JP2909808B2 - Automatic measuring device for long structures such as bridge box girder - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of an apparatus for automatically measuring three-dimensional coordinates of a required measuring portion of a long box girder or a sheet girder constituting a bridge, for example.

[0002]

2. Description of the Related Art Conventionally, as this type of measuring device,
As described in "Development of an Automatic Surveying System for 3D Space in the 4th Robot Symposium," a C / C for capturing images with a zoom lens on a leveling table equipped with a tripod
A measuring instrument equipped with a CD camera, an infrared pulse display-type lightwave range finder, a servomotor for driving the horizontal and altitude angles, a light for searching the target to be measured, a frame tilt detection sensor, a power supply, a control / communication cable, Consists of a personal computer for overall control of input, coordinate input, device control, data display, and recording, an image processing device for automatic collimation, a local controller for manual operation, and a control unit equipped with electric wires and communication cables. Have been.

The principle of automatic collimation by this device will be described. A general image A including a target is turned on by a CCD camera and a general image B is turned off by a CCD camera.
Is input to the image processing apparatus at a luminance level of 8 gradations, the image processing 1. The target C is selected by performing a trial calculation, labeling, figure selection, and centroid calculation processing between images AB according to
Extract only the target as in Next, feedback is applied to the horizontal angle / altitude angle servomotor so that the target centroid and the optical axis coincide. Then zoom in on the image,
1. Image processing after automatic adjustment of zoom, iris and focus. The test of the "shift amount" △ x, △ y of the target heart is performed. If the test results Δx and Δy are 1 dot or less, distance measurement and angle measurement are performed. If the test results exceed 1 dot, the process returns to the first “image capture A” and is processed again.

As a surveying method, an operator must first input a target position as an initial setting. There are two methods, input method and teaching method. The input method is used when the target position is known, and inputs the coordinates of the measurement point position, the measurement order, the measurement interval, and the number of measurements in advance to the personal computer for overall control. The teaching method is used when the target position is unknown. The CCD camera with the electric zoom lens is directed to the target using a local controller, and is placed in a display monitor. , The measurement interval and the number of measurements are input, and the same procedure is repeated for the number of measurement points. After the initial setting, when the automatic mode measurement is performed, each measurement point is measured and recorded according to the above-described method according to the measurement order. (For example, July 1994
"Development of 3D Spatial Automatic Surveying System" in "4th Robot Symposium Proceedings" held on March 19-20,
JP-A-4-13919, JP-B-2-228517
No.)

[0005]

According to such a system and apparatus, the accuracy of the construction site is measured for measuring the accuracy of the surface of a structural frame constructed at the construction site or a formwork assembled at the construction site. Measurement is possible, but since the measuring instrument body is fixed to the auto-collimation site using a tripod, for example, measurement targets are attached to required measurement locations on the left and right sides of a long sheet girder that constitutes a bridge. If you want to measure the accuracy by collimating this measurement target,
It is necessary to move the measuring machine body to the left and right of the sheet girder, and each time, it is necessary to control the position of the measuring machine body using a local controller for manual operation, which has the disadvantage of requiring a lot of measurement time and labor. . Further, in the image processing, the zoom operation of the telescope, the turning on / off of the light, and the calculation process take time, which is an obstacle to shortening the measurement time.

An object of the present invention is to automatically and continuously measure a measurement target attached to a required measurement site on the front and rear end surfaces and / or both left and right surfaces of a long measuring member by NC control.
It is an object of the present invention to provide a device capable of determining the quality of a measured member .

