JP2018040760A - Structure dimension measuring system and measuring method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a structure dimension measuring system for automatically/quantitatively measuring a dimension by utilizing image analysis, including a case where an inspection target is in a fluctuation state.SOLUTION: A structure dimension measuring system 1 comprises: four or more imaging cameras C1, C3, C6 and C8 disposed in such a manner that measuring points of a fluctuating inspection target A can be imaged by the imaging cameras at two or more positions; an image analysis processing part 6 for performing image analysis on images picked up by the imaging cameras, correcting fluctuation of the measuring point caused by holding in the air and automatically calculating three-dimensional coordinates of most of measuring points of the inspection target A relative to a reference measuring point and a dimension between predetermined measuring points; an inspection table entry part 7 for entering the dimension between the predetermined measuring points that is calculated by the image analysis processing part 6, onto a product appearance dimension measurement table B; and a control device 4 which controls the imaging cameras C1, C3, C6 and C8 at four or more positions in such a manner that the measuring points are simultaneously imaged.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a structure dimension measuring system and method. Specifically, the present invention relates to a structure dimension measuring system and a measuring method for measuring dimensions automatically and quantitatively using a computer.

  Conventional measurement of structural dimensions of building / civil engineering members has been performed by visual inspection, calipers and gauges in many companies that supply members. However, there is a demand for a method that can easily measure without depending on the hands of skilled workers. By the way, a method for automatically measuring the three-dimensional shape of a large structure has been proposed. According to this method, a set of two photographic cameras is used to perform coordinate conversion and image analysis on a large number of targets (measurement points) provided on a measurement object, and automatically perform tertiary measurement points. Original coordinates are measured (see Patent Document 1). Alternatively, the three-dimensional coordinates of the measurement points are automatically measured using a plurality of photographed images photographed by one photographing camera. In addition, a standard ruler (reference length is displayed) is used as a target (see Non-Patent Document 1). However, in these proposals, a stationary large structure is imaged with a stationary imaging camera, and cannot be applied as it is when the inspection object is in a state of shaking. Therefore, a method for automatically and quantitatively measuring the size of the inspection object using image analysis is desired, including the case where the inspection object is in a state of fluctuation. Further, no method has been found for projecting a design pattern onto a structure to measure the structure dimensions.

Japanese Patent Laid-Open No. 06-272541 (Japanese Patent No. 3210817)

“VFORM Digital Camera 3D Measurement System & Post-Work Support System”, Yokogawa Technical Information, [online], [searched July 4, 2016], Internet URL: http: // www. yti. co. jp / vform / index. shml, pages 1-5

An object of the present invention is to provide a structure dimension measuring system and a measuring method for measuring dimensions automatically and quantitatively using image analysis, including a case where an inspection object is in a state of fluctuation.
It is another object of the present invention to provide a system and method for measuring a new dimension using a projection pattern when an inspection object is stationary.

  In order to achieve the above object, the structure dimension measuring system 1 according to the first aspect of the present invention measures the dimension between predetermined measurement points of the inspection object A, for example, as shown in FIG. A structure dimension measurement system, which is a photographing camera arranged so that a measurement point of a swinging inspection object A can be photographed by a photographing camera arranged at two or more positions, and arranged at four or more positions. Image analysis is performed on the captured images captured by the photographing cameras C1, C3, C6, and C8 and the photographing cameras C1, C3, C6, and C8, the fluctuation of the measurement point is corrected, and the reference measurement of the measurement point of the inspection object A is performed. An image analysis processing unit 6 that automatically calculates a dimension between a three-dimensional coordinate relative to a point and a predetermined measurement point, and a dimension between the predetermined measurement points obtained by the image analysis processing unit 6 , Fill in product appearance dimension measurement table B Photographs taken by the photographing cameras C1, C3, C6, and C8 arranged at four or more positions are controlled so as to simultaneously photograph the survey entry section 7 and the four or more photographing cameras C1, C3, C6, and C8. Are sequentially transmitted to the image analysis processing unit 6.

  Here, “a predetermined dimension between two measurement points” refers to a dimension between two measurement points to be entered in the product appearance dimension measurement table B (see FIG. 2). The standard of the delivered product is determined in advance, and the dimension between two predetermined measurement points is entered in the product external dimension measurement table B. In addition, “fluctuating inspection object” corresponds to, for example, the inspection object A held in the air by the crane 2. Ideally, the “measurement point of the inspection object” can be photographed by a photographing camera in which all the measurement points are arranged at two or more positions. However, there may be troubles such as the measurement point being hidden behind something (crane, surface irregularities, leaves of trees, etc.), or poor photographic appearance (due to darkness, strong reflected light, etc.). However, even if such an exception is included, if a considerable number of measurement points can be photographed by a photographing camera arranged at two or more positions, “a photographing camera arranged at two or more measurement points” It corresponds to the “photographing camera arranged so as to be able to shoot”.

  Further, “the measurement point of the inspection object can be photographed by the photographing camera arranged at two or more positions .... the photographing camera arranged at the four or more positions” means that the measurement point of the inspection object. Means that the position coordinates of the measurement point can be obtained three-dimensionally by trigonometry or the like because it can be taken by a camera arranged at two or more positions. Furthermore, having four or more photographing cameras means that the position coordinates of the measurement points on the six surfaces of the rectangular parallelepiped structure can be obtained three-dimensionally as shown in FIG. 5, for example. In FIG. 5, there are four photographing cameras, and photographing can be performed with cameras having six surfaces arranged at two positions. In FIG. 3, there are six photographing cameras, and six faces can be photographed with cameras arranged at three positions. In FIG. 4, there are eight photographing cameras, and six faces can be photographed with cameras arranged at four positions.

