JP2950447B2 - Object surface monitoring device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for monitoring an object surface, and more particularly, to an apparatus for monitoring the surface of an object capable of monitoring the texture such as unevenness of the object surface from sound.

[0002]

2. Description of the Related Art In recent years, in a high-rise building having a steel structure, a refractory made of rock wool and cement slurry is sprayed on surfaces of beams, columns, and the like to protect the steel frame from heat generated when a fire occurs and to rust. Is to be prevented.

Heretofore, a dedicated spraying robot which automatically travels in a longitudinal direction of a beam or the like to be sprayed has been used for spraying such a refractory. In this type of spraying robot, when a refractory is sprayed on an object to be sprayed, a distance sensor provided at an end of the arm or the like of the spraying robot measures a distance between the tip of the arm and the object to be sprayed, The position of the nozzle with respect to the object to be sprayed is controlled to a constant value so that this distance becomes a predetermined value. A video camera is installed on the body of the spraying robot to shoot the sprayed state of the refractory, and images taken by the video camera are displayed on a monitor television set at a remote location, so that the refractory against the sprayed object is displayed. Of the spray, that is, leakage of the spray, unevenness of the spray, and the like.

[0004]

However, in the above-described conventional refractory spraying apparatus, the state of spraying of the refractory on the shot is photographed by a single video camera.
This shot image is displayed on the monitor television in a two-dimensional manner to monitor the spraying state. Therefore, if the two-dimensional image can be relatively clearly determined, such as a shot leak, Although there is not much problem, if the spraying unevenness, that is, unevenness in the thickness of the spraying occurs, it is not easy to judge the lack of spraying of the refractory simply by looking at the screen of the monitor TV, In addition to increasing the burden on surveillance personnel, inadequate refractory spraying may be overlooked. In addition, there is a problem in that, when the screen displayed on the monitor television is viewed for a long time, erroneous determination due to eye fatigue, familiarity with monitoring, or the like is likely to occur, and the spraying state of the refractory cannot be correctly evaluated.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide a method for spraying a refractory material on a surface of an object to perform predetermined processing on the surface of the object. The object of the present invention is to provide a monitoring device for an object surface, in which the texture of the object can be monitored audibly in addition to the visual sense, and the texture of the object surface can be more accurately evaluated.

[0006]

In order to achieve the above object, the present invention provides two left and right video cameras for photographing the surface of an object to be monitored from different directions, and outputs from the left and right video cameras. Monitor display means for displaying a video signal as a stereoscopic image, and scanning the object surface captured by the two video cameras with a distance measurement signal,
A distance sensor for measuring a distance to the object surface, signal processing means for converting a distance signal output from the distance sensor into an acoustic signal having a content corresponding to the measured distance, and outputting the signal; Voice generating means for generating a sound in accordance with the acoustic signal output from the distance sensor, wherein the signal processing means outputs a signal based on the distance measurement signal output from the distance sensor.
Image processing means having a function of creating a three-dimensional computer graphics image, synthesizing the computer graphics image with a real image captured by the one video camera, and outputting the synthesized image to the monitor display means for stereoscopic viewing Is provided. Further, in the invention, it is preferable that the signal processing means converts the distance signal into an acoustic signal having a frequency corresponding to the measured distance.

[0007]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration in which an object surface monitoring device according to an embodiment of the present invention is applied to monitoring of refractory spraying, and FIG. 2 is a spraying robot and various devices mounted on its arm. FIG. 3 is a configuration diagram showing an arrangement relationship between the object and a steel frame as a sprayed object.

First, in FIG. 2, reference numeral 1 denotes a steel frame (beam) to which refractory is to be sprayed, and 2 denotes a floor slab laid on the steel frame 1. On this floor slab 2, a blowing robot 3 is provided.
Is the longitudinal direction of the steel frame 1 (perpendicular to the plane of FIG. 1)
It is mounted so that it can run automatically. Spray robot 3
Is a support member 4 extending horizontally toward the edge of the floor slab 2.
One end of an arm 5 hanging downward is attached to the tip of the support member 4, and the arm 5 has a movable body 6 that moves in the vertical direction (Y direction) along the longitudinal direction. Installed. The movable body 6 is a steel frame 1
The movable body 6 has a nozzle 8 for spraying a refractory 7 on the surface of the steel frame 1 and an image of the surface of the steel frame 1 on which the refractory 7 is sprayed. Left and right video cameras 9 and 10 for stereoscopic vision, a distance sensor 11 composed of ultrasonic waves or the like for measuring the distance to the surface of the sprayed refractory 7, and illuminating the surface of the sprayed refractory 7 from an oblique direction. Light sources 12 are respectively mounted.
The left and right video cameras 9 and 10 are attached to the movable body 6 via the camera platform 22, and the video cameras 9 and 10 are operated by operating the camera platform 22 in the horizontal direction and the depression suppressing direction.
You can change the orientation.

