JP6251142B2 - Non-contact detection method and apparatus for measurement object - Google Patents

Description

  The present invention relates to a non-contact detection method and apparatus for an object to be measured, and more particularly to inspection and diagnosis of soundness of structures, natural slopes, and the like by vibration measurement.

  As a conventional technique for surveying the position / shape of a structure or the like, for example, there is multi-point surveying using a total station (general surveying instrument). This is a laser distance meter installed on the motor head and uses a device called a total station that collimates arbitrary points on the structure and stores angle measurement and distance data. There are a method using a reflecting prism and a method using a non-prism. In the method using the reflecting prism, the prism is set in advance on the measurement point on the structure. Some total stations can automatically detect and collimate the position of the prism using the intensity of reflected light. In the method using a non-prism (when a reflective target is not used), a person collimates the measurement points on the structure in advance and stores the measurement position in the total station for surveying.

  The measurement result is recorded on the drawing data of the structure as the distance between the measurement points.

  Another conventional technique is a photogrammetry technique.

  Conventionally, surveying work has been carried out using surveying instruments that measure distances and angles, but in recent years, techniques for acquiring three-dimensional shape data of survey targets using laser measurement technology and photogrammetry technology have been used. became.

  In acquiring three-dimensional shape data using a photograph, the position coordinates of a point on the photograph are obtained by a stereo correlation method using two or more images obtained by photographing the object with parallax. Taking the case of using two photos as an example, the method used in the surveying field is a method using two photos taken by shifting the shooting position with a monocular camera in two steps and two cameras. There is a method of using two photographs taken simultaneously by a stereo camera arranged in parallel so that the positions of the cameras are not changed.

  The former has the advantage that it is possible to shoot with a general camera and adjust the shooting accuracy by freely setting the shooting position of the camera according to the size of the survey target, etc. It is often applied to natural objects and large structures.

  On the other hand, in the latter, since the positional relationship between the two cameras is known, it is easy to obtain the correlation between the two photos, and the size of the object can be obtained without installing a scale on the object to be measured. There are merits, and it is often used for surveying of small objects such as dimension measurement in laboratory experiments.

  Furthermore, a non-contact measurement method using vibration measurement for examining the soundness of the structure using the vibration characteristics is also used.

  In this method, artificial vibrations (such as vehicle running, exciter vibration, shock vibration, etc.), and structural vibrations with vibration sources such as constant tremors are measured with a vibrometer attached to the target structure. Then, the soundness of the structure is evaluated using the amplitude obtained from the recorded data, the dominant frequency, etc. as indices.

  However, the implementation of this method requires installation and removal of the sensor device at a high place or the like, which is a dangerous and time-consuming operation. Accordingly, the inventors of the present application have developed a non-contact measurement method and apparatus for structural vibration that does not require attachment of a sensor device (see Patent Document 1 below).

  In the method and apparatus, a technology that suppresses the decrease in measurement accuracy due to the shaking of the non-contact sensor device itself due to wind and ground vibration is introduced, and the microtremor that is extremely minute ground vibration during normal times is used as the excitation source. It has been confirmed that even minute vibrations of structures and the like can be measured with high accuracy and high resolution, and have already been utilized as practical products.

Japanese Patent No. 4001806

Toshiharu Murai, Tsutomu Okuda, Hidetoshi Nakamura, “A Study on Analytical Photogrammetry Using a Non-Measurement Camera”, Report of the Institute of Industrial Science, University of Tokyo, 29 (6), p196-209, 1981-07 Masakazu Shibahara et al., “Development of 3D Welding Deformation Measurement Method Based on Stereo Imaging”, Proceedings of the Japan Welding Society, Vol. 28, No. 1, pp. 108-115, 2010

  However, in conventional non-contact vibration measurement work, a person determines a measurement position in a measurement object based on information such as a drawing, irradiates a remote measurement point with a laser, etc., and obtains the obtained data. There is a problem that analysis and arrangement are performed by linking to measurement points based on field book data and the like, and much labor is required for measurement and data arrangement.

  In view of the above situation, the present invention performs measurement of a measurement location and collimation in non-contact vibration measurement, automatically corrects an error due to an increase in measurement angle, and records data by automatically linking a measurement position and contact data. It is an object of the present invention to provide a non-contact detection method for a measurement object and an apparatus for the same. The non-contact detection method for an object to be measured according to the present invention is particularly effective for efficient inspection and diagnosis of soundness such as a long structure or a large slope.