The control device 4, the image analysis processing unit 6, and the inspection table entry unit 7 can be realized by a personal computer PC. These may be configured in the same personal computer or in separate personal computers. The storage unit 5 may be configured in the same personal computer as the control device 4, may be configured as an external storage device outside the personal computer, or may be configured in the cloud.
If comprised in this way, the structure dimension measuring system which measures a dimension automatically and quantitatively using image analysis including the case where the test target is in a state of fluctuation can be provided.

  In order to achieve the above object, a structure dimension measurement system according to a second aspect of the present invention is a structure dimension measurement system that measures a dimension between predetermined measurement points of an inspection object, and fluctuates. A photographic camera arranged so that the measurement points of the inspection object A can be photographed by a photographic camera arranged at two or more positions, and photographic cameras C1, C3, C6, C8 arranged at four or more positions; The captured images photographed by the photographing cameras C1, C3, C6, and C8 are subjected to image analysis, the fluctuation of the measurement point is corrected, and the relative three-dimensional coordinates of the measurement point of the inspection object A with respect to the reference measurement point are previously determined. The image analysis processing unit 6 that automatically calculates the dimension between the determined measurement points and the dimension between the predetermined measurement points that is determined by the image analysis processing unit 6 are entered in the product appearance dimension measurement table B. Inspection table entry part 7 and above 4 The photographic cameras C1, C3, C6, and C8 installed in the camera are controlled to shoot within a predetermined time, and photographic images taken by the photographic cameras C1, C3, C6, and C8 arranged at four or more positions are imaged. A control device 4 that sequentially transmits to the analysis processing unit 6 is provided, and a label with a constant distance between marks is attached to the inspection object A or a stamp is imprinted near the measurement point.

Here, “within a predetermined time” means that the change in the position of the inspection object A is within a time that can be ignored. Although it depends on the measurement accuracy, it may be within 1 second if the fluctuation is small, for example, within 1 minute after the fluctuation is settled. Further, since a label having a constant distance between marks is affixed or a stamp is stamped, the position can be corrected even if the inspection object A fluctuates. In such a case, it is desirable that the predetermined time is short, but it may be within 5 minutes, for example.
In addition, “near the measurement point” includes the measurement point.

  If comprised in this way, the structure dimension measuring system which measures a dimension automatically and quantitatively using image analysis including the case where the test target is in a state of fluctuation can be provided.

Moreover, the structure dimension measuring system 1A according to the third aspect of the present invention is the laser side that measures the distance from the light source to the measurement point in the first aspect or the second aspect, for example, as shown in FIG. A length device 8 and a correction unit 9 that corrects a predetermined dimension between measurement points using a distance to the measurement point measured by the laser side length device 8 are provided.
If comprised in this way, the relative dimension with respect to the reference | standard measurement point of most measurement points of the test object A in a 1st aspect or a 2nd aspect and the dimension between predetermined measurement points will be supplemented. Can be used as a thing. Thereby, the precision of three-dimensional coordinate measurement improves and the measurement precision of a structure dimension also improves.

In addition, in the structure dimension measuring system 1B according to the fourth aspect of the present invention, in any one of the first to third aspects, for example, as shown in FIG. Or the humidity sensor and the environment correction | amendment part 10 which correct | amends the dimension between predetermined measurement points with temperature or humidity are provided.
If comprised in this way, the temperature of the dimension between the relative three-dimensional coordinate with respect to the reference | standard measurement point of the most measurement points of the test target A in any one of the 1st thru | or 3rd aspect with respect to the reference | standard measurement point will be demonstrated. Or the influence by humidity can be grasped. Thereby, the precision of three-dimensional coordinate measurement improves and the precision of a product external dimension improves.

In order to achieve the above object, a structure dimension measuring method according to the fifth aspect of the present invention measures a dimension between predetermined measurement points of an inspection object, for example, as shown in FIG. A dimensional measurement system, which is a photographic camera arranged so that a measurement point of a fluctuating inspection object A can be photographed by a photographic camera arranged at two or more positions, and has four or more photographing cameras C1, C3, C6. , C8, and the image capturing process (S020) and the captured image captured in the image capturing process (S020) are subjected to image analysis to correct the fluctuation of the measurement point, and the measurement point of the inspection object A with respect to the reference measurement point An image analysis processing step (S040 to S060) for automatically calculating a dimension between relative three-dimensional coordinates and a predetermined measurement point, and a predetermined value obtained in the image analysis processing step (S040 to S060). measurement The dimension between, and a check table entry process to fill the product appearance size measurement table B (S070).
This aspect is an invention of a measuring method corresponding to the structure dimension measuring system according to the first aspect of the present invention.

  A program according to the sixth aspect of the present invention is a computer-readable program for causing a computer to execute the structure dimension measuring method according to the fifth aspect.

