JP2013217795A - Plant measurement system and measurement method in plant - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve workability needed for shape measurement in a plant, while labor and time needed for transportation become bulky as a measurement object becomes large-sized, when turning a bridge block, a piping block or the like assembled inside the plant to a measurement object and measuring a three-dimensional shape.SOLUTION: A plant measurement system includes: a crane which is laid in a plant and has a hook for hanging an object; measurement means for measuring a shape of a measurement object in a noncontact manner; and posture holding means for holding the posture of the measurement means in a specific posture.

Description

  The present invention relates to a factory measurement system and a measurement method in a factory.

For example, Patent Document 1 below discloses a three-dimensional measurement method that does not require the distance measuring means to move with respect to a measurement object such as a bridge block. This three-dimensional measurement method uses a non-contact type position detection device that is placed at a certain distance from a turntable while placing the measurement object on a turntable and rotating it by a predetermined angle. By measuring the position, the three-dimensional shape of the measurement object is measured.
In Patent Document 2 below, a three-dimensional structure such as a piping block is placed on a predetermined inspection table, and the three-dimensional structure is photographed from a plurality of directions with a camera provided at the tip of the robot. A shape inspection method for measuring a three-dimensional shape of a three-dimensional structure is disclosed.

Japanese Patent Laid-Open No. 10-332347 Japanese Patent Laid-Open No. 09-184712

  By the way, the technique of the said patent document 1 makes the measurement object the bridge block, the piping block, etc. which were assembled in the factory, and the measurement object (3 on the turntable or inspection stand previously provided in the factory. Dimensional structure) is placed and measured, that is, the measurement object (three-dimensional structure) is transported to the place (measurement place) where the turntable and inspection table are installed in the factory. . However, transportation of such a measurement object (three-dimensional structure) is a complicated task, and the labor and time required for transportation increase as the measurement object (three-dimensional structure) becomes larger. There is a problem of inefficiency.

  The present invention has been made in view of the above-described circumstances, and an object thereof is to improve the workability required for shape measurement in a facility such as a factory as compared with the related art.

  In order to achieve the above object, in the present invention, as a first solution means for a factory measurement system, a crane provided with a hook that is laid in a factory and suspends an object, and is supported by the hook, A means is provided that includes a measuring unit that measures the shape in a non-contact manner and a posture holding unit that holds the posture of the measuring unit in a specific posture.

  In the present invention, as the second solving means relating to the factory measurement system, a means is adopted in which, in the first solving means, the crane is an overhead crane laid in the factory building.

  In the present invention, as a third solving means related to the factory measurement system, in the second solving means, the posture holding means is a pair of sliding members that are slidable in a state in which the posture relation is held. And a sliding mechanism in which one sliding member is fixed to the trolley of the overhead crane so that the sliding direction is vertical, and the other sliding member in the sliding mechanism is mounted to support the measuring means A means is provided that includes a support member fixed to the hook.

  In the present invention, as a fourth solving means relating to the factory measurement system, in any of the first to third solving means, the measuring means irradiates the measurement target with the laser beam as measurement light in a scanning manner. Then, a means is adopted that the laser radar measures the shape of the measurement object in a non-contact manner by receiving the reflected light of the measurement light.

  Further, in the present invention, as a solution means related to the measurement method in the factory, the measurement means for non-contact measurement of the shape of the measurement object is suspended from the hook of the crane laid in the factory, and the measurement means is moved by the crane and measured. A means of non-contact measurement of the shape of the object is adopted.

According to the present invention, since the crane and the measuring means are provided, the measuring means can be moved in the horizontal direction and the vertical direction by the crane in the factory, and the posture holding means is provided. It is possible to maintain the posture of the suspended measuring means in a specific posture.
Therefore, according to the present invention, there is no need to move the measurement object in the factory, and the posture of the measuring means (measurement posture) that can be moved in the factory by the crane can be held in a specific posture. In addition, it is possible to improve the workability required for shape measurement in the factory as compared with the conventional technique, and it is possible to realize stable measurement and / or accurate measurement in the factory.

