JP2018179780A - Measurement method of three-dimensional shape - Google Patents

Abstract

PROBLEM TO BE SOLVED: To quickly perform a measurement work by reducing time and labor of the installation and the removal of a target used for the measurement of a three-dimensional shape and to grasp a thickness of a member that configures a surface of a measurement target in addition to the grasping of a surface shape of a measurement object.SOLUTION: An imaging is performed in a state that position standard implements 1 having a plurality of position recognition targets 2 and a target support body 3 attached with the plurality of position recognition targets 2 and forming an interval between position recognition targets 2 are attached to a top surface of a measurement object. In addition, a shape of the top surface of the measurement target recognized by the imaging is compared with the shape of the top surface of the member that constitutes the top surface of the measurement object specified based on a design dimension in a state that the position of the top surface of the member that constitutes a back surface of the specified measurement object based on the design dimension at the position distant by a thickness of the member constituting the front surface of the measurement target actually measured from the shape of the surface of the measurement object recognized by the imaging.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a method of measuring a three-dimensional shape. More specifically, the present invention relates to a technique suitable for use in measuring the three-dimensional shape of the surface of an object using, for example, triangulation.

  As a conventional technique for measuring the three-dimensional shape of the surface of an object using a laser scanner that emits laser light and receives the reflected light, the scan area is appropriately set according to the three-dimensional shape of the object. When scanning by the laser scanner for each scan area is repeatedly performed for each scan area and point cloud data is acquired for each scan area, the scan areas overlap with each other to obtain a reference point. It is known that a plurality of targets for three-dimensional shape measurement are attached to the overlap portion of the two, and point cloud data for each scan area is combined with each other via a reference point to acquire three-dimensional shape data of an object. (Patent Document 1).

JP, 2009-204449, A

  However, with the conventional three-dimensional shape measurement technology, although it is possible to measure the shape of the surface of the object, it is not possible to measure the shape on the opposite side of the surface or the shape of the inside, It is not possible to grasp the thickness of the constituent members.

  The conventional three-dimensional shape measurement technique also attaches a target for measurement to a target object each time a plurality of measurement targets serving as reference points when combining point cloud data for each scan area is measured and ends There is a problem that it is necessary to remove the object from the object, and it takes a lot of time and effort to attach and remove the measurement target, and the measurement operation can not be performed efficiently and quickly.

  Therefore, an object of the present invention is to provide a three-dimensional shape measuring method capable of grasping the thickness of a member constituting the surface of the measurement object in addition to grasping the surface shape of the measurement object. Another object of the present invention is to provide a method of measuring a three-dimensional shape capable of quickly performing a measurement operation by reducing the time for installation and removal of a target used for measuring a three-dimensional shape.

  In order to achieve the above object, according to the method of measuring a three-dimensional shape of the present invention, the measuring light emitted from the light irradiation unit toward the surface of the measurement object and the measurement light irradiated to the surface of the measurement object The shape of the surface of the object to be measured is recognized from the measurement light taken by the pair of light receiving portions and the light receiving portions photographed by the pair of light receiving portions, and the thickness of the member constituting the surface of the measurement object is measured. The shape of the surface and the back of the member is specified based on the design dimensions of the member constituting the surface of the object to be measured, and the thickness of the member constituting the surface of the object to be measured is measured. The surface of the measurement object specified based on the design dimensions at a position separated by the thickness of the member constituting the surface of the measurement object measured from the shape of the surface of the measurement object recognized by photographing Align the back of the component to be configured State, the shape of the surface of the member constituting the surface of the measurement object, which is specified based on the shape and design dimensions of the surface of the recognized measurement object is to be compared by imaging.

  Therefore, according to the method of measuring the three-dimensional shape, the wall thickness of the member constituting the surface of the measurement object is measured, and the shapes of the surface and the back of the member are specified based on the design dimensions, and then the position of the back is adjusted. Since the shape of the surface of the measurement object recognized by photographing in the state of the object and the shape of the surface of the measurement object specified based on the design dimensions are compared, it is possible to grasp the surface shape of the measurement object In addition to the above, the distribution of thickness reduction and the distribution of thickness of members constituting the surface of the measurement object are grasped.

  The three-dimensional shape measurement method according to the present invention comprises a plurality of position recognition targets and a target support on which the plurality of position recognition targets are attached and in which gaps are formed between the position recognition targets. The position positioning tool is mounted on the surface of the measurement object and installed, and the measurement light is emitted from the light irradiation unit toward the surface of the measurement object and the position recognition target of the position positioning tool and the measurement object The measurement light emitted to the surface is photographed by the pair of light receiving units, the shape of the surface of the measurement object is recognized from the measurement light photographed by the pair of light reception units, and the surface of the measurement object is configured. The thickness of the member is measured, and the shape of the surface and the back surface of the member are specified based on the design dimensions of the member constituting the surface of the measurement object, and the surface of the measurement object is configured. At the position where the wall thickness of the member was actually measured, and the design dimension at a position separated by the wall thickness of the member constituting the surface of the measurement object measured from the shape of the surface of the measurement object recognized by photographing Of the measurement object identified based on the shape and design dimensions of the surface of the measurement object recognized by photographing in a state in which the back surface of the member constituting the surface of the measurement object identified on the basis of FIG. The shape of the surface of the member constituting the surface may be compared.

  According to this three-dimensional shape measurement method, the thickness of the member constituting the surface of the measurement object is measured, and the shapes of the surface and the back surface of the member are specified based on the design dimensions, and then the back surface is aligned. In addition to the grasp of the surface shape of the measurement object, the shape of the surface of the measurement object identified based on the design dimensions and the shape of the surface of the measurement object recognized by photographing in FIG. Thus, the distribution of thickness reduction and the distribution of thickness of members constituting the surface of the measurement object are grasped.

  According to this method of measuring the three-dimensional shape, since the position adjustment tool in which a plurality of position recognition targets are attached to the target support is attached to the surface of the object to be measured, imaging is performed. The measurement operation is performed in a short time without taking the time and effort of individually attaching and detaching the targets used for measurement of the three-dimensional shape.

  Further, according to the method of measuring a three-dimensional shape of the present invention, a cone-like position-based indentation is formed on the surface of the measurement object, and then the imaging and measurement object is included in the range. The shape of the surface is recognized at multiple points, and the amount of thickness reduction at the location of the position-based indentation is specified based on the change in the shape of the opening on the surface of the measurement object of the position-based indentation. The shapes of the surfaces of the objects to be measured at a plurality of points in time may be compared in a state of being shifted by the amount of the thickness reduction. In this case, since the distribution of the thickness reduction amount on the surface of the measurement object is grasped as the difference of the surface shape at a plurality of time points, in addition to the grasp of the surface shape of the measurement object, the surface of the measurement object is The distribution of the thickness reduction amount of the constituent members is grasped.

  Further, in the method of measuring a three-dimensional shape according to the present invention, a marker is attached to the surface of the measurement object, and the measurement light is emitted from the light irradiation unit toward the surface of the measurement object and the marker is irradiated. The measurement light is photographed by the pair of light receiving units, the position of the marker is recognized from the measurement light photographed by the pair of light receiving units, and the marker is removed from the surface of the measurement object and the measurement is performed at the marker position. The thickness of the member constituting the surface of the object is measured, and the measurement light is emitted from the light irradiation unit toward the surface of the measurement object in a state where the marker is removed from the surface of the measurement object. The measurement light emitted to the surface of the object is photographed by the pair of light receiving units, the shape of the surface of the measurement object is recognized from the measurement light photographed by the pair of light receivers, and the surface of the measurement object is Based on the design dimensions of the constituent members The shape of the surface of the member and the shape of the back surface of the member are specified, and the surface of the measurement object measured from the shape of the surface of the measurement object recognized by imaging at the position of the marker recognized by imaging The surface of the measurement object recognized by photographing in a state in which the back surface of the member constituting the surface of the measurement object specified based on the design dimensions is aligned with the position separated by the thickness of the member to be configured The shape of the surface of the member constituting the surface of the measurement object specified based on the shape of the shape of the object and the design size may be compared.