[0007]

The object of the present invention is to measure a long bridge box girder or the like in which a measurement target is detachably attached to a required measurement site on both end faces and / or right and left sides on a smooth foundation slab. a reference frame which nono set member in position, is arranged before and after the reference frame, and two guide stand of having a central axis perpendicular to the center axis of the reference frame, movable in the two guide frame provided, the conjunction is NC controlled by a control panel which inputs a design value data of the measurement member, the total of the measurement target which is attached to the measuring member
The collimation was separately measured from one side of the measuring member and input in advance.
Collimated by NC data, three for each measurement target
Dimension (X, Y, Z) coordinates were calculated and stored in the control panel
Then, move to the other side of the member to be measured, and
Measure the get from the other side of the member to be measured and obtain 3D coordinates
Can be stored in the control panel and set on the guide stand 2
A movable three-dimensional automatic measurement device capable of stopping at a position measurement point, and the three-dimensional automatic measurement device collimates each measurement target, and all three-dimensional measurement data obtained by image processing, When a comparison operation is performed with design value data input in advance of the measured member to determine whether or not the measured member size is good or not.
Both control panels provided for each 3D automatic measurement device
Is achieved by consisting of

[0008]

Embodiments of the present invention will be described in detail with reference to the drawings. 1 is a perspective view showing an embodiment of the present invention device for automatically measuring a box girder, FIG. 2 is a plan view of FIG. 1, FIG. 3 is a side view of FIG. 2, and FIG. 5 is a side view of FIG. 4, and FIG. 6 is a front view of FIG.

The configuration of the automatic measuring device of the present invention will be described with reference to FIGS. Reference numeral 1 denotes a reference gantry arranged on a smooth foundation slab 2 at appropriate intervals, and at a predetermined position of the reference gantry 1, a center axis aa of the reference gantry 1
, The long box girder 3 for the bridge configuration, which is the object to be measured, is mounted and set. Center axis a of the reference base 1
A guide base 4 having a central axis bb perpendicular to -a is disposed and installed on the floor slab 2, and the guide base 4 is NC-controlled by a control panel 5 to which design value data of the box girder 3 is input in advance. At the same time, the measurement targets 6, 7, and 8 attached to required measurement locations on the outer surfaces of the flanges on both sides of the box girder, the outer ends of the connections and the inner ends of the longitudinal ends of the box girder at the both ends are separately three-dimensionally. A three-dimensional automatic measurement device 9 that collimates and measures (X, Y, Z) coordinates and can stop at two position measurement points c and d is movably mounted.

The three-dimensional automatic measuring device 9 includes a CCD camera 10 for capturing a color image 10) a light wave range finder 11, a horizontal axis (NC drive) 12a, an altitude axis (NC drive) 12b, a light 12c for searching a measurement target, A gantry 1 having a rectangular tube structure, which is constituted by a control / communication cable (not shown) and slidably mounted on the guide gantry 4.
3 is provided so as to be able to move up and down. The gantry 1
A screw shaft (not shown) which is moved forward and backward by a servomotor (not shown) is installed under 3, and a design of the box girder 3 previously input to the control panel 5 with respect to the guide base 4. Sliding movement by NC control based on value data,
It is configured to stop reliably at the two measurement points c and d.

The measuring target 6 is detachably attached to arbitrary measuring points on the upper and lower outer ends of the left and right webs 3a constituting the box girder 3. As shown in FIG. 1, the attachment means may use a connection hole 3b provided for connecting adjacent box girders 3 by a splice, or a measurement hole (not shown). The target 6 is attached to an adsorbent (not shown) in which a magnet is embedded, and the adsorbent is adsorbed to an arbitrary portion of the web 3a. As shown in FIG. 1, the measurement target 6 is also attached to the outer ends of both ends of the upper and lower flanges 3c constituting the box girder 3. Although not particularly shown, the measurement targets 6, 7, 8
Is a sticker with a white display plate with a seal structure with a square retroreflective plate inside the red figure display for color image capture on the surface of a square substrate. A marking line corresponding to the white surface plate is engraved, the marking line is matched with the marking line provided on the web 3a, and the measurement target is mounted and positioned. Since the configuration is the same as that shown in Japanese Patent Application No. 7-39198, detailed description of its operation and effect is omitted.