In order to achieve the above object, a structure dimension measurement system according to a seventh aspect of the present invention is a structure dimension measurement system for measuring a dimension between predetermined measurement points of an inspection object A, A projection device that projects the pattern of the inspection object onto a flat horizontal plane, and imaging cameras C9 to C12 (not shown) arranged at two or more positions so that the pattern of the inspection object A projected onto the horizontal plane can be captured. The captured images captured by the capturing cameras C9 to C12 arranged at two or more positions are subjected to image analysis, and the relative two-dimensional coordinates relative to the reference measurement points of the most measurement points of the captured image are determined in advance. The image analysis processing unit 6 that automatically calculates the dimension between the measured points, and the inspection notation for entering the dimension between the predetermined measurement points determined by the image analysis processing unit 6 in the product external dimension measurement table B Entrance 7 and 2 or more And a control device 4 for controlling the photographing cameras C9 to C12 arranged at the positions and sequentially transmitting the photographed images taken by the photographing cameras C9 to C12 at two or more positions to the image analysis processing unit 6. .
When configured in this way. When the inspection object is in a stationary state, a system for measuring a new dimension using a projection pattern can be provided.

Moreover, the structure dimension measuring system which concerns on the 8th aspect of this invention is the inspection object A produced | generated based on the pattern of the inspection object A projected on the horizontal surface by the imaging | photography camera in the 7th aspect. The pattern of the inspection object A re-projected on the image is photographed, and the image analysis processing unit 6 analyzes the photographed image of the pattern of the inspection object A re-projected on the inspection object A.
When configured in this way. Since the pattern of the inspection object A used in the projection is reprojected and the dimension is measured, it is efficient.

  ADVANTAGE OF THE INVENTION According to this invention, the structure dimension measuring system and measuring method which measure a dimension automatically and quantitatively using image analysis also including the case where the test target object is in the state of fluctuation can be provided.

1 is a schematic diagram illustrating a configuration example of a structure dimension measurement system according to Embodiment 1. FIG. It is a figure which shows the example of the external appearance dimension measurement table | surface which concerns on Example 1. FIG. It is a figure which shows the example of the structure dimension measuring method which concerns on Example 1. FIG. FIG. 6 is a schematic diagram illustrating an arrangement example of photographing cameras according to a second embodiment. FIG. 6 is a schematic diagram illustrating an arrangement example of photographing cameras according to a third embodiment. FIG. 10 is a schematic diagram illustrating a configuration example of a structure dimension measuring system according to a fourth embodiment. FIG. 10 is a schematic diagram illustrating a configuration example of a structure dimension measuring system according to a fifth embodiment. FIG. 10 is a schematic diagram illustrating a configuration example of a structure dimension measuring system according to a sixth embodiment. It is a schematic diagram of the cross section of a tunnel. It is a figure which shows the example of a state which lifted RC segment with the crane. It is a figure which shows the example of the projection pattern of PC board. It is a figure which shows the example which reprojected the projection pattern on the PC board. It is a figure which shows the example which put the line of the fixed distance from the pattern to the reprojection pattern. It is a figure which shows the example of a label with a mark.

  Embodiments of the present invention will be described below with reference to the drawings. In the drawings, the same or similar members are denoted by the same or similar reference numerals, and redundant description is omitted.

In Example 1, the inspection object A lifted by the crane 2 is imaged by six imaging cameras C1 to C3, C5, and C7 to C8, and the position coordinates of the measurement point of the inspection object A1 using image analysis. An example of obtaining the dimension between the measurement points will be described.
In this embodiment, an RC (reinforced concrete segment) which is a part of a tunnel is handled as the inspection object A.

FIG. 9 is a schematic view of a cross section of a tunnel. FIG. 9A is a schematic view of a road, and FIG. 9B is a schematic view of a cross section of a railway tunnel. Most of the underground lifelines (road / railway tunnels, water and sewage pipes, electric power / telephone pipes) that support urban life are constructed with the RC segment A using the shield method, and the tunnel 10 is connected to the RC segment A. Composed.
In FIG. 9A, a road 12 is laid inside the tunnel 10, and an automobile 13 passes through the road 12. In FIG. 9B, a track 14 is laid inside the tunnel 10, and a train 15 passes thereover.
The RC segment A is cast by pouring concrete into a segment mold that contains a reinforcing steel frame, and is pressed and solidified by a lid mold. After that, the mold is removed, and it is dipped and cured in water in order to increase the strength. The RC segment A is lifted from the water and lifted by the crane 2 when moving.

  FIG. 10 shows a state example in which the RC segment A is lifted by the crane 2. Since the RC segment A is heavy, when it is lifted, it is in a long-period fluctuation state, the amplitude gradually decreases, and eventually stops. It swings again when external force is applied.

FIG. 1 is a schematic diagram illustrating a configuration example of a structure dimension measuring system 1 according to the first embodiment.
In the figure, the RC segment A is in a state of being lifted by the crane 2. In the present embodiment, a photograph is taken in a state where the crane 2 is lifted up, and a three-dimensional coordinate relative to a reference measurement point (for example, D1) of a measurement point of the RC segment A and a predetermined measurement point are taken from the photographed image. Automatically calculate the dimension between. The RC segment A has six surfaces and has an arcuate curved surface.
If the condition that any of the six surfaces is photographed from three or more directions is provided, the six photographing cameras C1 to C3, C5, and C7 to C8 each have vertices D1 to D3 at which the three surfaces and the three surfaces gather. It is provided at a position where D5, D7 to D8 can be photographed. The six photographing cameras C1 to C3, C5, C7 to C8 are fixed to, for example, support columns F1 to F3, F5, F7 to F8 (for the sake of simplicity, only F1 and F5 are shown). And in order to eliminate the influence of fluctuation, the RC segment A is shot simultaneously with all the shooting cameras related to shooting.