Next, the configuration of FIG. 1 will be described. In FIG. 1, a monitor display device 13 for the right eye is connected to the video camera 10 for the right eye, and the monitor display device 13 displays a real image of the surface of the steel frame captured by the video camera 10 for the right eye. . An image processing device 16 is connected to the left-eye video camera 9 via an A / D converter 15 that converts a video signal output from the video camera 9 and a digital signal for each line. This image processing device 16
Is a three-dimensional image of an object surface created based on an actual image captured by the video camera 9 and distance information of a distance sensor 11 described later.
A dimensional image (computer graphics image: CG image) is synthesized, and a synthesized image of the real image and the CG image is output to the monitor display device 14 for the left eye. A stereoscopic mirror 1 for aerial photography for stereoscopically viewing both screens is provided on the front surfaces of the monitor display devices 13 and 14 for the left and right eyes.
7 are arranged.

A signal for measuring the distance (ultrasonic wave) generated from the distance sensor 11 is applied to the surface of the refractory which has been sprayed by the movement of the spraying robot 3 in the X direction and the movement of the movable body 6 in the X direction.
Scanning is performed in the Y direction, and the distance from the reference position to the refractory surface is measured. The distance signal output from the distance sensor 11 is converted into a digital signal by the AD converter 18 and input to the signal processing device 19. Signal processing device 1
9 calculates the thickness of the refractory 7 sprayed on the steel frame 1 based on the distance data output from the A / D converter 18, and calculates an object (refractory) based on the calculated thickness data. 7) A three-dimensional computer graphics image (hereinafter referred to as a CG image) corresponding to the surface irregularities is created, and further, an acoustic signal having a frequency corresponding to the thickness of the sprayed refractory 7 is created based on the thickness data. . Signal processing device 19
Is output to the image processing device 16, and the acoustic signal is output to the speaker 21 via the drive circuit 20.

Next, the operation of the embodiment constructed as described above will be described. When the refractory 7 is sprayed on the surface of the steel frame, the spraying robot 3 is moved at a predetermined interval in the longitudinal direction of the steel frame 2 (unsprayed side), and in this state, the movable body 6 is moved from the lower end along the arm 5. While moving toward the upper end, the refractory is ejected from the nozzle 8 to spray the refractory on the surface of the steel frame 2 to a predetermined thickness. When the movable body 6 reaches the upper end, the spraying robot 3 is again moved in the longitudinal direction of the steel frame 2 by a predetermined distance, and the refractory ejected from the nozzle 8 is moved while moving the movable body 6 from the upper end to the lower end. Is sprayed to a predetermined thickness on the surface. Hereinafter, by repeating the same operation, the refractory 7 is sprayed over the entire length of the steel frame 2.

Next, the case of monitoring the surface of a steel frame sprayed with a refractory will be described. This monitoring is performed simultaneously with the refractory spraying operation. First, the light source 12 is turned on, and the surface of the steel frame 1 on which the refractory 7 is blown is illuminated from an oblique direction, thereby shading the irregularities on the surface of the refractory to sharpen the irregularities on the surface. . The illuminated surface of the refractory 7 is imaged by the left and right video cameras 9 and 10. The video signal captured by the right-eye video camera 10 is output to the right-eye monitor display device 13 and displayed as a real image.

On the other hand, the video signal picked up by the video camera 9 for the left eye is taken into the A / D converter 15 in accordance with the horizontal scanning timing, sampled, and converted into a digital signal having a plurality of bits per pixel. After that, it is input to the image processing device 16. The distance measuring ultrasonic wave generated by the distance sensor 11 performs XY scanning on the surface of the refractory in accordance with the movement of the spraying robot 3 and the movable body 6, and the distance signal from the distance sensor 11 measured by this scanning is: The signal is converted into a digital signal by the A / D converter 18 and input to the signal processing device 9.

The signal processor 19 calculates the thickness of the refractory 7 sprayed on the steel frame 1 based on the input distance data for each sampling process in the A / D converter 18, and calculates the calculated thickness. Based on the data, a three-dimensional CG image corresponding to the uneven shape of the refractory surface is created. Further, an acoustic signal corresponding to the thickness dimension of the sprayed refractory 7 is generated based on the thickness data. For example, assuming that the set thickness of the refractory 7 sprayed on the steel frame 1 is 50 mm, it is determined whether or not the thickness is equal to or less than an allowable value of the set thickness, for example, a thickness dimension of (50-5) mm or less. Then, an acoustic signal having a frequency corresponding to the determination result is generated from an acoustic signal generation unit (not shown, but built in the signal processing device 19). For example, the thickness of the refractory surface to be scanned is the allowable thickness (50-
5) When it is determined to be not less than mm, an acoustic signal of a relatively low frequency is generated, and when it is determined that the thickness is not more than the allowable thickness, an acoustic signal of a relatively high frequency is generated.

