data is data indicating the positional relationship between the measuring instrument 1 and the camera 4.

  Based on the positional relationship data of the memory unit 5d obtained above, for example, as shown in FIG. 5, the visual field center when the telescope unit 1c of the measuring device 1 is directed upward by θ degrees (swing angle) from the horizontal is From the position of the center of the visual field stored in the above and the angle of view of the camera lens, it is possible to know where the camera has moved on the imaging screen.

  In FIG. 4, it is assumed that the horizontal image angle of the telescope unit 1c is Sx, the vertical size is Sy, the horizontal field angle of the camera is Gx, and the vertical field angle is Gy, and the position of the pointer light hitting the wall surface is represented by coordinates (a, b). As shown in FIG. 5, when the head of the telescope unit 1c of the measuring device 1 is swung upward by θ degrees (the horizontal swing angle φ is 0 degrees), the center of the field of view is a coordinate value on the screen of the display 5e ( a ′ = a, b ′ = b + (Sy / Gy) * θ.

  If the above relationship is used, the measurement position of the measurement device 1 can be specified by clicking and specifying an arbitrary position on the camera image, and the measurement device 1 can be swung so that the measurement device 1 faces the specified position. it can.

  Note that the click position and the visual field center of the measurement device 1 do not always coincide with each other at the top, bottom, left, and right edges of the image due to the camera lens distortion, but the measurement device 1 after shaking the head in an approximate direction. If the automatic tracking mechanism is used, measurement can be performed while tracking the target in that direction.

  Thus, the remote control device can grasp the positional relationship between the camera and the measurement device by a simple method, thereby specifying the position where the measurement device is facing.

  Next, a measurement procedure by the system having the above configuration will be described. FIG. 6 is a schematic flowchart of the measurement procedure by the measurement system.

  First, in step (S) 100, setting of devices such as installation of the measurement device, attachment of the camera to the measurement device, and wiring connection between the remote control device and the camera / measurement device is performed. In S101, the positional relationship between the camera 4 and the measuring apparatus 1 is stored (details are described in FIG. 7). The storage of the positional relationship can be omitted if the camera is not removed after the previous use. Next, a plurality of (two or more) site reference points with known coordinate values determined in advance in S102 are measured, and a conversion matrix is obtained so that the measurement results can be converted into coordinate values in the site coordinate system. In S103, the object is automatically tracked to measure the position, and the difference from the designated target position coordinates is displayed in real time (details will be described with reference to FIG. 8).

  A detailed flow of the positional relationship storage procedure in S101 of FIG. 6 will be described with reference to FIG. In S200, the measuring device is turned to the front. A panel or the like is erected in the direction in which the measurement device faces, and the distance between the panel and the measurement device is preferably approximately in the middle of the planned measurement range.

  In S201, a pointer such as red light is emitted from the measuring device. In S202, a point on the remote control device 5 camera screen that is shining is clicked with the mouse (or touch pen). In a measurement apparatus that does not have a built-in laser, the center of the visual field is checked by looking through the eyepiece lens of the measurement apparatus, and the position is selected by clicking.

  In S203, marks such as ◯, Δ, □ are displayed at the selected position on the camera screen. In S204, the screen is visually checked to see if the mark position is correct. If it is correct, the mark position on the screen is stored in S205.

  Next, with reference to FIG. 8, a detailed flow of measurement of the measurement object in S103 of FIG. 6 will be described. FIG. 8A shows measurement of the amount of movement of the object, and FIG. 8B shows measurement of the amount of rotation of the object.

  In S300 of FIG. 8A, the measuring device 1 is swung by a remote operation from the remote control device 5. While observing the camera image, the measuring device 1 is swung vertically / horizontally until the object to be measured (measurement object, suspended load) enters the field of view, and when the object to be measured enters the field of view, the camera screen is displayed in S301. Specify near the center of the object to be measured. That is, the vicinity (refer to FIGS. 3 and 5h) of the measurement target 13a attached to the center of the object to be measured is designated (clicked) with the mouse (or touch pen) on the camera screen of the remote control device 1. The vicinity of the target 13a attached to the center of the balance on which the object to be measured (suspended load) is suspended is designated on the screen. At this time, the automatic tracking function of the measuring device 1 is stopped and is remotely operated by the operation of the remote control device 5.

  Next, in step S302, the target 13a is automatically collimated (automatic tracking). That is, the measuring device swings its head by remote control so that the measuring device is directed to the position specified above, and after capturing the target 13a, automatic tracking starts and the position of the target 13a is automatically measured. The movement target value of the object to be measured (suspended load) is stored in advance in the form of a list in the memory unit 5c, and is selected from the list in S303. Next, in S304, the difference between the selected movement target value and the measured position of the current measurement object is displayed in real time. The measurement operator informs the operator of the overhead crane of the distance indicated by this difference.