It is a mimetic diagram showing system configuration of factory measurement system A concerning one embodiment of the present invention. It is a front view which shows the principal part detail of the factory measurement system A which concerns on one Embodiment of this invention. It is a top view which shows the principal part detail of the factory measurement system A which concerns on one Embodiment of this invention.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
As shown in FIGS. 1 to 3, the factory measurement system A according to this embodiment includes an overhead crane 1, a non-contact measurement device 2 (measurement unit), and a steadying mechanism 3 (posture holding unit).

  This factory measurement system A is provided in a factory building as shown in the figure, and performs non-contact measurement of the shapes of various measurement objects placed at various locations in the factory building. The overhead crane 1 is a well-known facility in the factory, and includes a pair of traveling rails 1a, a pair of girders 1b, a pair of traverse rails 1c, a trolley 1d, and the like.

  The overhead crane 1 is a general transport device installed as needed in a factory building. When an operator inputs an operation instruction to an operation panel (not shown), a pair of girder 1b and The trolley 1d operates to carry out the transfer work. This factory measurement system A uses such a transport function of the overhead crane 1 for transport of the non-contact measuring device 2 in the factory building.

  The pair of traveling rails 1a are respectively provided in the vicinity of the ceiling of a pair of side walls (for example, concrete walls) facing each other in parallel in a factory building constructed in a rectangular shape in plan view. That is, in the vicinity of the ceiling of the pair of side walls, there are provided convex portions that protrude inward as shown in the figure, and one traveling rail 1a is provided on the upper surface (horizontal plane) of the convex portion of one side wall, The other traveling rail 1a is provided on the upper surface (horizontal plane) of the convex portion of the other side wall. Such a pair of running rails 1a are in parallel with each other and extend from one end of the rectangular factory building to the other end.

  The pair of girders 1b are long members having a rectangular cross section provided in a state of being passed over the pair of traveling rails 1a as shown in the drawing and spaced apart from each other. On the lower surface (horizontal plane) of the pair of girders 1b, traveling wheels (driving wheels) 1e are respectively provided at portions facing the traveling rails 1a. Such a pair of girders 1b is driven along the pair of traveling rails 1a while the traveling wheels 1e are driven by a drive source (not shown) (for example, an electric motor) so that the posture is orthogonal to the pair of traveling rails 1a. Moving. In other words, such a pair of girders 1b moves near the ceiling in the factory building between one end and the other end of the factory building, that is, in the traveling direction, while maintaining a certain distance from each other.

  The pair of transverse rails 1c are provided on the upper surfaces (horizontal planes) of the pair of girders 1b. That is, one traverse rail 1c is provided along one girder 1b on one girder 1b, and the other traverse rail 1c is provided along the one girder 1b on the other girder 1b. ing. Such a pair of traverse rails 1c are in parallel with each other, and extend from one side to the other of the pair of side walls provided with the traveling rails 1a in the factory building.

  The trolley 1d is a carriage provided on a pair of traversing rails 1c supported by the pair of girders 1b. On the lower surface (horizontal plane) of the trolley 1d, a traverse wheel (drive wheel) 1f is provided at a portion facing the pair of traverse rails 1c. Such a trolley 1d moves in a transverse direction along a pair of transverse rails 1c between a pair of side walls when each transverse wheel 1f is driven by a driving source (not shown) (not shown).

  Further, such a trolley 1d includes a hook 1h that hangs downward via a hoisting rope 1g as shown in FIG. The hook 1h moves in the vertical direction when the hoisting rope 1g is taken up by a hoisting device (not shown) or is rewound. Such a hook 1h hangs a load in the original use (loading use) of the overhead crane 1, but when the overhead crane 1 is applied to the main factory measuring system A, as shown in FIG. The support plate 3c (support member) is supported on the surface.

  The non-contact measuring device 2 is a device that performs non-contact measurement of the shape of the measurement object W, and is supported on the trolley 1d via the steadying mechanism 3 by being provided on the support plate 3c as shown in FIG. ing. The non-contact measuring device 2 radiates measurement light toward the measurement target W, and measures the outer shape of the measurement target W based on the reflected light from the measurement target W of the measurement light. Such a non-contact measuring device 2 is remotely operated by the above-described operation panel similarly to the overhead crane 1. Since the non-contact measuring device 2 is supported by the trolley 1d via the support plate 3c and the like, the non-contact measuring device 2 is located above or obliquely above the measurement object W.