  The crane operating device 3 controls the movement, lifting and hanging of the crane hook. The control device 4 controls the shutters and exposure of the photographing cameras C1 to C3, C5, C7 to C8. Here, for the sake of simplicity, the positions of the photographing cameras C1 to C3, C5, C7 to C8 are fixed by the support columns F1 to F3, F5, F7 to F8, respectively, but the support columns F1 to F3, F5, F7 to F8 It may be possible to move in the vertical direction, in the horizontal direction, and to rotate in the optical axis direction with respect to F, and to perform these controls. The captured image is acquired by the control device 4 via the communication code lines E1 to E3, E5, E7 to E8, and is stored in the storage unit 5.

  The image analysis processing unit 6 obtains the three-dimensional coordinates of the feature points (measurement points) from the image processing unit 6A that performs image processing / editing on the photographed image, and two or more images photographed simultaneously, and further measures the dimension between the measurement points. A three-dimensional coordinate measuring unit 6B. The image processing unit 6A performs image processing such as feature point (measurement point) extraction, edge extraction, noise removal, enlargement / reduction, coordinate transformation (Helmart transformation, affine transformation, projective transformation, etc.). As a result, an image obtained by viewing each surface from the vertical direction (herein referred to as an ortho image) is obtained.

  When the triangulation method is used for the measurement points of the captured images of the two imaging cameras whose intervals are known, the three-dimensional coordinates of the measurement points can be obtained. For example, one vertex (corner) D1 of the object is set as a reference feature point (reference measurement point), a predetermined measurement point is found, and three-dimensional coordinates are calculated sequentially using trigonometry. Further, a dimension between predetermined measurement points is obtained. In this embodiment, each measurement point is captured by three captured images, so that the accuracy of the three-dimensional coordinates is improved.

The inspection table entry unit 7 automatically fills the product external dimension measurement table B with the dimension between measurement points obtained by the image analysis processing unit 6. Although the dimensional accuracy varies depending on the product and usage, for example, the RC segment requires an accuracy of ± 0.1 mm.
The control device 4 controls the image analysis processing unit 6 </ b> A, the three-dimensional coordinate measuring device 6 </ b> B, and the inspection table entry unit 7, and the data flow between these devices and the control device 4. The control device 4, the image analysis processing unit 6, and the inspection table entry unit 7 can be realized by a personal computer PC. These may be configured in the same personal computer or in separate personal computers. The storage unit 5 may be configured in the same personal computer as the control device 4, may be configured as an external storage device outside the personal computer, or may be configured in the cloud.

It is also preferable to attach a marked label to a feature point (measurement point) or mark it with a marker so that the feature point can be understood even from a distance.
FIG. 14 shows an example of a marked label. FIG. 14 (a) is an example in which the + character mark is two labels, and FIG. 14 (b) is an example in which a mark with a + in the circle is two labels. For example, the label with two + characters in FIG. 14A is pasted so that the center of one cross coincides with the feature point. Then, the distance between the feature points (for example, hs1 to hs6, BLs1 to BLs3, BUs1 to BUs3, see FIG. 2) may be measured by measuring the distance between the centers of the two + character marks. In this example, the feature point becomes the edge of the segment. For such a feature point, for example, a + character is pasted at a certain distance from the edge (in this example, when measuring the distance between two feature points to be measured, the + The letter mark is shifted and pasted in the direction of one plane). If it does so, it can correct | amend to the distance between the centers of two + character marks measured, and can obtain | require the distance between feature points.

Since the label having two + character marks in FIG. 14A has a constant distance between the two + character marks, this length can be used as a reference ruler. That is, in the captured image, the distance between the feature points can be obtained using this reference ruler. In this case, the two reference rulers are preferably arranged so as to be orthogonal to each other. Then, in the captured image, the length of the reference ruler in all directions can be obtained in addition to the direction of the reference ruler.
Moreover, it is not always necessary to paste the cross so that the center of one cross coincides with the feature point. When obtaining this label near the measurement point, for example, the distance between two feature points, at least the two feature points and two sets of labels (one set of labels are two labels having different directions) in one photographed image. Is taken), the distance between the two feature points can be obtained.

In FIG. 14 (b), a mark with a + in the circle is two labels. For example, when this mark is used, the direction in which the circle diameter is the longest in the captured image is the direction perpendicular to the optical axis of the camera on the surface of the measurement object A, and the direction in which the circle diameter is the shortest is measured. This is a direction rotated about the direction perpendicular to the optical axis of the camera on the surface of the object A as an axis. Then, the inclination angle of the object surface with respect to the optical axis of the camera can be found from the ratio of the shortest diameter and the longest diameter. In addition, the distance from the camera to the center of the + character can be determined from the dimension in the photographed image of the diameter in the direction in which the image is projected the longest. Further, since the diameters of the circles attached to the surface of the object are known, the position of each measurement point in the captured image is known from these data, and the distance between each feature point is also obtained. In addition, when a mark is affixed to a ridgeline, it is good to make it thick so that a cross part can be seen well.
In addition to the above feature, since the distance between the two + marks is a constant value, this length can be used as a reference ruler. Moreover, it is good to arrange | position so that two reference | standard rulers may be orthogonally crossed. Then, in the captured image, the length of the reference ruler in all directions can be obtained in addition to the direction of the reference ruler.