  The measurement of the rotation amount of the object will be described with reference to FIG. In S400, the measuring device 1 is swung by remote control from the remote control device 5. Specifically, while observing the camera image, the measuring device 1 is swung vertically / horizontally until the object to be measured enters the field of view, and when the object to be measured enters the field of view, the object to be measured is displayed on the camera screen in S401. Specify near the center. That is, the vicinity of the measurement target 13a attached to the center of the object to be measured is specified (clicked) with the mouse (or touch pen) on the screen of the remote control device 5. Specifically, the vicinity of the target 13a attached to the center of the balance on which the object to be measured (suspended load) is suspended is designated on the screen. At this time, the automatic tracking function of the measuring device 1 is stopped and is remotely operated by the operation of the remote control device 5.

  In the next S402, the target is automatically collimated (automatic tracking). That is, the measuring apparatus swings its head by remote operation so as to face the position specified above, and after capturing the target 13a, automatic tracking starts and the position of the target 13a is automatically measured.

  In step S403, the vicinity of the end position of the object to be measured is designated on the camera screen. That is, the vicinity of the measurement target 13b attached to the end of the object to be measured is designated (clicked) with the mouse (or touch pen) on the screen of the remote control device 5. Specifically, the vicinity of the target 13b attached in the vicinity of the end portion of the balance 11 on which the object to be measured (suspended load) is suspended is designated on the screen. At this time, the automatic tracking function of the measuring device 1 is stopped and is remotely operated by the operation of the remote control device 5.

  In next S404, the target 13b is automatically collimated (automatic tracking). That is, the measuring device 1 swings his / her head so as to face the position specified above, and after capturing the target 13b, the automatic tracking starts and the position of the target 13b is automatically measured. In next step S405, the rotation angle of the object to be measured is measured and displayed on the screen. Specifically, in accordance with the rotation of the object to be measured, the rotation angle around the measurement point of the target 13a is calculated and displayed from the measurement position of the target 13b. This calculation is performed in the remote control device 5.

  The movement target value of the object to be measured (suspended load) is stored in advance in the form of a list in the memory unit 5c, and in the subsequent step (not shown), the selected movement target value and the current measured value are measured. The difference between the position and angle of the measurement object is displayed in real time. The measurement operator informs the operator of the overhead crane of the distance and angle indicated by the difference.

  Next, a modified example of how to attach the camera to the measuring device 1 will be described. FIG. 9A shows a first modification, in which the camera 4 is attached to the upper portion of the telescope unit 1c of the lightwave distance meter 1a. In the above-described embodiment, the upper and lower image ranges of the camera 4 are fixed. However, in the first modification, the camera image follows the up / down / left / right movement (swing) of the measuring device 1, so the field of view of the image is widened. effective.

  FIG. 9B shows a second modification, in which the camera 4 is attached to a tripod mount 2 that is outside the measuring device 1. In the second modification, the field of view of the camera 4 is not changed by the vertical / left / right movement (swinging) of the measuring device 1, but there is an advantage that the camera can be mounted without using the housing of the measuring device 1.

  As described above, according to the present embodiment, a measurement system that quickly and accurately measures the position and orientation of a measurement object at a remote position by attaching a camera to a measurement device regardless of the optical axis. Can be provided. In addition, the coordinated operation of the measuring device and the external camera enables the position and orientation of the measurement object to be accurately switched by quickly switching multiple targets while confirming the measurement object with a video at a remote position where the exposure of the operator is low. Can be measured.

  DESCRIPTION OF SYMBOLS 1 ... Measuring device, 1a ... Light wave distance meter, 1c ... Telescope part, 3 (3a, 3b) ... Tracking mechanism, 4 ... Camera, 5 ... Remote control apparatus, 5a ... Input / output part, 5b ... Control part, 5c ... Target Position coordinate memory unit, 5d: positional relationship memory unit, 5e: display, 5f, 5g ... designation unit, 10: object to be measured, measurement object, suspended load, 13 (13a, 13b) ... target.

Claims (5)

In a measurement system in which a plurality of targets are attached to an object to be measured, and a position or three-dimensional coordinate with each target is measured by a measurement device having a target tracking mechanism.
A camera externally attached to the measurement device, and a remote control device for remotely controlling the measurement device;
The remote control device is:
A positional relationship memory unit for storing positional relationship data between the measuring device and the camera;
A display for displaying a screen imaged by the camera;
A designation unit for designating an arbitrary position on the display screen;
A control unit that gives control to the tracking mechanism so that the measuring device moves to a specified position of the display unit based on the specification by the specifying unit.
A measurement system characterized by comprising. The measurement system according to claim 1,
A target is attached near the center and near the end of the object to be measured, and the remote control device detects the movement of the object to be measured by measuring the position or three-dimensional coordinates of the target near the center. A measurement system characterized by detecting the rotation of an object to be measured by measuring the position of a target in the vicinity of a section or three-dimensional coordinates. In the measurement system according to claim 1 or 2,
The control unit converts a specified position of the display device into a position of the measuring device based on data stored in the positional relationship memory unit, and provides the position to the moving mechanism as a control signal. system. In the measuring system in any one of Claims 1-3,
The measurement system stops a target tracking operation while moving to a specified position of the display based on control of the control unit. In the measurement system according to any one of claims 1 to 4,
The measurement system starts a target tracking operation after moving to a designated position of the display based on a control signal from the control unit.

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