  According to this three-dimensional shape measurement method, the thickness of the member constituting the surface of the measurement object is measured at the position of the marker recognized by photographing, and the shape of the surface and the back of the member based on the design dimensions The shape of the surface of the measurement object recognized by shooting with the back surface aligned at the marker position and the shape of the surface of the measurement object specified based on the design dimensions are compared In addition to grasping the surface shape of the measurement object, the distribution of thickness reduction and thickness distribution of the members constituting the surface of the measurement object indicate the positions of the markers recognized by photographing. It will be understood more accurately by setting it as a standard.

  The three-dimensional shape measurement method according to the present invention comprises a plurality of position recognition targets and a target support on which the plurality of position recognition targets are attached and in which gaps are formed between the position recognition targets. The position alignment tool having is attached and installed on the surface of the measurement object, and further, a marker is attached to the surface of the measurement object, and the measurement light is emitted from the light irradiation unit toward the surface of the measurement object At the same time, the position recognition target of the position fix tool and the measurement light irradiated to the marker are photographed by the pair of light receiving units, and the position of the marker is recognized from the measurement light photographed by the pair of light receiving units. The marker is removed from the surface of the object, and the thickness of the member constituting the surface of the measurement object is measured at the position of the marker, and furthermore, the position mark relative to the surface of the measurement object While the tool is installed, with the marker removed from the surface of the measurement object, the measurement light is emitted from the light irradiation unit toward the surface of the measurement object and the position recognition target and measurement of the position locating tool The measurement light irradiated onto the surface of the object is photographed by the pair of light receiving units, and the shape of the surface of the measurement object is recognized from the measurement light photographed by the pair of light receivers, and the surface of the measurement object The shape of the front surface and the back surface of the member is specified based on the design dimensions of the member constituting the member, and the shape of the surface of the measurement object recognized by photographing at the position of the marker recognized by photographing Photographing in a state where the back surface of the member constituting the surface of the measurement object specified based on the design dimensions is aligned with the position separated by the thickness of the member constituting the measured surface of the measurement object By The shape of the surface of the member constituting the surface of the identified measurement object based on the shape and design dimensions of the surface of the measurement object which is may also be compared.

  According to this three-dimensional shape measurement method, the thickness of the member constituting the surface of the measurement object is measured at the position of the marker recognized by photographing, and the shape of the surface and the back of the member based on the design dimensions The shape of the surface of the measurement object recognized by shooting with the back surface aligned at the marker position and the shape of the surface of the measurement object specified based on the design dimensions are compared In addition to grasping the surface shape of the measurement object, the distribution of thickness reduction and thickness distribution of the members constituting the surface of the measurement object indicate the positions of the markers recognized by photographing. It will be understood more accurately by setting it as a standard.

  According to this method of measuring the three-dimensional shape, since the position adjustment tool in which a plurality of position recognition targets are attached to the target support is attached to the surface of the object to be measured, imaging is performed. The measurement operation is performed in a short time without taking the time and effort of individually attaching and detaching the targets used for measurement of the three-dimensional shape.

  Further, in the method of measuring a three-dimensional shape according to the present invention, after the cone-like position reference mark is formed on the surface of the measurement object, the position locating tool is installed on the surface of the measurement object On the other hand, in a state where the marker is removed from the surface of the measurement object, the photographing with the position reference mark included in the range and the recognition of the shape of the surface of the measurement object are performed at multiple points, and measurement of the position reference mark The amount of thickness reduction at the location where the position-based indentations are formed is specified based on the change in the shape of the opening in the surface of the object, and measurement targets at multiple points in time shifted by the amount of thickness reduction The shapes of the surface of the object may be compared. In this case, since the distribution of the thickness reduction amount on the surface of the measurement object is grasped as the difference of the surface shape at a plurality of time points, in addition to the grasp of the surface shape of the measurement object, the surface of the measurement object is The distribution of the thickness reduction amount of the constituent members is grasped.

  In the method of measuring a three-dimensional shape according to the present invention, the target support may be placed in a state of being separated from the surface of the measurement object. In this case, the measurement light emitted from the light irradiation unit passes through the gap formed between the position recognition targets of the target support, and the measurement object on the back side of the target support or the position recognition target Since the imaging is performed obliquely into the surface of the surface of the surface of the object to be measured, surface position data (that is, point cloud data) without omission is acquired over the entire surface to be measured.

  According to the measuring method of the three-dimensional shape of the present invention, in addition to grasping the surface shape of the measuring object, it is possible to grasp the distribution of thickness reduction and thickness distribution of members constituting the surface of the measuring object Therefore, it becomes possible to improve the usefulness as a three-dimensional shape measurement method.

  The measuring method of the three-dimensional shape of the present invention takes time and effort to individually attach and detach targets used for measuring the three-dimensional shape when the position locating tool is used to perform photographing. Measurement work can be performed in a short time, and measurement work can be performed quickly.

  In the method of measuring a three-dimensional shape according to the present invention, in the case where a marker recognized by photographing is used, in addition to the grasp of the surface shape of the measurement object, the reduction of the thickness of members constituting the surface of the measurement object Since distribution of quantity and thickness distribution can be grasped more accurately by using the position of the marker recognized by photographing as a reference, the usefulness as a method of measuring a three-dimensional shape is improved and the reliability is improved. It is possible to improve

  In the method of measuring a three-dimensional shape of the present invention, in the case where the amount of thickness reduction is specified based on the change in the shape of the pyramidal position reference mark, in addition to the grasp of the surface shape of the measurement object As a result, it is possible to grasp the distribution of the thickness reduction amount of the member that constitutes the surface of the measurement object, and it is possible to improve the usefulness as a method of measuring a three-dimensional shape.

  According to the method of measuring a three-dimensional shape of the present invention, when the target support is placed in a state of being separated from the surface of the measurement object, there is no omission over the entire surface to be measured Since surface position data (that is, point cloud data) can be acquired, it is possible to improve the accuracy and usefulness as a measurement method of surface shape.

It is a figure which shows the example of the position fix tool used in the measuring method of the three-dimensional shape which concerns on this invention, and is the figure seen from the surface where measurement light is irradiated. It is a figure which shows the other example of the position fixing tool used in the measuring method of the three-dimensional shape which concerns on this invention, and is the figure seen from the surface where measurement light is irradiated. It is a figure which shows the further another example of the position locating tool used in the measuring method of the three-dimensional shape which concerns on this invention, and is a figure looking at the state attached and installed in the measurement object. It is a figure which shows the further another example of the position locating tool used in the measuring method of the three-dimensional shape which concerns on this invention, and is a figure looking at the state attached and installed in the measurement object. It is a flowchart explaining an example of embodiment of the measuring method of the three-dimensional shape which concerns on this invention. It is a figure which shows the example of the indentation used in the measuring method of the three-dimensional shape which concerns on this invention. FIG. 6A is a view for explaining the shape of a dent. (A) is a figure seen from the opening surface (in other words, a plan view). (B) is a cross-sectional view in the direction perpendicular to the opening surface. FIG. 6B is a view showing a state where thinning of the surface of the object to be measured has progressed at the formation site of the indentation shown in FIG. 6A. (A) is a figure seen from the opening surface (in other words, a plan view). (B) is a cross-sectional view in the direction perpendicular to the opening surface. It is a flow chart explaining an example of an embodiment in a case of using a position reference mark in a measuring method of a three-dimensional shape concerning the present invention.