The measurement target 7 is detachably attached to a flange 3e of a connection 3d provided at required locations on the left and right sides of the web 3a constituting the box girder 3. That is, the flange 3e is attached to the connection hole 3f provided on the outer edge portion by the same means as described above.

The measurement target 8 is detachably attached to the outer end surface of a vertical rib 3g provided on the inner surface of both ends of the flange 3c constituting the box girder 3.

FIGS. 4 to 6 show a state in which the sheet girder 21 is automatically and continuously measured in place of the box girder 3 described above. The plate girder 21 is mounted on a predetermined position on the reference stand 1. .
The three-dimensional automatic measuring device 9 collimates and measures tertiary X, Y, and Z coordinates of measurement targets 22, 23, and 24 attached to required measurement locations on both side surfaces of the sheet girder 21.

The measuring target 22 includes front and rear ends of the upper and lower flanges 21a constituting the sheet girder 21 and the stiffener 2.
1b is detachably provided on the flange 21a corresponding to the mounting position of 1b. The measurement target 23 is detachably attached to a connection hole (not shown) provided at the front and rear ends of the flange 21 a and the web 21 c constituting the sheet girder 21. The measurement target 24 is removably attached to a pair of inclined mounting holes (not shown) formed in the stiffener 21b of the sheet girder 21. The measurement targets 22, 23,
24 has the same configuration as the measurement targets 6, 7, and 8 of the box girder 3 described above, and a detailed description thereof will be omitted.

[0016]

[Explanation of Measurement Operation] Next, a measurement method will be described based on the embodiment shown in FIGS. At a predetermined position on the reference gantry 1 provided between the two parallel guide gantry 4, its center axis a
Measurement targets 6, 7, 8 are removably attached to predetermined measurement sites on both sides, specifically, at each end of the box girder 3 and the front and rear ends of the flange 3c constituting the box girder 3 so as to follow -a. The first step of loading and setting the box girder 3, a direction orthogonal to the central axis a-a of the reference base 1 by NC control based on design value data of the box girder 3 previously input to each control panel 5. That is, the second step of moving and stopping the three-dimensional automatic measuring device 9 to the position where all the measurement targets 6, 7, 8 can collimate along the two guide frames 4, that is, the measurement point c. After the measurement positions of the box girder 3 are read by both the three-dimensional automatic measuring devices 9 stopped at c, the No. set for the box girder 3 is read. 1 collimation image processing of the measurement target 6 and the box girder No. 3 according to the automatic measurement flowchart. 1
The measurement points were measured. 2-No. n collimating measurement of the measurement targets 6, 7, and 8 and storing all measurement site data set on one side and both ends of the box girder 3;
By the NC control based on the process and the design value data of the box girder 3 input to the control panel 5, all the measurement targets 6, 7, 7, and 6 with both the three-dimensional automatic measuring devices 9 attached to the opposite side of the box girder 3
After the reading of the measurement position of the box girder 3 by the two three-dimensional automatic measuring devices 9 stopped at the position where the collimator 8 can collimate, that is, at the fourth process measurement point d which moves to the measurement point d and then stops, In the same operation as the process, the measurement targets 6, 7, 8 are sequentially collimated and measured in a predetermined order, and a fifth step of storing all the measurement data is performed. The comparison between the design value data and the actual measurement data is performed. If the error of each data of each measurement part is within the allowable range, it is determined to be good. Otherwise, the sixth step of issuing an alarm is performed. It becomes. The automatic measurement method by the color image processing device according to the automatic measurement flowchart is as follows.
Since it is the same as Japanese Patent Application No. 7-39198, which is the earlier application,
Detailed description is omitted.

The method of measuring the sheet girder 21 shown in FIGS.
Since it is substantially the same as the measuring method of the box girder 3 described above, detailed description is omitted. The measurement of the sheet girder 21 may be performed by using any one of the three-dimensional automatic measuring devices 9 installed on the two guide stands 4, but the measurement accuracy can be further improved by using both.