In order to achieve the above object, the present invention provides
[1] In a non-contact detection method for a measurement object, the two non-contact sensor devices including a laser Doppler vibrometer and a CCD camera, and a control device for controlling the two non-contact sensor devices are used. The CCD camera of the two non-contact sensor devices captures the entire view of the measurement object, creates 3D point cloud data of the entire measurement object by stereo imaging, and measures the 3D point cloud data of the entire measurement object A region to be selected is selected, and feature points in the region are automatically extracted to determine measurement points. Based on the positions of the two non-contact sensor devices and the three-dimensional coordinates of the measurement points, the two non-contact points are determined. Controlling the contact sensor device to collimate the measurement points, non-contact measurement of the vibration of the measurement points by the two non-contact sensor devices, and performing vibration analysis of the measured data .

  [2] In the non-contact detection method of the measurement object according to [1], camera angle information necessary for the stereo image method is obtained from an encoder provided in a driving unit of the non-contact sensor device. .

  [3] The non-contact detection method for a measurement object according to [1], wherein the position information of the CCD camera is acquired by a GPS built in the non-contact sensor device.

  [4] In the non-contact detection method of the measurement object according to [1] above, when the extracted feature point does not properly capture the position to be measured, the vicinity of the measurement point is zoomed in and synchronized. The three-dimensional point cloud data around the measurement point is created by photographing and stereo image method, and the measurement position can be determined in detail.

  [5] In the non-contact detection method for a measurement object according to [1] above, the two non-contact sensor devices have a self-vibration correction function, and the two non-contact sensor devices perform vibration of a measurement point. It is characterized by non-contact measurement.

  [6] In the non-contact detection method for a measurement object according to [5], correction is performed to separate vibration components in two horizontal directions at a measurement point using measurement data of the two non-contact sensor devices. It is characterized by that.

  [7] In the non-contact detection method for a measurement object as described in [5] above, the measurement data of the two non-contact sensor devices are used to determine the amplitude, dominant frequency, and attenuation constant index of the vibration component at the measurement point. It is characterized by calculating.

  [8] The non-contact detection method for a measurement object according to [7], wherein the obtained vibration data and each index are recorded linked to the position data of the measurement point.

In the non-contact sensor unit of [9] measured object, a non-contact sensor unit of two consisting of a laser Doppler vibrometer and CCD camera, and a control unit for controlling the non-contact sensor equipment of the two, the two The entire non-contact sensor device is used to photograph the entire view of the measurement object, and three-dimensional point cloud data of the entire measurement object is created by the stereo image method, and the position and point cloud data of the two non-contact sensor devices are the same coordinate system. And means for grasping in (4).

  According to the present invention, determination of a measurement location and collimation are automated in non-contact vibration measurement, an error due to an increase in measurement angle is automatically corrected, and a data recording method is improved by automatic link between a measurement position and contact data. Can do. In particular, it is effective for efficient inspection and diagnosis of long structures, vast slopes, etc.

It is a schematic explanatory drawing of the non-contact detection apparatus of the measuring object which shows the Example of this invention. It is the figure which showed the flow of the structure sensors and electric signal of the non-contact detection apparatus of the measuring object which show the Example of this invention. It is the figure which showed the optical block in the non-contact sensor apparatus of the non-contact detection apparatus of the measuring object which shows the Example of this invention. It is explanatory drawing of the drive part of the non-contact sensor apparatus of the non-contact detection apparatus of the measuring object which shows the Example of this invention. It is the figure which showed the flow of the arithmetic processing and control of the non-contact detection apparatus of the measuring object which shows the Example of this invention. It is explanatory drawing of the measurement condition of the measuring object by the two non-contact sensor apparatuses which show the Example of this invention. It is explanatory drawing of estimation of the three-dimensional point cloud data of the whole measuring object from the CCD image of the two non-contact sensor apparatuses which show the Example of this invention. It is a calculation theory example of the position coordinates of each part to be measured by the stereo image method, shown as a reference. It is a figure which shows the example of the extraction method of the feature point which made object the bridge cable which shows the Example of this invention. It is explanatory drawing of the CCD camera of the CCD camera and LDV camera by control of the control apparatus which shows the Example of this invention, and CCD camera imaging | photography around a measurement point. It is explanatory drawing of the determination method of the measurement point by close-up imaging | photography around the object measurement point which shows the Example of this invention. It is explanatory drawing of the measuring point velocity from the measurement result of the two sensor apparatuses which show the Example of this invention, and the approximate method of the orthogonal component. It is explanatory drawing of the condition which applied the detection of the measurement point by extraction of the feature point to the rock slope as another Example of this invention.