  Hereinafter, the configuration of the present invention will be described in detail based on an example of the embodiment shown in the drawings.

  1 to 7 show an example of an embodiment of a three-dimensional shape measurement method according to the present invention. In the measurement method of the three-dimensional shape of the present embodiment, a target support in which a plurality of position recognition targets 2 and the plurality of position recognition targets 2 are attached and a gap 5 is formed between the position recognition targets 2 is The position alignment fixture 1 having the body 3 is attached to and installed on the surface of the measurement object (S1-1), and a marker is attached to the surface of the measurement object (S1-4), and the measurement object The measurement light is emitted from the light irradiation unit toward the surface of the target and the measurement light irradiated to the position recognition target 2 of the position fixing tool 1 and the marker is photographed by the pair of light receiving units (S1-5), The position of the marker is recognized from the measurement light taken by the pair of light receiving units (S1-6), and the marker is removed from the surface of the measurement object and the surface of the measurement object is formed at the position of the marker. The thickness of the member is measured (S1-7), and further, while the position fixing tool 1 is installed on the surface of the measurement object, the measurement object in a state where the marker is removed from the surface of the measurement object The measurement light is emitted from the light irradiation section toward the surface of the target and the measurement light irradiated to the surface of the measurement target is photographed by the pair of light receiving sections while the measurement recognition target 2 of the position fixing tool 1 is irradiated (S1 -8) The shape of the surface of the measurement object is recognized from the measurement light captured by the pair of light receiving units (S1-9, S1-10), and the design dimensions of the members constituting the surface of the measurement object Based on the shape of the surface of the member and the shape of the back surface are specified (S1-11), and it is measured from the shape of the surface of the measurement object recognized by imaging at the position of the marker recognized by imaging. Part that constitutes the surface of the measurement object Shape of the surface of the measurement object recognized by photographing while the back surface of the member constituting the surface of the measurement object specified based on the design dimensions is aligned with the position separated by the thickness of the The shapes of the surfaces of the members constituting the surface of the measurement object specified based on the design dimensions are compared (S1-12).

  Here, the object of measurement (referred to as “measurement object”) in which the present invention is used and measurement of a three-dimensional shape is performed is not limited to a specific one, and, for example, building structures such as buildings, Examples include machine structures such as plants, products such as vehicles, and components and parts such as piping.

<< Measurement means >>
The measuring means is obtained, for example, by triangulation as a measurement principle, irradiating measurement light such as a laser toward the measurement object and detecting reflected light of the measurement light reflected from the surface of the measurement object. It is a non-contact type measuring instrument which measures three-dimensional shape using data (in other words, acquires data on the three-dimensional shape of the surface of the measurement object).

  Triangulation is information on the imaging position when light such as a laser emitted toward a measurement object is reflected and imaged on a CCD (abbreviated to Charge Coupled Device) through a lens. Is a method of acquiring point group data (that is, coordinate data of the surface of an object) based on the above, and utilizing the fact that the imaging position differs depending on the distance to the object, the distance from the imaging position to the object is (For example, Toru Yoshizawa “Latest light three-dimensional measurement”, Asakura Shoten, 2006).

  The measuring means includes a light emitting unit and a pair of light receiving units disposed apart from each other, and the pair of light receiving units are configured to construct a stereo camera. The light emitting unit and the pair of light receiving units are, for example, a light emitting unit disposed between a pair of light receiving units disposed apart from each other, and one of the light receiving unit, the light emitting unit, and the other light receiving unit It is conceivable that they are arranged in line in order.

  The light irradiation unit has a light source such as a semiconductor laser, for example, and emits a line laser or the like as measurement light.

  Each of the pair of light receiving units has a light receiving element such as a CCD, for example, and performs photographing to obtain a stereo image (also referred to as a “stereo pair image”) on the same subject (in other words, including an image of the same subject) To get

  The measuring means shoots a moving image while moving, and is a plurality of still images as each eyelid that composes a moving image obtained by shooting the surface of the measurement object from a plurality of directions, each for the same subject (in other words, Image data that is a stereo image (including the image of the same subject) is acquired. In addition, if image data captured from a plurality of directions is acquired, it is not necessary to perform moving image shooting, and still images may be captured a plurality of times, or still images may be captured continuously (Also referred to as “)” may be performed.

  As the measurement means, for example, it is possible to irradiate light used for measurement while holding and moving the entire surface (called “measurement surface”) to be measured in the measurement object with hand. A device of an aspect (specifically, for example, a device of a type called “handy scanner”, “handy 3D scanner”, or “handy 3D scanner” or the like) is used.

Position Positioning Tool
The position alignment fixture 1 includes a plurality of position recognition targets 2, a target support 3 to which the position recognition targets 2 are attached, and a fixture 4 for attaching the target support 3 to the surface of the measurement object. And are configured as a portable and movable instrument.

  The position recognition target 2 includes a portion that reflects light (referred to as a "reflecting portion"), and the measurement object and the measuring means (that is, the light receiving position / imaging position of the light receiving element of each of the pair of light receiving portions) It is used to always specify the relative positional relationship with the object, and the measurement data acquired by performing shooting / measurement while moving the measurement means is one point cloud data on the surface shape of the measurement object It functions as a reference point at the time of synthesizing.

  The position recognition target 2 is not limited to a specific shape or size, but if it is unnecessarily large, it becomes an obstacle when photographing / measuring the surface of the measurement object, so the position recognition target 2 The smaller one is preferable in the range which can exhibit the required function.

  The position recognition target 2 is a position recognition target 2 as ID information (that is, information unique to each of the position recognition targets 2) for mutually distinguishing each position recognition target 2 and identifying and specifying them individually. Each has its own light reflection pattern.

  Specifically, for example, the reflection patterns of light may be configured to be distinguishable from each other by the difference in the shape, the number, the size, etc. of the reflection portions, as an example only. Are configured so that they can be distinguished from one another by the way of arrangement and arrangement of

  The specification (in other words, the device) as the ID information of the position recognition target 2 is not limited to the light reflection pattern, and is recognized and detected (particularly, optically) in the captured image. Appropriate specifications (features) that can function as an identifier for distinguishing the plurality of position recognition targets 2 from each other and identifying and specifying them individually may be selected as appropriate. Specifically, for example, the wavelength of the reflected light may be used as ID information of the position recognition target 2.

  For example, the reflection pattern of light or the wavelength of the reflected light as ID information of each position recognition target 2 attached to the position fixing tool 1 is recorded and registered in advance in a mode that can be used in image processing and image recognition to be described later. Ru.

  The position recognition target 2 is arranged such that the surface provided with the reflection portion faces the opposite side to the measurement object in a state where the target support 3 is attached to the surface of the measurement object, and to the surface of the measurement object It is attached to the target support 3 so that it can be directed to reflect the light emitted from the measuring means.

  The dimension of the interval between adjacent position recognition targets 2 in the state of being attached to the target support 3 is not limited to a specific value, and, for example, the specifications of the measurement means used for measurement and the measurement operation In consideration of the aspect of the above, etc., it is adjusted so that the images of a plurality of position recognition targets 2 are simultaneously included in the imaging range (in other words, the range of each image to be imaged) all the time during measurement.

  The distance between adjacent position recognition targets 2 does not have to be the same in all the intervals, and even if the values adjusted and set as described above are the maximum dimensions, they may be uneven. I do not care. In addition, the position recognition targets 2 need not be regularly arranged according to a particular pole, and may be random as long as the maximum dimension is not exceeded.