  Such a non-contact measuring device 2 is, for example, a laser radar, and irradiates the measurement object W with measurement light as scanning light in a scanning manner, and receives the reflected light of the measurement light, thereby receiving the shape of the measurement object W. Non-contact measurement. That is, the non-contact measuring device 2 irradiates the measurement object W with the measurement light in a two-dimensional scan, and receives the reflected light from the measurement object W of the measurement light, thereby receiving each measurement object W. The distance information to the reflection position is acquired, and the entire shape of the measurement object W is measured based on the distance information to each reflection position.

  As shown in FIGS. 2 and 3, the steady rest mechanism 3 includes an outer cylinder 3a (sliding member), an inner cylinder 3b (sliding member), a support plate (supporting member) 3c, a stopper 3d, and the like. . The steady rest mechanism 3 is a mechanism for allowing the non-contact measuring device 2 to move up and down and maintaining the posture of the non-contact measuring device 2 in a specific posture.

  The outer cylinder 3a is a prismatic member in which a through hole having a rectangular cross section is formed along the axis, and is fixed to one end of the trolley 1d in a vertical posture. The inner cylinder 3b is a prismatic member having a rectangular outer shape that fits into the through hole of the outer cylinder 3a, and is slidably inserted into the through hole of the outer cylinder 3a. That is, since the inner cylinder 3b is fitted into a rectangular through hole in the outer cylinder 3a, the inner cylinder 3b is slidable in the vertical direction (vertical direction) without rotating around the axis (vertical axis) with respect to the outer cylinder 3a. It is. Such outer cylinder 3a and inner cylinder 3b constitute a slide mechanism in the present embodiment.

  The support plate (support member) 3c is a plate-like member fixed to the lower end portion of the inner cylinder 3b in a horizontal posture, and the non-contact measuring device 2 is fixed to the upper portion as shown in the figure. Such a support plate 3c is provided as an intermediary member for fixing the non-contact measuring device 2 to the lower end portion of the inner cylinder 3b.

  The stopper 3d is a rod-like member fixed to the upper end portion of the inner cylinder 3b. This stopper 3d is a member for preventing the inner cylinder 3b from falling out of the outer cylinder 3a, being longer than the diameter of the through hole of the outer cylinder 3a, and lying on the upper end of the inner cylinder 3b. To prevent the inner cylinder 3b from dropping.

Next, the operation of the factory measurement system A configured as described above will be described in detail.
When measuring the shape of the measurement object W placed in the factory building using the factory measurement system A, the operator operates the operation panel as described above to connect the non-contact measurement device 2 to the measurement object. Move to near W.

  That is, the overhead crane 1 rotates the traveling wheel 1e in a state in which the hook 1h is pulled up to the uppermost position, that is, in a state in which the non-contact measuring device 2 is pulled up to the vicinity of the ceiling. Move in the direction of travel to the vicinity. Then, the overhead crane 1 moves the trolley 1d, that is, the non-contact measuring device 2 supported by the trolley 1d in the transverse direction by driving the transverse wheel 1f with the driving of the traveling wheel 1e stopped. It is moved immediately above the object W.

  Furthermore, the overhead crane 1 moves the non-contact measuring device 2 to a desired height by lowering the hook 1h by operating the winding device. That is, the inner cylinder 3b is slidable in the vertical direction with respect to the outer cylinder 3a, and the support plate 3c provided at the lower end of the inner cylinder 3b is supported by the hook 1h. Descent with 1h. Therefore, the non-contact measuring device 2 provided on such a support plate 3c is also lowered as the hook 1h is lowered.

  By such a transport operation of the overhead crane 1, the non-contact measuring device 2 moves the factory building in the traveling direction, the transverse direction, and the vertical direction, that is, the three-dimensional movement in the factory building and measures the non-contact measuring device 2. In the vicinity of the object W, it is positioned at a position suitable for shape measurement.

  When such three-dimensional positioning of the non-contact measuring device 2 is completed, the operator causes the non-contact measuring device 2 to start measurement by operating the operation panel. That is, the non-contact measuring device 2 irradiates the measurement object W with the measurement light in a two-dimensional scan, and receives the reflected light from the measurement object W of the measurement light, thereby receiving each measurement object W. The distance information to the reflection position is acquired, and the entire shape of the measurement object W is measured based on the distance information.