  It is also possible to use a stamp instead of a label. Instead of sticking a label, stamp it. In the case of a stamp, the straight line distance between marks is constant even if it is imprinted on a curved surface. On the other hand, in the case of a label, it can also be affixed to the edge.

  FIG. 2 shows an example of the product appearance dimension measurement table. 2A is an example of a face view of an RC segment, FIG. 2B is an example of a product appearance dimension measurement table B, and FIG. 2C is an example of a determination criterion. It is required to measure and fill in the dimensions of the measurement location shown in the face drawing with an accuracy of about ± 1 mm. Dimensions hs1 to hs6, BLs1 to BLs3, BUs1 to BUs3, arc length, joint pitch, fire resistance (clearance between steel shell and refractory concrete, not shown), and appearance confirmation are within standard values. If it is, the inspection object A is passed. Appearance confirmation can also be confirmed with a photographed image. The dimensions between all these measurement points are automatically measured by the structure dimension measurement system 1 and automatically entered in the dimension product appearance dimension measurement table B between the measurement points. In addition, the surface which measures hs1-hs3 and the surface which measures hs4-hs6 are parallel.

  FIG. 3 shows a structure dimension measuring method in this embodiment. First, the inspection object A is suspended by the crane 2 at a predetermined position surrounded by the photographing cameras C1 to C3, C5, and C7 to C8 (S010). With the shaking temporarily settled, the shutters are simultaneously released by the photographing cameras C1 to C3, C5, C7 to C8, and the inspection object A is photographed to obtain a photographed image (S020). The captured image is stored in the recording unit 5 (S030). Next, the captured image is processed and converted to an ortho image (S040). Next, the three-dimensional position of the measurement point (for example, the center of the attached mark) of the photographed image is obtained (S050), the dimension between the measurement points is obtained (S060), and automatically entered in the product appearance dimension measurement table B (S060). S070). As a result, the inspection table is efficiently completed without human intervention.

  As described above, according to the present embodiment, it is possible to provide a structure dimension measuring system and a measuring method for measuring dimensions automatically and quantitatively using image analysis, including the case where the inspection object is in a state of fluctuation. .

In the first embodiment, the inspection object A is photographed by six photographing cameras. In this embodiment, an example in which eight photographing cameras are used will be described.
FIG. 4 shows an arrangement example of the photographing cameras C1 to C8 in the present embodiment. Compared to the first embodiment, two photographing cameras are added. When there are eight photographing cameras, each surface of the RC segment that is the inspection object A is photographed by four photographing cameras. Therefore, compared to the first embodiment, the accuracy of the three-dimensional coordinates of the measurement points is improved, and the accuracy of the dimension between the measurement points is also improved.
Other configurations and processing flow are the same as those in the first embodiment. In this embodiment as well, the dimensions are automatically and quantitatively measured using image analysis, even when the inspection object is in a state of fluctuation. It is possible to provide a structure dimension measuring system and a measuring method.

In the first embodiment, the inspection object is photographed by six photographing cameras. In this embodiment, an example in which four photographing cameras are used will be described.
FIG. 5 shows an arrangement example of the photographing cameras C1, C3, C6, and C8 in the present embodiment. Compared to the first embodiment, two photographing cameras are reduced. When four photographing cameras are used, each surface of the RC segment that is the inspection object A is photographed by two photographing cameras. Therefore, compared with Example 1, the accuracy of the three-dimensional coordinates of the feature points is inferior, and the measured dimensional accuracy is also inferior.
However, the other configurations and the processing flow are the same as those in the first embodiment. In this embodiment as well, the dimensions are automatically and quantitatively determined using image analysis, including the case where the inspection object is in a swinging state. A structure dimension measuring system and a measuring method for measuring

In Example 4, an example in which laser measurement is further combined with Example 1 will be described.
FIG. 6 is a schematic diagram illustrating a configuration example of a structure dimension measuring system 1C according to the fourth embodiment. Compared to the first embodiment (see FIG. 1), a laser side length device 16 is added. When the laser beam is irradiated to the feature point from the laser side elongated device 16, the distance between the laser irradiation point and the feature point is obtained from the time until the reflected light from the feature point is detected. Then, the three-dimensional coordinates of the measurement point can be obtained from the irradiation direction of the laser light and the obtained distance. Therefore, if a measurement point to be measured (for example, D1) and laser irradiation to other measurement points to be measured are simultaneously performed and the measurement points to be measured are sequentially changed, the measurement points to be measured It is possible to obtain relative three-dimensional coordinates with respect to the reference measurement point D1 serving as a reference for the above.

Since automatic tracking of measurement points using laser light requires equipment costs, in this embodiment, adjustment is performed manually, and the three-dimensional coordinate measurement of measurement points in Embodiment 1 is supplemented. Thereby, the precision of three-dimensional coordinate measurement improves and the precision of the dimension between predetermined measurement points also improves. If a mark with a + character in the circle is used, after the laser beam enters the circle, the laser beam direction can be programmed to follow the movement of the center of the + character, thereby partially tracking automatically. It is feasible.
The correction unit 9 can be realized by a personal computer PC. These may be configured in the same personal computer as the control device 4, or may be configured in another personal computer.
Other configurations and processing flow are the same as those in the first embodiment. In this embodiment as well, the dimensions are automatically and quantitatively measured using image analysis, even when the inspection object is in a state of fluctuation. It is possible to provide a structure dimension measuring system and a measuring method.