  The target support 3 is attached at a position corresponding to the measurement surface (in other words, a position overlapping the measurement surface) on the surface of the measurement object, and the position relative to the measurement surface of the measurement object while measurement is performed. It functions to fix and hold the recognition target 2 in position.

  The target support 3 is not limited to a specific shape or size. For example, the shape or size of the surface of an object to be measured, particularly the shape or size of the measurement surface, is considered. Is formed.

  Specifically, for example, the target support 3 is, for example, a rectangle (see FIG. 1 as an example) having a length of about 10 cm to 20 m and a diameter of about 10 cm to 20 m, for example. It may be formed in a circular shape (see FIG. 2 as an example) set in the range of about 10 cm 2 to 20 m 2.

  The target support 3 may be formed in a planar form, for example, in consideration of matching (in other words, along) the shape of the surface of the measurement object, or curved / It may be formed as a three-dimensional form.

  Specifically, for example, the target support 3 may be formed to surround the entire circumference of the measurement object (see, for example, FIG. 3), and the side surface of the measurement object is L-shaped. It may be formed in a surrounding form (see FIG. 4 as an example).

  The target support 3 is positioned so that the light emitted from the measuring means can be irradiated to the measurement surface of the measurement object to perform imaging / measurement while holding the position recognition target 2 in a fixed position. An air gap 5 is provided between the recognition targets 2 and formed.

  The air gap 5 of the target support 3 is formed, for example, by forming the target support 3 in a grid or net shape (see, for example, FIG. 1), or a plurality of annular members having different diameters are concentric. The target support 3 is formed by fixing the plurality of annular members to each other by one or a plurality of rod-like members after being arranged in the shape of a circle (see FIG. 2 as an example) ).

  The material of the target support 3 is not limited to a specific type, and is considered to have a strength that allows the position recognition target 2 to be fixed and held. An appropriate one is selected appropriately.

  The target support 3 is configured to be able to maintain its shape while being taken / measured while being attached to the surface of the measurement object. Therefore, the target support 3 itself may be formed as a rigid body, or, after the target support 3 is formed as flexible, the target support 3 is measured by the fixture 4. The shape of the attachment may be maintained while being attached to the surface of the.

  Specifically, the target support 3 may be formed of, for example, metal, wood, resin, tex, or the like.

  In relation to the aspect of the target support 3 and hence the aspect of the position alignment tool 1, the position alignment tool 1 including the target support 3 is carried as it is when it is attached to the surface of the measurement object The transport may be carried out by folding or winding.

  The target support 3 is attached to the surface of the measurement object via the attachment 4 (in other words, installed, attached, installed).

  The fixture 4 takes into account, for example, the material (in other words, the material) of the measurement surface portion of the measurement object and the material (material) of the target support 3, and applies the target support 3 to the measurement surface portion In consideration of the possibility of releasably fixing, etc., they are formed in a suitable manner using appropriate materials.

  Specifically, for example, when the object to be measured and the target support 3 are made of a magnetic material, a magnet may be used as the fixture 4. Alternatively, a double-sided tape or a suction cup may be used as the fixture 4.

  In addition, in order to obtain surface position data (that is, point cloud data) without omission over the entire measurement surface, the placement position of the fixture 4 along with the size of the target support 3 is outside the measurement surface. Preferably, the fixture 4 is adjusted to be placed on the

  In order to obtain surface position data (that is, point cloud data) without omission throughout the measurement surface, in other words, in order to arrange the fixture 4 outside the measurement surface, the fixture 4 Is preferably disposed at the end of the target support 3 and is not disposed at a position inside the end of the target support 3.

  When imaging / measurement is performed in a state where the position alignment fixture 1 is attached to and installed on the surface of the measurement object, the position alignment fixture 1 (particularly, which is not an essential measurement object between the measurement means and the measurement surface) The target 2 for position recognition and the target support 3) are present, and the light irradiated from the measuring means toward the surface of the measurement object is reflected by the position fixing tool 1 and the position fixing tool is used as the measurement result An image of 1 will be included.

  At this time, if the position recognition target 2 or the target support 3 is attached so as to be in close contact with or in proximity to the measurement surface of the measurement object, the position recognition target 2 or the target support 3 behind The portion on the side (especially, directly behind) can not be measured, and surface position data (i.e., point cloud data) on the measurement surface can not be acquired.

  Therefore, by setting the target support 3 to which the position recognition target 2 is attached so as to be separated from the surface of the measurement object, surface position data without omissions over the entire measurement surface (ie, , Point cloud data) can be obtained.

  Specifically, for example, by forming the fixture 4 as having a desired size and shape, the target support 3 is installed in a state of being separated from the surface of the measurement object, and the target support The position recognition target 2 can be fixed together with the body 3 in a state of being separated from the surface of the measurement object.

  Further, by forming the target support 3 as having a three-dimensional form, the target support 3 is positioned in a state of being separated from the surface of the measurement object in a range overlapping with the measurement surface of the measurement object Thus, the position recognition target 2 can be fixed together with the target support 3 in a separated state from the surface of the measurement object.

  The distance between the surface of the measurement object (in particular, the measurement surface) and the target support 3 and the position recognition target 2 is not limited to a specific dimension, and, for example, specifications of measurement means used for measurement In particular, the light emitted from the measuring means is formed between the position recognition targets 2 of the target support 3 after taking into consideration the specifications and performance of the light irradiation unit and the pair of light receiving units). The dimensions are appropriately set such that imaging / measurement can be performed by obliquely entering the measurement support surface of the target support 3 or the position recognition target 2 after passing through the air gap 5. Specifically, the distance between the surface of the measurement object (in particular, the measurement surface) and the target support 3 may be set, for example, in the range of about 0.1 to 20 cm 2 as an example.

  In addition, as described above, when imaging / measurement is performed in a state where the position fixing tool 1 is installed on the surface of the measurement object, although an image of the position fixing tool 1 is included in the measurement result, the measurement object Surface position data separated from the surface of the measurement object by a predetermined distance (ie, point cloud data) by setting the target support 3 and the position recognition target 2 in a state of being separated from the surface of Can be mechanically removed according to a predetermined standard as corresponding to the position alignment fixture 1, and processing of surface shape data can be efficiently performed.

"Thickness measurement"
Information obtained by measurement using measuring means for irradiating the measuring light toward the measuring object and detecting the reflected light that the measuring light reflected on the surface of the measuring object is information on the surface shape of the measuring object There is no way to obtain information on the thickness of the member that forms and configures the surface shape of the measurement object.

  However, in the case where the surface of the measurement object is exposed to an environment where the thickness reduction proceeds, for example, due to corrosion or wear, the actual condition of the thickness reduction including the distribution of the degree of thickness reduction on the surface of the measurement object ( Alternatively, it may be necessary to accurately grasp the distribution of wall thickness.

  In the following, the procedure of the method of measuring the three-dimensional shape according to the present invention for determining the distribution of wall thickness / thickness reduction according to the present invention, which is performed using the above-mentioned measuring means and position alignment tool will be described (FIG. 5) reference).

  First, the position adjustment tool 1 is attached and installed at a position corresponding to the measurement surface on the surface of the measurement object (S1-1).

  In addition, when performing as a series of imaging operations, only one position locating tool 1 may be installed on the surface of the measurement object, or a plurality of position locating tools 1 may be installed. Also good.

  Subsequently, in a state where the position fixing tool 1 is attached to and installed on the surface of the measurement object, the position recognition target 2 is imaged by the pair of light receiving units (that is, stereo cameras) of the measuring unit (S1- 2).