  According to the present factory measurement system A, since the non-contact measuring device 2 is moved by the overhead crane 1, it is not necessary to add a dedicated transport function to the non-contact measuring device 2 separately. Therefore, according to the present factory measurement system A, it is possible to improve the workability required for measuring the shape of the measurement object W in the factory building as compared with the prior art.

  Further, as described above, the non-contact measuring device 2 is supported by the trolley 1d via the steadying mechanism 3, that is, the inner cylinder 3b does not rotate around the axis (vertical axis) with respect to the outer cylinder 3a. Therefore, even if the hook 1h is lowered as it is lowered, the irradiation direction of the measurement light is not unnecessarily disturbed by vibration (rotation) around the axis (vertical axis).

  Therefore, according to this factory measurement system A, although the non-contact measuring device 2 is supported in the vertical direction by the hook 1h of the overhead crane 1, the steadying mechanism 3 is provided, so that the posture of the non-contact measuring device 2 is stabilized. Therefore, it is possible to realize stable shape measurement of the measurement object W and / or accurate shape measurement of the measurement object W.

In addition, this invention is not limited to the said embodiment, For example, the following modifications can be considered.
(1) In the above embodiment, the case where the measuring means is transported (moved) using the overhead crane 1 has been described, but the present invention is not limited to this. A crane other than the overhead crane 1, such as a jib crane, may be used. When a jib crane is used, the posture of the measuring unit is held in a specific posture by the posture holding unit provided near the tip of the jib and the measuring unit is supported in the vertical direction by a hook hanging from the tip of the jib.

(2) In the above embodiment, the case of measuring the shape of the measurement object W placed in the factory building has been described, but the present invention is not limited to this. According to the present invention, for example, the size and shape of an empty space (floor space) in a factory building can be measured. It is also possible to measure the size and shape of various facilities provided in the factory building.

(3) In the said embodiment, although the non-contact measuring device 2 was directly attached on the support plate 3c (support member), this invention is not limited to this. For example, by providing an attachment mechanism that variably sets the orientation of the non-contact measuring device 2 with respect to the support plate 3 c between the support plate 3 c and the non-contact measuring device 2, the measurement direction of the non-contact measuring device 2 can be variably set. May be. By providing such an attachment mechanism, it becomes easy to measure the measuring object W from a plurality of directions.

(4) Although the case where a laser radar is used as the non-contact measuring device 2 has been described in the above embodiment, the present invention is not limited to this. A laser sensor that does not have a measuring light scanning function, a measuring instrument that performs non-contact measurement of the measurement target W using infrared rays, ultrasonic waves, or radio waves may be used.

  A ... Factory measuring system, 1 ... Overhead crane, 1a ... Traveling rail, 1b ... Girder, 1c ... Traverse rail, 1d ... Trolley, 1e ... Traveling wheel, 1f ... Traverse wheel, 1g ... Hoisting rope, 1h ... Hook, 2 ... Non-contact measuring device (measuring means), 3 ... Anti-sway mechanism (posture holding means), 3a ... Outer cylinder, 3b ... Inner cylinder, 3c ... Support plate (support member), 3d ... Stopper

Claims (5)

A crane with a hook that lays in the factory and hangs things,
Measuring means that is supported by the hook and performs non-contact measurement of the shape of the measurement object;
A factory measurement system comprising: attitude holding means for holding the attitude of the measurement means in a specific attitude.   The factory measurement system according to claim 1, wherein the crane is an overhead crane laid in a factory building. The posture holding means is
A sliding mechanism comprising a pair of sliding members that are slidable in a state of maintaining their mutual posture relationship, and one sliding member fixed to the trolley of the overhead crane so that the sliding direction is a vertical direction;
3. The factory measurement system according to claim 2, further comprising a support member that is mounted on the other sliding member of the slide mechanism and supports the measuring means and is fixed to the hook.   The measurement means is a laser radar that irradiates a measurement target with laser light as measurement light in a scanning manner and receives the reflected light of the measurement light to measure the shape of the measurement target in a non-contact manner. The factory measurement system according to any one of claims 1 to 3.   A factory characterized in that a measuring means for non-contact measurement of the shape of a measurement object is suspended from a hook of a crane laid in the factory, and the shape of the measurement object is non-contact measured by moving the measurement means by the crane. Measuring method.

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