In the fifth embodiment, an example in which the temperature sensor 17A, the humidity sensor 17B, the wind speed sensor 17C, and the wind direction sensor 17D are further combined with the first embodiment will be described.
FIG. 7 is a schematic diagram illustrating a configuration example of a structure dimension measuring system 1D according to the fifth embodiment. The dimension of RC segment A is considered to vary depending on temperature and humidity. In addition, when the RC segment A is suspended by a crane, the three-dimensional position coordinates are considered to be affected by the wind speed and direction. Therefore, the structure dimension measurement system 1D includes a temperature sensor 17A, a humidity sensor 17B, a wind sensor 17C, and a wind direction sensor 17D, and the three-dimensional position coordinates of feature points or data of predetermined appearance dimensions are used as the data of these sensors. By associating, the relevance can be analyzed from the accumulated data.
The environment correction unit 10 can be realized by a personal computer PC. These may be configured in the same personal computer as the control device 4, or may be configured in another personal computer.
Other configurations and processing flow are the same as those in the first embodiment. In this embodiment as well, the dimensions are automatically and quantitatively measured using image analysis, even when the inspection object is in a state of fluctuation. It is possible to provide a structure dimension measuring system and a measuring method.

In the fourth embodiment, an example will be described in which the drone 18 is used to measure a measurement point at a place that is difficult to see from a distant position such as a recess or a hole.
FIG. 8 is a schematic diagram illustrating a configuration example of a structure dimension measuring system 1E according to the sixth embodiment. FIG. 8A shows an example of measuring an RC segment, and FIG. 8B shows an example of measuring a bridge. In FIG. 8A, a drone 18 is added in addition to the first embodiment. Since the drone 18 is movable, the drone 18 is suitable for photographing a portion of the inspection object A that is not visible or difficult to see with the photographing cameras C1 to C3, C5, and C7 to C8. For example, the inside of a hole, the recessed part, the shade of a convex part, the part which becomes a shade of a crane, etc. Since the position of the drone 18 is indefinite, it is preferable to mount the GPS. Moreover, it is preferable to release the shutters of the drone 18 and the photographing cameras C1 to C3, C5, and C7 to C8 at the same time. It is also possible to photograph a plurality of drones simultaneously. In addition, about the measurement point which becomes a shadow of a crane, it can correct | amend, for example by making the two points which have the symmetrical relationship on both sides of the said measurement point into a new measurement point.
Other configurations and processing flow are the same as those in the first embodiment. In this embodiment as well, the dimensions are automatically and quantitatively measured using image analysis, even when the inspection object is in a state of fluctuation. It is possible to provide a structure dimension measuring system and a measuring method.

  FIG. 8B is an example of measuring a bridge with a drone. In the above embodiment, an example in which the RC segment is measured has been described. However, if a drone is used, the photographing camera can be mounted on the drone 18 and moved, so that the width of the structure that can be measured is widened. It is also possible to inspect.

In the above embodiment, the example in which the segment A is measured by photographing as the inspection object has been described. In the seventh embodiment, an example in which the projection pattern is used for the PC board A1 as the inspection object and measurement is performed by photographing. .
PC board (prestressed concrete board) is concrete that has been pre-stressed and prevents cracking due to tensile stress by preventing tensile stress from being generated when a load is applied. Used for condominium walls. In this embodiment, measurement of dimensions related to a mold for manufacturing a PC plate will be described.

  FIG. 11 is a diagram showing an example of the projection pattern of the PC board. PC boards are manufactured in molds into which concrete is poured. 21 is an inner wall of a formwork. A projection pattern of the PC board is projected into the mold by a projector (not shown). Reference numerals 22 to 26 denote projection patterns projected onto the bottom surface of the mold. Reference numeral 22 denotes an outer frame of the PC board, and concrete is poured into the inside. 23 is a through-hole for windows, 24 is a through-hole for ducts, and the inside of these is a portion where no concrete flows. 25 is a recess for an outlet box, and a recess from the bottom surface of the mold frame to a predetermined height is formed on the inside. Reference numeral 26 denotes a wiring groove, in which a groove from the bottom surface of the mold frame to a predetermined height is formed.

  A formwork for flowing concrete is formed along the projected pattern. For example, an iron plate is stretched along the outer frame 22 of the PC plate, and concrete is caused to flow inside. An iron plate is stretched along the through-hole 23 for windows and the through-hole 24 for ducts, and concrete will be flowed outside them. For example, an iron box is placed in the outlet box recess 25 and the wiring groove 26 up to a predetermined height, and the outlet box recess 25 and the wiring groove 2 are formed on the PC board so that concrete does not enter. I am doing so.