  In the process of S1-2, it is not necessary to emit measurement light used for shape measurement such as line laser from the light irradiation part of the measurement means, while the reflection part of each position recognition target 2 is clearly reflected The illumination light (specifically, for example, the LED light) may be emitted so that the reflected light from each position recognition target 2 is appropriately received by the light receiving unit of the measurement means.

  By capturing and imaging the position recognition target 2 by the measurement means, the images of the position recognition targets 2 are included as subjects and the position recognition target 2 included in each image is superimposed as a reference point (in other words, A series of stereo images (stereo pair images) that can be synthesized can be acquired.

  Then, data of the acquired stereo image is used, and is included in each image while ID information of the position recognition target 2 is used, for example, by an image processing / image recognition technique (particularly, optically processed). The image of each position recognition target 2 is extracted, individually identified and identified, and the three-dimensional position coordinates of each position recognition target 2 are identified, in other words, corresponding to the measurement surface of the measurement object A three-dimensional coordinate system is defined in the space where each individually recognized position recognition target 2 is used as a reference (note that the origin is arbitrarily determined) (S1-3). The three-dimensional position coordinates here are position coordinates in an orthogonal coordinate system consisting of a plane position (x, y) and a height (z), and are expressed, for example, as (x, y, z).

  Note that the method of calculating three-dimensional position coordinates using stereo images (stereo pair images) is not limited to a specific calculation method, and an appropriate method may be appropriately selected from conventional or new calculation methods. Ru. Specifically, for example, a three-dimensional position coordinate of each position recognition target 2 may be calculated by performing space calculation based on triangulation as a measurement principle. In the space operation performed in another process in the description of the present invention, specifically, an operation based on, for example, triangulation as a measurement principle is performed to calculate three-dimensional position information.

  Next, a marker (referred to as a "thickness measurement marker") for indicating the thickness measurement location is attached to the location where the thickness is measured in the process of S1-7 described later (S1-4).

  The thickness measurement marker may be, for example, one that can be optically extracted and easily grasped in the captured image, for example, the same one as the position recognition target 2 (however, the position attached to the position alignment fixture 1) It may be further attached separately from the recognition target 2).

  The thickness measurement marker is hidden so that it can be clearly imaged by the measurement means in a state where the position locating tool 1 is installed corresponding to the measurement surface of the measurement object, that is, hidden behind the position locating tool 1 It is directly attached by being pasted to the measurement surface of the measurement object, etc., at a position where there is no such.

  The number of thickness measurement markers (that is, the number of locations where the thickness is measured in the process of S1-7 described later) is not limited to a specific number, and may be one. In order to obtain the distribution with high accuracy, it is preferable that there be a plurality.

  Then, with the position measurement tool 1 attached and installed on the surface of the measurement object and the thickness measurement marker attached to the measurement surface of the measurement object, the measurement means measures the thickness measurement marker and A measuring light such as a laser beam (for example, a line laser) is emitted from the light irradiating section around its periphery, and (the reflected light of) the irradiated measuring light and the position recognition target 2 are simultaneously paired. An image is captured by the light receiving unit (that is, a stereo camera) (S1-5).

  Information of the three-dimensional position coordinates of each position recognition target 2 specified in the process of S1-3, and photographing of the measurement light on the measurement surface for measuring the thickness thickness marker and the periphery thereof and the position recognition target 2 A spatial operation is performed using the acquired stereo image and the three-dimensional position coordinates of the thickness measurement marker are acquired (S1-6).

  Next, the thickness measurement at the mounting position of the thickness measurement marker is performed (S1-7).

  The thickness is the reference for specifying the position of the back surface in the surface shape data of the measurement result in the process of S1-12 described later (in other words, the reference when superposing the surface shape data of the measurement result and the reference shape data) It is used as

  Here, in the object to be measured, it is a surface (in other words, a surface opposite to the measurement surface) that constitutes the shape on the opposite side to the measurement surface, and the inner surface with respect to the measurement surface (that is, photographing / measurement by the measurement means The face that can not be recognized is called the "back side".

  The number of places where the thickness is measured (that is, the number of thickness measurement markers attached in the process of S1-4) is not limited to a specific number of places, and may be one place. In order to obtain the distribution of the quantities with high precision, it is preferable that there are a plurality of places.

  In the measurement of the thickness, the thickness measurement marker is removed at every position where the thickness measurement marker is attached, and the thickness at the position where the thickness measurement marker is attached is measured.

  The device or method used when measuring the thickness is not limited to a specific device or method, and, for example, the contact type or the contact type or the like in consideration of the practicability of the measurement operation, the measurement accuracy, etc. An appropriate one is selected from non-contact measuring instruments and methods. Specifically, measurement of the thickness may be performed using an ultrasonic thickness gauge, for example, as an example.

  Next, in the state where the thickness measurement marker is removed and only the position calibration tool 1 is attached to the surface of the measurement object and installed, the measuring means directs the light irradiation unit to the measurement surface of the measurement object Measurement light such as a laser beam (for example, a line laser) is emitted, and (the reflected light of) the measurement light irradiated to the measurement surface and the position recognition target 2 simultaneously have a pair of light receiving portions (ie, The image is taken by the stereo camera (S1-8).

  Information on the three-dimensional position coordinates of each position recognition target 2 identified in the process of S1-3, and a stereo image acquired by photographing the measurement light on the measurement surface and the position recognition target 2 are used, Space calculation is performed to recognize the three-dimensional shape of the measurement surface of the measurement object (specifically, three-dimensional point group data on the surface shape is acquired) (S1-9).

  Next, the acquired point cloud data is converted into data of surface format, and mesh data corresponding to the three-dimensional shape of the measurement surface of the measurement object is created (S1-10).

  The method of converting point cloud data into planar data is not limited to a specific conversion method, and an appropriate method may be appropriately selected from conventional or new conversion methods. Specifically, for example, conversion processing may be performed on the basis of Delaunay triangulation as an operation principle, and point cloud data may be converted into data of surface format.

  The mesh data created in the process of S1-10 is called "surface shape data of measurement result".

  Next, creation of reference shape data is performed (S1-11).

  Specifically, three-dimensional shape data (specifically, for example, CAD surface data, that is, a parametric curved surface, is formed based on the design dimensions of the members constituting and forming the measurement surface of the measurement object. Three-dimensional shape data etc. without thickness are created.

  The three-dimensional shape data based on the design dimensions represents the shape at the start of service of the member constituting the measurement object, and represents the original shape in which the thickness reduction due to corrosion or wear does not occur. In this respect, the three-dimensional shape data based on the design dimensions is a reference when inspecting and evaluating the degree of thickness reduction due to corrosion, wear, and the like. In the description herein, three-dimensional shape data based on design dimensions is referred to as "reference shape data".

  Next, the surface shape data of the measurement result on the measurement object created in the process of S1-10 is compared with the reference shape data created in the process of S1-11 (S1-12).

  That is, the surface shape data of the measurement result and the reference shape data are superimposed, and the difference between the surface shape data and the reference shape data is calculated.

  Here, the surface shape data of the measurement result comprises only information on the shape of the surface of the measurement object, and the reference shape data is configured to have information on the shape of the surface of the measurement object and information on the shape of the back surface Ru.

  Therefore, if the position of the back surface is specified for the surface shape data of the measurement result (if it is assumed that the thickness does not change due to corrosion etc. and the shape does not change on the back surface), the position and reference of the back surface are referred By matching the position of the back surface in the shape data, it is possible to superimpose the surface shape data of the measurement result and the reference shape data in the correct positional relationship so that the contrast in the thickness direction is possible, and the surface of the measurement result The difference between the surface shape in the shape data and the surface shape in the reference shape data (that is, the distribution of thickness loss on the surface of the member constituting the surface of the measurement object) and the thickness of the member constituting the surface of the measurement object The distribution of thickness can be calculated.