  The non-contact detection method for an object to be measured according to the present invention uses two non-contact sensor devices including a laser Doppler vibrometer and a CCD camera, and a control device that controls the two non-contact sensor devices. The CCD camera of the two non-contact sensor devices captures the entire view of the measurement object, creates 3D point cloud data of the entire measurement object by stereo imaging, and measures the 3D point cloud data of the entire measurement object A region to be selected is selected, and feature points in the region are automatically extracted to determine measurement points. Based on the positions of the two non-contact sensor devices and the three-dimensional coordinates of the measurement points, the two non-contact points are determined. The contact sensor device is controlled to collimate the measurement points, the vibrations of the measurement points are non-contact measured by the two non-contact sensor devices, and the vibration analysis of the measured data is performed.

  Hereinafter, embodiments of the present invention will be described in detail.

  FIG. 1 is a schematic explanatory view of a non-contact detection apparatus for a measurement object according to an embodiment of the present invention. In addition, a structure, a natural slope, etc. are mentioned as a measuring object of this invention.

  In this figure, reference numeral 1 denotes a control device, which includes a communication unit 2, a control calculation unit 3, a vibration calculation unit 4, a stereo image calculation unit 5, a synchronous drive calculation / control unit 6, other calculation units 7, and an operation. A display unit 8, a display unit 8A, an operation input unit 8B, and a storage unit 9 are provided.

  The first non-contact sensor device 11 includes a first laser Doppler vibrometer (hereinafter referred to as a first LDV) 12, a first CCD camera 13, a first horizontal manual adjuster 14, and a first horizontal. A drive unit 15, a first horizontal encoder 16, a first vertical manual adjuster 17, a first vertical drive unit 18, and a first vertical encoder 19 are provided.

  Further, the second non-contact sensor device 21 includes a second laser Doppler vibrometer (hereinafter referred to as a second LDV) 22, a second CCD camera 23, a second horizontal manual adjuster 24, a second horizontal A drive unit 25, a second horizontal encoder 26, a second vertical manual adjuster 27, a second vertical drive unit 28, and a second vertical encoder 29 are provided.

  Thus, the first non-contact sensor device 11 and the second non-contact sensor device 21 are mainly LDVs (laser Doppler vibrometers) 12 supported by the horizontal drive units 15 and 25 and the vertical drive units 18 and 28. , 22 and CCD cameras 13, 23.

  The control device 1 can control the two non-contact sensor devices 11 and 21 based on the input information from the operation / display unit 8 and the calculation result of the control calculation unit 3.

  FIG. 2 is a diagram showing the flow of the electrical signals and the constituent sensors of the non-contact detection device for the measurement object according to the embodiment of the present invention.

  In this figure, a non-contact detection device 31 for a measurement object includes a control unit 32, a CCD camera 33, an LDV lens 34, a distance meter 35, an LDV light receiving unit 36, a GPS 37, a vibration meter 38, a filter 39, and a power source. A receiving unit 40 for receiving a control signal is provided.

  Here, the configuration sensor device of the non-contact detection device of the measurement object of the present invention and the flow of electrical signals are shown. The CCD camera 33 and the LDV are the main sensor units, and a distance meter 35 for measuring the distance between the autofocus control and the measurement target, a vibration meter 38 for correcting self-vibration, and sensor position information are output. It consists of GPS37.

  FIG. 3 is a diagram showing an optical block in the non-contact sensor device of the non-contact detection device for a measurement object according to an embodiment of the present invention.

  In this figure, 41 is a CCD camera, 42 is an LDV lens, 43 is a distance meter, 44 is a laser tube, 44a, 44b, 44e and 44g are mirrors, 44c, 44d and 44f are beam splitters, and 45 is an LDV light receiving unit. .

  4A and 4B are explanatory diagrams of a drive unit of a non-contact sensor device of a non-contact detection device for a measurement object according to an embodiment of the present invention, FIG. 4A is a front view, FIG. 4B is a top view, FIG. 4C is a side view.