When the acoustic signal generated by the signal processing device 19 is output to the speaker 21 via the drive circuit 20, the pitch of the sound from the speaker 21 differs depending on the sprayed thickness of the refractory 7. A sound is generated, and when the monitor hears this sound, the thickness of the refractory surface can be monitored audibly.

On the other hand, the CG generated by the signal processing device 19
The image data is taken into the image processing device 16 and is synthesized so as to overwrite the actual image captured by the video camera 9 for the left eye. The synthesized image data is converted into an RGB signal or an NTSC signal suitable for the monitor display device and output to the left-eye monitor display device 14 for display. Therefore, by viewing the left and right images displayed on the screens of the monitor display devices 13 and 14 through the stereoscopic mirror 17,
A stereoscopic image can be seen.

In this embodiment as described above, a CG image reflecting the surface shape of the refractory is created from the distance information detected by the distance sensor, and this CG image and an actual image captured by a video camera for the left eye. Are synthesized and displayed on the left-eye monitor display device, and the real image captured by the right-eye video camera is displayed on the right-eye monitor display device, and displayed on both monitor display devices. Since the left and right images can be viewed stereoscopically through a stereoscopic mirror, it is possible to obtain images that are practically similar to those observed when visually observing the surface of the refractory, and to improve the texture of the surface of the refractory from a remote location. It can be evaluated easily and accurately. Also, since the thickness of the surface of the refractory can be monitored by sound in addition to visual monitoring, the burden on the eyes of the observer is reduced, and insufficient refractory spraying and leaks are prevented. It will not be overlooked.

In the above-described embodiment, the case has been described where the CG image created from the distance information from the distance sensor 11 is superimposed on the real image and displayed on the monitor display device 14 for stereoscopic vision. It is not limited to. For example, the images captured by the left and right video cameras 9 and 10 may be directly output to and displayed on the monitor display devices 13 and 14 for stereoscopic viewing. In this case, the left and right video cameras 9
The image photographed at 10 is not limited to the refractory after spraying, but may be an image of the state of the refractory sprayed by the nozzle, the surface of the steel frame 1, and the like. In such a case, the video camera is changed to an arbitrary direction by operating the camera platform 22. Further, the monitor display means for stereoscopic viewing is not limited to the two monitor display devices as shown in the above embodiment, and alternately outputs left and right image signals to one monitor display device. May be viewed through liquid crystal shutter glasses, or a system in which a composite image alternately projected on a screen by a projector is viewed through polarized glasses. In addition, the present invention is not limited to monitoring the surface shape of the refractory as shown in the above-described embodiment, but can be applied to monitoring and evaluating the surface shape of other objects.

[0019]

As described above, according to the present invention, an image of an object surface photographed by a video camera is displayed on a monitor display means for stereoscopic vision, and a distance to the object surface is measured by a distance sensor. This distance information is converted into an audio signal, and by using this audio signal, sound generation means such as speakers can be operated to monitor the state of the shape of the object surface with sound. Can be evaluated. Also, in the present invention, a three-dimensional CG image is created based on the distance information,
Since the G image and the real image captured by the video camera are combined and can be displayed on the stereoscopic monitor display means, the image of the object surface viewed through the monitor display means becomes more realistic, and the unevenness generated on the object surface Etc. can be more clearly evaluated.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram showing an embodiment of an object surface monitoring device according to the present invention.

FIG. 2 is an arrangement relation diagram of each part showing a case where the present embodiment is applied to a steel frame spraying robot.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 steel frame (object) 7 refractory 9, 10 video camera 11 distance sensor 13, 14 monitor display device 16 image processing device 19 signal processing device 21 speaker (sound generating means)

Claims (2)

(57) [Claims] 1. Left and right video cameras for photographing the surface of an object to be monitored from different directions, monitor display means for displaying a video signal output from the left and right video cameras as a stereoscopic image, A distance sensor that measures the distance to the object surface by scanning the surface of the object captured by the two video cameras with the distance measurement signal, and outputs the distance signal output from the distance sensor to the measured distance. Signal processing means for converting the sound signal into a sound signal having a content corresponding to the distance , and a sound generating means for generating a sound corresponding to the sound signal output from the signal processing means , wherein the signal processing means The measurement output from the sensor
3D computer graphics image based on distance signal
The computer graphics image and the one video.
Synthesizes the actual image captured by the camera
An image processing means for outputting an image to a monitor display means for an object. 2. The signal processing means according to claim 1, wherein
The apparatus for monitoring a surface of an object according to claim 1, wherein the apparatus converts the signal into an acoustic signal having a frequency corresponding to the measured distance.