  Therefore, the actual thickness at the mounting position of the thickness measurement marker actually measured in the process of S1-7 is used, and from the position of the surface in the surface shape data of the measurement result, only the amount of the thickness actually measured By matching the position of the back surface in the reference shape data to a position separated in the thickness direction (in other words, a shifted position), the surface shape data of the measurement result and the reference shape data are superimposed in a correct positional relationship.

  Here, the position where the thickness is measured is the attachment position of the thickness measurement marker, and the position is obtained by the processing of S1-6. Therefore, in the position coordinates acquired in the process of S1-6, the position deviated in the thickness direction from the position of the surface in the surface shape data of the measurement result by the actually measured thickness (in other words, shifted By aligning the back surface of the reference shape data with the position), superposition of two shape data can be accurately performed.

  With the position of the back surface matched, the difference between the surface shape in the surface shape data of the measurement result and the surface shape in the reference shape data is calculated. The difference calculated by this is the distribution of the amount of thickness reduction due to corrosion, wear, etc. on the surface of the measurement object (in other words, of the member that constitutes the surface of the measurement object).

  In addition, the difference between the surface shape in the surface shape data of the measurement result and the back surface shape in the reference shape data in the state where the position of the back surface is matched corresponds to the measurement object (in other words, the surface of the measurement object Member) thickness distribution.

Position-based nick mark
When performing measurement at a plurality of points in time on a predetermined range of the surface of the measurement object (in other words, the same range, the same location), if it is necessary to once remove the position locating tool 1 in the interval between the front and back measurement In order to analyze how the location of x has changed in time series, it is necessary to compare the measurement data at different points in time after accurately aligning them.

  For this reason, as shown in FIG. 6, it has a deepest one point (in other words, a vertex; symbol 11 in FIG. 6) and measures from the highest vertex 11 as shown in FIG. Bent marks (“position reference strike”) having a shape having an inclined surface 12 connected to the surface 9 of the object, ie, having a shape (referred to as “cone-like”) having the opening 13 and the inclined surface 12 and the deepest apex 11 10)) are formed.

  The position reference indentation 10 is not limited to a specific dimension, and for example, the measurement accuracy of the measurement means used for measurement and the alignment in the plurality of surface shape data (in other words, the positions of the plurality of surface shape data are aligned In consideration of the convenience in the process of superposition), and appropriately set to appropriate dimensions. Specifically, the position reference indentations 10 may be formed, for example, with the minimum dimension and the maximum dimension set in the range of about 1 to 10 mm, just by way of example.

  The position reference mark 10 is made to be included in the imaging range / measurement range in the photographing / measurement performed with the position fixing tool 1 attached and installed corresponding to the predetermined measurement surface of the measurement object. Do.

  Then, when a predetermined period of time elapses after the position fixing tool 1 has been removed once and the measurement on the predetermined measurement surface is performed again, the position fixing tool 1 is made to correspond to the predetermined measurement surface. It is re-installed and installed, and imaging / measurement is performed.

  At this time, the position alignment fixture 1 does not have to be attached at the same position as the position alignment fixture 1 is attached at the time of measurement already performed on the predetermined measurement surface, and it is already performed. Although it is not necessary to use the same position locating tool 1 as the position locating tool 1 used in the measurement, the image of the position reference mark 10 corresponding to the above-mentioned predetermined measurement surface has an imaging range / measurement range Installed and installed as included in.

  A cone-like position-based indentation 10 is formed on the surface 9 of the measurement object, and the position-based indentation 10 is photographed / measured together with the surface shape and recognized / detected in the imaged image By this, the deepest vertex 11 in the pyramidal recess is used as a reference of position, for example, the alignment of the surface shape data of the measurement results at different time points is accurately performed, and the comparison of the surface shape data is appropriate. It will be done.

  A cone-like position-based indentation 10 is formed on the surface 9 of the measurement object, and the position-based indentation 10 is photographed / measured together with the surface shape and recognized / detected in the imaged image As a result, the situation of thinning due to corrosion or wear of the surface 9 of the object to be measured at the position where the position reference dent 10 is formed can be further grasped.

  Specifically, for example, based on the shape of the tool used when the position-based indentation 10 is formed, the measurement result of the position-based indentation 10 actually formed, or the like, measurement of the position-based indentation 10 is performed. Dimension L and area S of a predetermined portion of the opening 13 (in other words, in plan view in plan view) at the surface 9 of the object, and the deepest apex of the position reference indentation 10 from the surface 9 of the measurement target The relationship between up to 11 dimensions D is identified.

  Then, from the surface 9 of the measurement object corresponding to the dimension Lm and the area Sm of the predetermined portion of the opening 13 ′ in the surface 9 of the measured object of the position reference burr 10 ′, the position reference burr 10 The difference D between the dimension D and the dimension Dm is determined as the amount of thickness reduction due to corrosion, wear, or the like on the surface 9 of the measurement object by calculating the dimension Dm to the deepest apex 11 of '.

  In the example shown in FIG. 6, the lengths of the sides of the quadrangle of the openings 13 and 13 'are used as the dimensions L and Lm of the predetermined portion, but the dimensions of the other portions are used as the dimensions of the predetermined portion. You may do so. Specifically, for example, the length of the diagonal may be used as the dimension of the predetermined portion, or the dimension from each corner to the deepest apex 11 may be used.

  Further, in the example shown in FIG. 6, the shape of the openings 13 and 13 ′ is a quadrangle, but the shape of the openings may be another shape. Specifically, the shape of the opening may be, for example, a triangle or a polygon having five or more corners (that is, the position reference indentation is formed as a recess corresponding to the shape of a triangular pyramid or a polygonal pyramid), or may be circular. Good (i.e. the position reference indentations are formed as a recess corresponding to the shape of a cone). If the shape of the opening is various polygons, the length of the side or the dimension from each corner to the deepest apex may be used as the dimension of the predetermined portion, or if the shape of the opening is circular. It is conceivable to use a diameter as the dimension of the predetermined location.

  The number of position-based indentations 10 formed on the surface 9 of the measurement object is not limited to a specific number, and the position locating tool 1 is installed for a predetermined measurement surface of the measurement object. The number of pieces of surface shape data acquired at different acquisition time points is appropriately set to an appropriate number for aligning the plurality of surface shape data acquired by the imaging / measuring operation to be performed.

  Specifically, for example, when there is a characteristic portion which does not change with age and is easy to extract and grasp in the image on the surface 9 of the measurement object, one position reference dent 10 is formed. So that the position of the position reference mark 10 is matched and the characteristic portion is superimposed with the position of the position mark 10 as the center of rotation so that alignment of a plurality of surface shape data is performed. It is good. Alternatively, after a plurality of position reference indentations 10 are formed, the positions of the plurality of position reference indentations 10 may be matched with each other to align the plurality of surface shape data.

<< Thickness measurement using position reference dents >>
When overlaying the surface shape data of the measurement result and the reference shape data for the first time on a measurement surface, it is necessary to measure the thickness in order to specify the position of the back surface of the surface shape data of the measurement result.

  On the other hand, in the case of the second and subsequent superposition of the surface shape data of the measurement result and the reference shape data for the certain measurement surface, the above-mentioned cone-like position-based indentations 10 are formed. By measuring the shape, measurement of the thickness becomes unnecessary.