  In these drawings, 51 is a sensor unit, 52 is a vertical drive unit (vertical rotation motor) (corresponding to 18 and 28 in FIG. 1), 53 is a manual adjuster V (corresponding to 17 and 27 in FIG. 1), 54 Is a vertical encoder (corresponding to 19 and 29 in FIG. 1), 55 is a manual adjuster H (corresponding to 14 and 24 in FIG. 1), 56 is a horizontal drive (horizontal rotation motor) (in 15 and 25 in FIG. 1) Corresponding) and 57 are horizontal encoders (corresponding to 16 and 26 in FIG. 1).

  The sensor unit can be collimated in an arbitrary direction by the transmission information from the control device and the rotation angle measurement of the encoder. When an error occurs in the collimation position, the error can be corrected by a manual adjuster (fine adjustment knob).

FIG. 5 is a diagram showing the flow of arithmetic processing / control of the non-contact detection apparatus for a measurement object according to an embodiment of the present invention.
(1) First, CCD imaging of the entire measurement range is performed by the left non-contact sensor device 61 and the right non-contact sensor device 62.
(2) The overall shape of the measurement object is estimated by the stereo image by the control device.
(3) The search range (plane or line) is set by the control device.
(4) The control device roughly extracts the measurement points based on the overall shape.
(5) The left non-contact sensor device 61 and the right non-contact sensor device 62 collimate the same point.
(6) The left non-contact sensor device 61 and the right non-contact sensor device 62 perform CCD imaging around the measurement point, and perform shape estimation using a stereo image.
(7) The left non-contact sensor device 61 and the right non-contact sensor device 62 detect and collimate feature points (such as convex portions).
(8) Non-contact vibration measurement (self-vibration / angle correction) is performed by the left non-contact sensor device 61 and the right non-contact sensor device 62.
(9) Perform vibration analysis (dominant frequency, maximum amplitude, damping constant) by the control device.
(10) Link and record the measurement point position information and data by the control device.

  As described above, in the present invention, a non-contact detection device for a measurement object including two non-contact sensor devices each including an LDV and a CCD camera and a control device is used.

  Two non-contact sensor devices are used to capture the entire view of the object to be measured (above (1)), and three-dimensional point cloud data of the entire object to be measured is created by stereo imaging (above (2)). The position of the device and the point cloud data are grasped in the same coordinate system. At this time, the camera angle information necessary for the stereo image method is acquired from an encoder provided in the drive unit of the non-contact sensor device, and the position information of the camera (sensor unit) is acquired by the GPS built in the non-contact sensor device. To.

  Next, a region to be measured on the three-dimensional point cloud data of the entire measurement object is selected [above (3)], and feature points in the region are automatically extracted to determine a measurement position [above (4)].

  Next, the control device controls the two non-contact sensor devices based on the position of the non-contact sensor device and the three-dimensional point group coordinates of the measurement points, and collimates the measurement points [(5) above]. At this time, if necessary, the surroundings of the measurement point are taken close-up and synchronously photographed, and three-dimensional point group data around the measurement point is further created from the close-up image by the stereo image method [(6) above], The measurement position is determined in detail [(7) above].

  Next, the vibration at the measurement point is measured in a non-contact manner with the two non-contact sensor devices [(8) above]. As mentioned in the description of FIG. 2, the two non-contact sensor devices have a self-vibration correcting function. Using the measurement data of the two units, correction is performed to separate vibration components in two horizontal directions at the measurement point, and indices such as the amplitude, dominant frequency, and damping constant of each component are calculated [(9) above]. The vibration data and each index thus obtained are recorded and linked with the position data of the measurement points [(10) above].

  The above (5) to (10) are repeated for each measurement point extracted in the above (4).

  Hereinafter, the above procedure will be described in more detail.

  FIG. 6 is an explanatory view of the measurement state of the measurement object by the two non-contact sensor devices showing the embodiment of the present invention.

  In this figure, 71 is a control device, 72 is a first non-contact sensor device, 73 is a second non-contact sensor device, 74 is a bridge to be measured, 75 is a column, and 76 is a cable that supports the column 75. .

  The control device 71 can synchronously control the first non-contact sensor device 72 and the second non-contact sensor device 73 by wireless communication.

  FIG. 7 is an explanatory diagram of the estimation of the three-dimensional point cloud data of the entire measurement object from the CCD images of the two non-contact sensor devices showing the embodiment of the present invention. This corresponds to “shape estimation”. 7A is an image of the left camera (CCD 13 of the non-contact sensor device 11), FIG. 7B is an image of the right camera (CCD 23 of the non-contact sensor device 21), and FIG. 7C is an entire measurement object. It is an image which shows three-dimensional point cloud data.