  Here, the dimension of the PC board manufacturing formwork is measured using the pattern projected on the bottom surface of the formwork. For example, the distance between the side surface 21 of the mold and the reinforcing bar embedded in the concrete (cover), the distance between the frame 22 of the PC board and the through hole 23 for the window, between the frame 22 of the PC board and the through hole 24 for the duct , Vertical and horizontal dimensions of the through-holes 23 for windows, vertical and horizontal dimensions of the through-holes 24 for ducts, intervals between the PC board frame 22 and the outlet box recess 25, and between the PC board frame 22 and the wiring grooves 26. A predetermined portion is selected from the interval, the vertical and horizontal dimensions of the outlet box recess 25, the horizontal width and length of the wiring groove 26, and the like to be inspected. The dimensional accuracy is, for example, 2 to 3 mm. For example, the inspection method is obtained by calculating from photographed images photographed by photographing cameras C9 to C12 (not shown) from the four corners of the mold. Since the subject is stationary, the shutter times of the photographing cameras C9 to C12 are not necessarily adjusted.

  Next, an iron plate or an iron box is arranged to form a mold, a reinforcing bar is arranged in the mold, and concrete is poured into the mold. Concrete is poured and pressed before solidifying. Measured for PC boards completed after concrete has solidified.

  FIG. 12 is a diagram illustrating an example in which a projection pattern is re-projected on a PC board. It is desirable that the position and the magnification of the projector are the same as those at the time of projection in FIG. However, since the position of the projected pattern is higher by the thickness of the PC board, if the same magnification is used, the projected pattern will be slightly reduced by that amount, so even if the magnification is slightly increased to correct this during projection. good. Since the depth of the formwork is at most 5 to 10 cm, this correction may be ignored. In FIG. 12, the position of the reprojection pattern 27 is slightly shifted, but it is desirable to match the edge of the PC board. If the edge of the PC board and the position of the reprojection pattern 27 are completely coincident with each other, it can be said that no deviation has occurred in the process of manufacturing the PC board. In such a case, measurement can be performed efficiently. If there is a portion that does not match, the shift of the portion is calculated from, for example, a photographed image photographed by photographing cameras C9 to C12 (not shown) from the four corner directions of the mold. If the magnitude of the deviation is within an allowable error in combination with the dimensional error of the mold, for example within 2 to 3 mm, the manufactured PC board can be said to be acceptable. When the projection pattern is re-projected on the PC board, the outlet box recess 25 and the wiring groove 26 are not visible. Therefore, it is preferable that the PC board is taken out and checked by taking a picture with a photographing camera.

  FIG. 13 is a diagram illustrating an example in which a line 28 having a constant distance from the reprojection pattern 27 is inserted into the reprojection pattern 27. In the case of FIG. 12, when the reprojection pattern 27 deviates from the PC board, the reprojection pattern 27 becomes invisible. Therefore, if a line 28 is added at a certain distance in the direction in which the concrete flows from the reprojection pattern 27, that is, the direction in which the PC board is formed, the line 28 added to the reprojection pattern 27 is always on the PC board. Therefore, when the distance between the PC board and the line 28 is calculated from a photographed image photographed by photographing cameras C9 to C12 (not shown), a dimensional deviation can be obtained.

  As described above, also in the present embodiment, it is possible to provide a structure dimension measuring system and a measuring method for measuring dimensions automatically and quantitatively using image analysis. Further, when the inspection object is in a stationary state, a method for measuring a new dimension using a projection image can be provided.

  Although the present embodiment has been described above, the present invention is not limited to the above embodiment, and it is obvious that various modifications can be made to the embodiment without departing from the spirit of the present invention. is there.

For example, in Examples 1 to 6, an example in which an RC segment that is an inspection object is suspended is measured, and in Example 7, a PC board that is an inspection object is measured using a projection pattern. However, the first to sixth embodiments that are measured in a suspended state can be applied to the PC board, and the seventh embodiment that is measured using the projection pattern can also be applied to the RC segment.
Further, for example, in Examples 1 to 6 described above, an example in which the inspection object is an RC segment has been described, but the size and shape of the RC segment itself are various. For example, there are various types such as a taper formed in the thickness direction, presence / absence of a hole for piping, a position of a hole, and a shape of a joint. However, the above embodiments can be applied. What is invisible and difficult to see can be complemented by camera shooting when the camera is stationary on the ground, or by camera shooting by a human hand or a robot including a drone even when suspended in the air.

In the above embodiment, an example in which a plurality of cameras are used for simultaneous imaging has been described. However, if the position can be grasped as a function of time due to fluctuations in the inspection object, correction can be made even if there is a difference in shutter time, for example, within one second. It is. In the above embodiments, the position of the photographing camera is fixed. However, it is also possible to adopt a configuration that enables vertical / horizontal movement and rotation around the support column. Further, under the condition that it is not always necessary to simultaneously photograph, a person may carry a photographing camera to a predetermined place and photograph within a predetermined time. In the above embodiment, first, the three-dimensional coordinates of the measurement points are obtained, and then the dimension between the measurement points is obtained. However, the distance between the measurement points on the ortho image is converted by converting the captured image into an ortho image. The distance between the measurement points of the RC segment may be obtained. In addition, the installation position of the photographing camera can be changed within a range in which a plurality of surfaces of a predetermined RC segment can be seen. In addition, the use of color photographing, the exposure time, and the like can be set as appropriate.
Further, for example, in the seventh embodiment, an example in which the inspection object is a PC board has been described, but there are various sizes and shapes of the PC board itself. For example, it is also used for floors and ceilings of condominiums, other buildings, bridges, and various shapes. However, the above embodiments can be applied. Furthermore, the inspection object is not limited to the RC segment and the PC board, and can be applied to a wide variety of structures.