  That is, position-based indentations 10 (see FIG. 6 as an example; the dimension from the surface 9 of the measurement object to the deepest vertex 11 is D) is formed on the surface 9 of the measurement object, and When photographing / measuring the surface shape of the measurement object, the shape of the position reference mark 10 'is photographed / measured.

  And it measures based on size Lm and area Sm of predetermined part (in other words, in plane view, in opening surface view) of opening 13 'in surface 9 of the measurement object of the position reference dent 10' of the position concerned. The dimension Dm from the surface 9 of the object to the deepest apex 11 of the position reference indentation 10 'is calculated, and the difference d between the initial dimension D and the dimension Dm at each measurement time or the dimension Dm at each measurement time The difference between the two is calculated as the amount of thickness reduction due to corrosion, wear, etc. on the surface 9 of the measurement object.

  As a result, since it is specified how much the surface shape data of measurement results at different times should be relatively shifted at the formation position of the position reference dent 10, the positional relationship between the surface shape data of the measurement results is correct. It is superimposed on.

  That is, the position reference indentation 10 is formed as a cone-shaped recess, so that the deepest apex 11 is used to function as a reference for positioning in a plan view (in other words, an aperture view) and an aperture. The relationship between the dimension L and the area S along the portion 13 and the dimension D to the deepest apex 11 is used to function as a reference for positioning in the depth direction (that is, the direction perpendicular to the opening surface, thickness direction) Do.

  When the distribution of thickness / thickness reduction is determined using the position-based indentation 10 (see FIG. 7), the position-based indentation 10 is formed on the surface 9 of the object to be measured corresponding to the measurement surface. The same processing as the above-described S1-1 to S1-7 is performed (S2-1 to S2-7; in this case, “first measurement?” In the flow of FIG. 7 proceeds to “Yes”).

  Then, imaging is performed in a process (the same process as S1-8 described above; S2-8) in which the measurement light (the reflected light of) the measurement light irradiated to the measurement surface of the measurement object and the position recognition target 2 are simultaneously imaged Position reference mark 10 is included in the range, and in addition to the measurement surface, the three-dimensional shape of surface 9 of the measurement object including the shape of position reference mark 10 is recognized and point cloud data is acquired Mesh data corresponding to the three-dimensional shape of the surface 9 of the measurement object including the shape of the position reference indentation 10 in addition to the measurement surface (processing similar to S1-9 described above; S2-9) (Similar processing to above-mentioned S1-10; S2-10).

  Then, when overlaying the surface shape data of the measurement result and the reference shape data for the first time for a certain measurement surface (the process proceeds to “Yes” in “first measurement?” In the flow of FIG. 7), Processing similar to that of S1-11 and S1-12 is performed (S2-11 and S2-12).

  Subsequently, for the second and subsequent superposition of the surface shape data of the measurement result and the reference shape data for the certain measurement surface, the same processes as S2-1 to S2-3 described above are performed. (Succeeding to “No” in “First Measurement?” In the flow of FIG. 7), and the above-described S2-4 to S2-7 are not performed, and the above-described S2-8 to S2 are performed. A process similar to -10 is performed (however, the process is performed in the range and contents including the position reference mark 10).

  Then, the shape of the opening 13 in the surface 9 of the measurement object (specifically, go to "No" in the "first measurement? In the flow of FIG. 7") The thickness reduction amount at the formation position of the position reference dent 10 is specified based on the change of the dimension L and the area S) (S2-13).

  Specifically, the dimension L and the area S of the predetermined portion of the opening 13 (in other words, in a plan view, in an aperture view) specified in the position-based indentation 10 in the surface 9 of the measurement object The relationship between the surface 9 of the measurement object and the dimension D from the deepest apex 11 of the position reference mark 10 is used to measure the position reference mark 10 'of the measured position object on the surface 9 of the measurement object From the surface 9 of the measurement object corresponding to the dimension Lm and the area Sm of the predetermined portion (in other words, in the opening surface view in plan view) of the opening 13 ′ from the deepest apex 11 of the position reference indentation 10 ′ The dimension Dm is calculated, and the difference d between the initial dimension D and the dimension Dm at each measurement time, or the difference between the dimensions Dm at each measurement time (that is, the amount of thinning) is obtained.

  Then, with respect to the surface shape data of the old measurement result of the time point, the surface shape data of the new measurement result of the time point is shifted in the thickness direction by the amount of the thickness reduction at the formation position of the position reference dent. The position of the surface shape data of the new measurement result at the time to the surface shape data of the old measurement result at the time.

  Moreover, in the process of S2-12, the position of the reference shape data with respect to the surface shape data of the old measurement result at the time is also grasped.

  Therefore, the surface shape data of the new measurement result of the time point and the reference shape data are superimposed in the correct positional relationship, and in this state, the surface shape in the surface shape data of the new measurement result of time and the surface shape in the reference shape data The difference is calculated and the distribution of the amount of thickness loss on the surface 9 of the measurement object is grasped, or the difference between the surface shape in the surface shape data of the new measurement result at the time and the back surface shape in the reference shape data is calculated and the measurement object The distribution of the thickness of the object (in other words, the member constituting the surface 9 of the measurement object) is grasped (S2-14).

  According to the measuring method of the three-dimensional shape configured as described above, the measuring operation can be performed in a short time without taking time and effort to individually attach and remove the position recognition targets 2 used for measuring the three-dimensional shape. be able to. For this reason, it is possible to perform measurement work quickly.

  The above-described embodiment is an example of the preferred embodiment for carrying out the present invention, but the embodiment of the present invention is not limited to the above-described one, and the present invention may be embodied within the scope of the present invention. The invention can be implemented in various ways.

  For example, in the above-described embodiment, the process in which the position recognition target 2 is imaged (S1-2, S2-2) and the process in which three-dimensional position coordinates of each position recognition target 2 are identified (S1-3, S2- Although 3) is performed as an independent process, it is not an essential configuration in the present invention that these processes are performed as an independent process. For example, as measurement means, one that simultaneously performs acquisition of the three-dimensional position coordinates of each position recognition target 2, acquisition of the three-dimensional position coordinates of the thickness measurement marker, and recognition of the three-dimensional shape of the measurement surface of the measurement object If it is possible, it is not necessary that the imaging of the position recognition target 2 and the specification of the three-dimensional position coordinates of each position recognition target 2 be independent processing, and the processing of S1-2 and S1-3 in the above embodiment And the process of S2-2 and S2-3 does not need to be performed as an independent process. That is, the above-described processing of S1-2 and S1-3 may be performed simultaneously with the processing of S1-5 and S1-6 or the processing of S1-8 and S1-9, or the above-described S2-2 and The processing of S2-3 may be performed simultaneously with the processing of S2-5 and S2-6 or the processing of S2-8 and S2-9.

  Further, although in the above-described embodiment each of the position recognition targets 2 has ID information, it is not an essential configuration in the present invention that the position recognition targets 2 have ID information. Specifically, for example, in the case where each position recognition target 2 captured by the measurement unit is tracked, the function of distinguishing each of the position recognition targets 2 from each other and identifying them individually according to the positional relationship between them is provided. Each of the position recognition targets 2 may not have ID information.

  Furthermore, although in the above-described embodiment, the position locating tool 1 having the plurality of position recognition targets 2 and the target support 3 is used, the position recognition target 2 and the target support 3 (e.g. It is not an essential configuration in the present invention that the position locating tool 1) is used (ie, the above-described processing of S1-1, S1-2, and S1-3 and S2-1, S2-2, S2, And S2-3 are not essential processes in the present invention). For example, the measurement means itself appropriately sets and measures a measurement means that recognizes the shape by performing measurement by fixing the mutual positional relationship with the measurement object and performing measurement, or a three-dimensional orthogonal coordinate system having arbitrary / predetermined origin coordinates In the case where measurement means for recognizing the shape is used while performing the above, the shape of the surface of the measurement object can be recognized without using the position recognition target 2.