  As described above, the three-dimensional point cloud data of the entire measurement object can be estimated from the CCD images of the two non-contact sensor devices by the stereo image method described later.

  Here, the angle information of the left and right cameras 13 and 23 necessary for the point cloud calculation is included in each sensor from the encoders 16, 26, 19, and 29 of the non-contact sensor device driving unit, and the distance between the left and right cameras 13 and 23 is incorporated in each sensor. Obtained from GPS37. The point cloud data is recorded on the same coordinates as the sensor device with the position of the non-contact sensor device 11 or 21 as a reference.

  Here, a calculation theory example of the position coordinates of each part to be measured by the stereo image method will be described with reference to Non-Patent Document 2.

  FIG. 8 is a diagram schematically showing geometric parameters obtained by the stereo image method, shown as a reference.

  In the stereo image method, images of a measurement object are photographed from a plurality of different viewpoints, and three-dimensional information is acquired from the difference in projection position of the measurement object on each photographed image. FIG. 8 schematically shows geometric parameters in the stereo imaging method. Here, it is assumed that the camera angles around the optical axis between the two cameras are the same on the left and right, and the basic theory will be described for the case where two cameras having the same focal length are arranged.

The camera angle around the Y axis of the left camera is defined as θ ₁ , and the camera angle of the right camera is defined as θ ₂ . In the figure, P (X _P , Y _P , Z _P ) is defined as a point on the measurement object, A is an intersection position of the optical axes of the left and right cameras, L is a left camera principal point position, and R is a right camera principal point position. To do. In addition, the angle between PL and the XZ plane is α _L , the angle between PL and the XY plane is β _L, and similarly the angle between PR is α _R and β _R , and the plane connecting P, L, and R and XZ The angle formed by the plane is defined as α ₀ , and the left-right camera distance line segment LR is defined as B. As a result, the three-dimensional coordinates P (X _P , Y _P , Z _P ) can be expressed by Expression (2). However, if the coordinates on the captured image of the right camera at the point P are defined as (X _R , Y _R ) and the focal length is defined as f, α _R and β _R are expressed as in equations (3) to (5). Α ₀ can be expressed as shown in Equation (6).

As described above, if the focal length f, the distance B between the left and right cameras, and the camera angles θ ₁ and θ ₂ are known, the corresponding points (X _R , Y _R ) and (X _L , Y _L ) of both images can be searched accurately. , Α _R , β _R , α _L , β _L can be calculated, and by substituting these values into the equation (2), the three-dimensional shape of the structure can be calculated.

X _P = Btan β _R / (tan β _L + tan β _R )
Z _P = X _P tan β _L
Y _P = X _P tanα ₀ ... [more than (2)]
tan α _R = y _R / √ (f ² + x _R ² ) (3)
_{tanβ R = (fcosθ 2 + x} R sinθ 2) / (fsinθ 2 -x R co sθ 2) ... (4)
sin β _R = (f cos θ ₂ −x _L sin θ ₂ ) / √ (f ² + x _R ² )
... (5)
tan α ₀ = (1/2) [(tan α _L / sin β _L ) + (tan α _R / sin β _R )] (6)
Note that the above is an example of position coordinate calculation by the stereo image method, and not limited to the above, a general stereo image method may be used.

  FIG. 9 is a diagram illustrating an example of a feature point extraction method for a bridge cable according to an embodiment of the present invention. FIG. 9A is a CCD image of the first sensor device, and FIG. FIG. 9C is a diagram showing an entire three-dimensional point group to be measured, and FIG. 9D is a diagram showing feature point extraction by the search plane and a point group of the extracted feature points. It is.

  On the operation / display unit screen of the control device, a captured image from each sensor device as shown in FIGS. 9A to 9C and a three-dimensional point group of the whole measurement object estimated by the stereo image method described above. Is displayed.

  Therefore, first, the location where the measurement point is to be extracted is designated on the operation / display unit screen by the search line 83 (corresponding to “setting of search range (plane or line)” in FIG. 5).

  Next, the control calculation unit extracts a point group 85 (feature point) located on a horizontal plane (search plane 84) passing through the search line 83 from the three-dimensional point group of the entire measurement target as a measurement point.

  In this case, since the point group 85 (feature point) exists only in the portion of the cable 86 and the support column 87 on the search plane 84, the cable 86 and the support column 87 can be efficiently extracted as measurement points.