  The present invention can be used for a structure dimension measuring system and a measuring method.

1, 1A to 1D Structure dimension measuring system 2 Crane 3 Crane operating device 4 Control device 5 Storage unit 6 Image analysis processing unit 6A Image processing unit 6B Three-dimensional coordinate measuring unit 7 Inspection table entry unit 8 Laser side length device 9 Correction unit 10 Environment corrector 11 Reinforced concrete pipe 12 Road 13 Car 14 Track 15 Train 16 Laser side device 17A Temperature sensor 17B Humidity sensor 17C Wind flux sensor 17D Wind direction sensor 18 Drone 21 Outer frame 22 PC board frame 23 Window through hole 24 For duct Through hole 25 Outlet box recess 26 Wiring groove 27 Reprojection pattern 28 Line A at a fixed distance from the reprojection pattern Inspection object (RC segment)
A1 Inspection object (PC board)
B Appearance dimension measurement table C1-C12 Shooting camera D1-D8 Vertex E1-E8 of RC segment Communication code line F1-F8 Support pillar

Claims (8)

A structure dimension measurement system for measuring a dimension between predetermined measurement points of an inspection object;
A photographic camera arranged so that a measurement point of a swinging inspection object can be photographed by a photographic camera arranged at two or more positions, wherein the photographing camera is arranged at four or more positions;
Analyzing the captured image captured by the imaging camera, correcting the fluctuation of the measurement point, the relative measurement point of the measurement point of the inspection object relative to the reference measurement point and the predetermined measurement point An image analysis processing unit for automatically calculating the dimension between them;
An inspection table entry unit for entering the dimensions between the predetermined measurement points determined by the image analysis processing unit in a product appearance dimension measurement table;
A control device that controls the photographing cameras installed at the four or more positions to simultaneously photograph, and sequentially transmits the photographed images photographed by the photographing cameras installed at the four or more positions to the image analysis processing unit; Comprising:
Structure dimension measurement system. A three-dimensional shape measurement system for measuring a dimension between predetermined measurement points of an inspection object;
A photographic camera arranged so that a measurement point of a swinging inspection object can be photographed by a photographic camera arranged at two or more positions, wherein the photographing camera is arranged at four or more positions;
Analyzing the captured image captured by the imaging camera, correcting the fluctuation of the measurement point, the relative measurement point of the measurement point of the inspection object relative to the reference measurement point and the predetermined measurement point An image analysis processing unit for automatically calculating the dimension between them;
An inspection table entry unit for entering the dimensions between the predetermined measurement points determined by the image analysis processing unit in a product appearance dimension measurement table;
The photographing cameras installed at the four or more positions are controlled to photograph within a predetermined time, and the photographed images photographed by the photographing cameras installed at the four or more positions are sequentially transmitted to the image analysis processing unit. A control device;
A label having a constant distance between marks is affixed or stamped on the inspection object near the measurement point;
Structure dimension measurement system. A laser side length device for measuring a distance from a light source to the measurement point;
A correction unit that corrects a dimension between the predetermined measurement points using a distance to the measurement point measured by the laser side length device;
The structure dimension measuring system according to claim 1 or 2. A temperature sensor or humidity sensor for measuring the temperature or humidity at the measurement site;
An environment correction unit that corrects the dimension between the predetermined measurement points by temperature or humidity;
The structure dimension measuring system according to any one of claims 1 to 3. A structure dimension measuring method for measuring a dimension between predetermined measurement points of an inspection object;
A photographing camera arranged so that the measurement points of the fluctuating inspection object can be photographed by photographing cameras disposed at two or more positions, wherein the photographing step is performed simultaneously with four or more photographing cameras;
Analyzing the captured image captured in the imaging step, correcting fluctuation of the measurement point, and relative three-dimensional coordinates with respect to a reference measurement point of the measurement point of the inspection object and the predetermined measurement point An image analysis processing step for automatically calculating the dimension between them;
An inspection table entry step for entering the dimensions between the predetermined measurement points obtained in the image analysis processing step in a product appearance dimension measurement table B;
Structure dimension measurement method.   A computer-readable program for causing a computer to execute the structure dimension measuring method according to claim 5. A structure dimension measurement system for measuring a dimension between predetermined measurement points of an inspection object;
A projection device that projects the pattern of the inspection object onto a flat horizontal plane;
The imaging camera disposed at two or more positions so as to image the pattern of the inspection object projected onto the horizontal plane;
Image analysis is performed on the captured images captured by the imaging cameras arranged at the two or more positions, and the two-dimensional coordinates relative to the reference measurement point of the most measurement points of the captured image and the predetermined measurement are determined. An image analysis processing unit for automatically calculating the dimension between points;
An inspection table entry unit for entering the dimensions between the predetermined measurement points determined by the image analysis processing unit in a product appearance dimension measurement table;
A control device that controls the photographing cameras disposed at the two or more positions and sequentially transmits the photographed images photographed by the photographing cameras disposed at the two or more positions to the image analysis processing unit;
Structure dimension measurement system. The imaging camera images the pattern of the inspection object reprojected onto the inspection object created based on the pattern of the inspection object projected onto the horizontal plane;
The image analysis processing unit analyzes a captured image of the pattern of the inspection object re-projected on the inspection object;
The structure dimension measuring system according to claim 7.

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