  Further, in the above-described embodiment, a marker for indicating a wall thickness measurement location (that is, a wall thickness measurement marker) is used, but it is an essential configuration in the present invention that the wall thickness measurement marker is used. (That is, the above-described processes of S1-4, S1-5, and S1-6 and the processes of S2-4, S2-5, and S2-6 are not essential processes in the present invention). For example, the surface shape data of the measurement result at the position coordinates at which the thickness of the member constituting the measurement surface is measured at one or more points on the measurement surface of the measurement target portion, and the thickness is actually measured. By aligning the position of the back surface in the reference shape data to a position (in other words, a shifted position) separated in the thickness direction by the actually measured thickness from the position of the surface of It may be performed. In this case, for example, the thickness is measured at a characteristic point on the surface of the measurement object that is easy to extract and grasp in the image, and the position coordinate of the characteristic point is identified. It is conceivable to do so.

DESCRIPTION OF SYMBOLS 1 Position positioning tool 2 Target for position recognition 3 Target support 4 Mounting 5 Air gap 9 Surface 10 of measurement object Position reference mark 10 'Position reference mark (when thinning occurs)
11 deepest apex 12 inclined surface 13 opening 13 'opening (when thinning occurs)

Claims (7)

The measurement light is emitted from the light emitting unit toward the surface of the measurement object and the measurement light emitted to the surface of the measurement object is photographed by the pair of light receiving units, and is photographed by the pair of light receiving units. The shape of the surface of the measurement object is recognized from the measurement light,
Moreover, the thickness of the member which comprises the surface of the said measurement object is measured,
Furthermore, the shape of the surface and the shape of the back surface of the member are specified based on the design dimensions of the member constituting the surface of the measurement object,
And in the position where the thickness of the member constituting the surface of the measurement object is measured, the measurement object measured from the shape of the surface of the measurement object recognized by the photographing In the state where the position of the back surface of the member constituting the surface of the measurement object specified based on the design dimension is aligned with the position separated by the thickness of the member constituting the surface, And the shape of the surface of the member constituting the surface of the measurement object specified based on the design dimension is compared with the shape of the surface of the measurement object recognized by How to measure original shape. A position locator having a plurality of position recognition targets and a target support on which the plurality of position recognition targets are attached and in which a space is formed between the position recognition targets is directed to the surface of the measurement object. The measurement is installed and installed, and the measurement light is emitted from the light irradiation unit toward the surface of the measurement object, and the measurement is applied to the position recognition target of the position adjustment tool and the surface of the measurement object The light is photographed by a pair of light receiving units, and the shape of the surface of the measurement object is recognized from the measurement light photographed by the pair of light receiving units,
Moreover, the thickness of the member which comprises the surface of the said measurement object is measured,
Furthermore, the shape of the surface and the shape of the back surface of the member are specified based on the design dimensions of the member constituting the surface of the measurement object,
And in the position where the thickness of the member constituting the surface of the measurement object is measured, the measurement object measured from the shape of the surface of the measurement object recognized by the photographing In the state where the position of the back surface of the member constituting the surface of the measurement object specified based on the design dimension is aligned with the position separated by the thickness of the member constituting the surface, And the shape of the surface of the member constituting the surface of the measurement object specified based on the design dimension is compared with the shape of the surface of the measurement object recognized by How to measure original shape. The imaging and the recognition of the shape of the surface of the measurement object are performed at a plurality of points in time when a cone-shaped position reference indentation is formed on the surface of the measurement object and the position reference indentation is included in the range. Done,
Based on the change in the shape of the opening on the surface of the measurement target of the position reference mark, the amount of thickness reduction at the formation position of the position reference mark is specified;
The three-dimensional shape measurement method according to claim 1 or 2, wherein the shapes of the surfaces of the measurement object at the plurality of points of time are compared in a state of being shifted by the amount of reduction in thickness. A marker is attached to the surface of the measurement object, and the measurement light is emitted from the light irradiation unit toward the surface of the measurement object and the measurement light emitted to the marker is photographed by the pair of light receiving units. And the position of the marker is recognized from the measurement light captured by the pair of light receivers.
Further, the marker is removed from the surface of the measurement object, and the thickness of a member constituting the surface of the measurement object is measured at the position of the marker.
Furthermore, in the state where the marker is removed from the surface of the measurement object, the measurement light is emitted from the light irradiation unit toward the surface of the measurement object and the surface of the measurement object is irradiated. Measurement light is photographed by the pair of light receiving units, and the shape of the surface of the measurement object is recognized from the measurement light photographed by the pair of light receiving units,
Further, based on the design dimensions of the member constituting the surface of the measurement object, the shape of the surface and the shape of the back surface of the member are specified,
The thickness of the member constituting the surface of the measurement object actually measured from the shape of the surface of the measurement object recognized by the photographing at the position of the marker recognized by the imaging The position of the back surface of the member constituting the surface of the measurement object specified based on the design dimension is aligned with the position separated by A method of measuring a three-dimensional shape, wherein the shape of the surface and the shape of the surface of the member constituting the surface of the measurement object specified based on the design dimensions are compared. A position locator having a plurality of position recognition targets and a target support on which the plurality of position recognition targets are attached and in which a space is formed between the position recognition targets is directed to the surface of the measurement object. It is attached and installed, and further, a marker is attached to the surface of the measurement object, and the measurement light is emitted from the light irradiation portion toward the surface of the measurement object and for the position recognition of the position locating tool The target and the measurement light irradiated to the marker are photographed by a pair of light receiving units, and the position of the marker is recognized from the measurement light photographed by the pair of light receiving units,
Further, the marker is removed from the surface of the measurement object, and the thickness of a member constituting the surface of the measurement object is measured at the position of the marker.
Furthermore, the light irradiation is directed to the surface of the measurement object in a state where the marker is removed from the surface of the measurement object while the position alignment tool is installed on the surface of the measurement object. The measurement light is emitted from the unit and the position recognition target of the position fixing tool and the measurement light irradiated to the surface of the measurement object are photographed by the pair of light receiving units, and the pair of light receiving units is used. The shape of the surface of the object to be measured is recognized from the measured light taken,
Further, based on the design dimensions of the member constituting the surface of the measurement object, the shape of the surface and the shape of the back surface of the member are specified,
The thickness of the member constituting the surface of the measurement object actually measured from the shape of the surface of the measurement object recognized by the photographing at the position of the marker recognized by the imaging The position of the back surface of the member constituting the surface of the measurement object specified based on the design dimension is aligned with the position separated by A method of measuring a three-dimensional shape, wherein the shape of the surface and the shape of the surface of the member constituting the surface of the measurement object specified based on the design dimensions are compared. After a cone-like position-based indentation is formed on the surface of the measurement object,
In the state in which the marker is removed from the surface of the measurement object with respect to the surface of the measurement object, the recognition of the shape of the surface of the imaging and the measurement object in which the position reference mark is included in the range Takes place at multiple points in time,
Based on the change in the shape of the opening on the surface of the measurement target of the position reference mark, the amount of thickness reduction at the formation position of the position reference mark is specified;
The method of measuring a three-dimensional shape according to claim 4 or 5, wherein the shapes of the surfaces of the objects to be measured at the plurality of points of time are compared in a state of being shifted by the amount of thinning.   The method for measuring a three-dimensional shape according to claim 2 or 5, wherein the target support is placed in a state of being separated from the surface of the measurement object.