[0018]

According to the configuration of the present invention as described above,
The following effects can be obtained. (A) A long box girder forming a bridge on a smooth foundation slab,
A reference pedestal on which a member to be measured such as a sheet girder is mounted so as to be mounted on the central axis, and a guide pedestal having a central axis orthogonal to the central axis of the reference pedestal are arranged in front and rear so as to sandwich the reference pedestal. NC control is performed by a control panel that inputs design value data of the member to be measured to both guide frames, and stops at two position measurement points for collimating measurement of measurement targets attached to required portions on both sides of the member to be measured. Each of the three-dimensional automatic measuring devices capable of performing the measurement, the measurement target, that is, the distance measurement of a required portion of the measured member can be continuously performed, and the measurement target previously input to the control panel is measured. Comparing the design value data of the members with the actual measurement data, it can automatically judge the quality of the member to be measured, and this integrated measurement data can be used for the temporary assembly work of the bridge previously performed at the factory. It is possible to row. (B) Since the guide stand equipped with the three-dimensional automatic measuring device is provided before and after the reference stand, collimation measurement of the measurement targets attached to the stiffeners on both end faces of the box girder can be accurately performed. Can be (C) When measuring the sheet girder, it is sufficient to use one of the three-dimensional automatic measuring devices.
Further, the use of both can further improve the measurement accuracy.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an embodiment of an apparatus of the present invention for automatically measuring a box girder.

FIG. 2 is a plan view of FIG.

FIG. 3 is a side view of FIG. 2;

FIG. 4 is a plan view of an apparatus for automatically measuring a sheet girder according to another embodiment.

FIG. 5 is a side view of FIG. 4;

FIG. 6 is a front view of FIG. 4;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Reference stand 2 Base floor slab 3 Box girder 3a Web 3b Connection hole 3c Flange 3d Connection flange 3e Connection flange 3f Connection hole 3g Vertical rib 4 Guide base 5 Control panel 6 Measurement target 7 Measurement target 8 Measurement target 9 Tertiary Original automatic measuring device 10 CCD camera 11 Lightwave range finder 12a Horizontal axis (NC drive) 12b Altitude axis (NC drive) 12c Target search light for measurement 13 Base 21 Sheet girder 21a Flange 21b Stiffener 21c Web 22 Measurement target 23 Measurement Target 24 Measurement target

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Kazuyuki Isohisa 118, Futatsuka, Noda-shi, Chiba Pref. Noda Plant, Kawasaki Heavy Industries, Ltd. (56) References JP-A-3-31715 (JP, A) JP-A Heisei 3-170812 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) G01C 15/00-15/14 G01B 11/00-11/30 102 G01C 3/06

Claims (1)

(57) [Claims] 1. A member to be measured such as a long bridge box girder having a measurement target detachably attached to a required measurement site on both end surfaces and / or left and right sides on a smooth foundation slab is mounted on a predetermined position. a reference frame which set to, disposed before and after the reference frame, and two guide stand of having a central axis perpendicular to the center axis of the reference frame, movable in the two guide frame, the object to be measured member NC control is performed by the control panel that inputs the design value data of
Collimated measurement separately from one side of the member to be measured and input in advance
For each measurement target collimated by the NC data
3D (X, Y, Z) coordinates calculated and stored in the control panel
Then, move to the other side of the member to be measured, and
The target is measured from the other side of the member to be measured.
A movable three-dimensional automatic measuring device that can store the target in the control panel and can stop at the two-position measuring point set on the guide stand, and the three-dimensional automatic measuring device collimates each measurement target. Comparing all three-dimensional measurement data obtained by image processing with pre-input design value data of the member to be measured
An automatic measuring device for a long structure such as a bridge box girder , which determines whether the dimensions of a member to be measured are good or not and comprises a control panel provided for each three-dimensional automatic measuring device.