  In addition, any point on the screen can be designated as a measurement point.

  FIG. 10 is an explanatory view of CCD camera and LDV automatic collimation under the control of the control device according to the embodiment of the present invention, and CCD camera photographing around the measurement point. FIG. 10 (a) is a first non-contact sensor. FIG. 10B is a schematic block diagram of the control device, and FIG. 10C is a diagram showing target measurement points and imaging ranges in the three-dimensional point group of the entire measurement target. It is a figure which shows the automatic collimation of the measurement point by radio | wireless transmission of control information.

  When the measurement target is larger than the number of pixels of the CCD camera, the extracted feature point may not be properly captured at the position to be measured. In such a case, only the vicinity of the measurement point 91 is zoomed up and re-photographed (the square in FIG. 10A indicates the imaging range), and a three-dimensional point group around the measurement point 91 is created, and the most appropriate A correct position is extracted as the measurement point 91.

  By specifying the target measurement point 91 and the photographing range on the screen of the control device 92, the drive unit of the non-contact sensor device is controlled, and the two non-contact sensor devices 96 and 97 automatically collimate the measurement point 91. Then, the area around the measurement point 91 is photographed at an appropriate zoom magnification (corresponding to “collimation of the same point” in FIG. 5).

  FIG. 11 is an explanatory diagram of a method of determining measurement points by close-up imaging around the target measurement points according to the embodiment of the present invention. FIG. 11A shows a point cloud extracted from the three-dimensional point cloud of the entire measurement target. FIG. 11B is a diagram showing a three-dimensional point group (xy plane) obtained by photographing around the measurement point, and FIG. 11C is a three-dimensional point group obtained by photographing around the measurement point (xz). FIG.

  In these figures, 101 is a point group extracted from a three-dimensional point group of the entire measurement object, 102 is a measurement point, 103 is a close-up photographing range, 104 is an individual coordinate point, and 105 is an average position of the point group coordinates. This is the determined measurement point.

  By taking a close-up image of the periphery of the measurement point 102 and performing shape estimation again by the stereo image method, the shape around the measurement point 102 can be reproduced with a larger number of point groups (coordinate points 104) (see “Measurement” in FIG. 5). Corresponding to “CCD shooting around point” and “Shape estimation by stereo image method”). By setting the average position of the point group as the measurement point 105, the center of the measurement position can be captured.

  It is also possible to designate an arbitrary point on the three-dimensional point group as a measurement point on the screen.

  FIG. 12 is an explanatory diagram of a method for estimating the measurement point velocity and its orthogonal component from the measurement results of the two sensor devices according to the embodiment of the present invention.

  In this figure, 111 is a bridge to be measured (here, viewed from above), 112 is a first non-contact sensor device, and 113 is a second non-contact sensor device. The colored squares on the bridge 111 are the columns, the white circles are the measurement points extracted on the cables and the columns, and the black circles are the measurement points that the two non-contact sensor devices 112 and 113 collimate and measure simultaneously. FIG. 12 shows a state where the measurement point closest to the first non-contact sensor device 112 is being measured.

For the measurement object where the horizontal vibration component is dominant, the horizontal vibration vector (dominant direction and amplitude) and its two orthogonal components (the bridge axis direction and the bridge axis orthogonal direction in Fig. 12) are approximated as follows. (LDV detects the case where the measurement object approaches the sensor side as a positive speed) (corresponding to “vibration analysis (dominant frequency / maximum amplitude / damping constant)” in FIG. 5).
V _X = V ₁ cos (θ _S1 ) + V ₂ cos (θ _S2 )
= (V _L1 + V _S1 ) cos (θ _S1 ) + (V _L2 + V _S2 ) cos (θ _S2 )
V _Z = V ₁ sin (θ _S1 ) + V ₂ sin (θ _S2 )
= (V _L1 + V _S1 ) cos (θ _S1 ) + (V _L2 + V _S2 ) cos (θ _S2 )
V = √ (V _X ² + V _Z ² ) V prevailing direction = arctan (V _Z / V _X )
In the above formula,
V: velocity of measurement point V ₁ : first sensor measurement direction component of V V ₂ : second sensor measurement direction component of V V _X : x component of velocity of measurement point V _Z : z component of velocity of measurement point V _L1 : detection speed of the first LDV of the first sensor V _S1 : detection speed of the vibrometer of the first sensor θ _S1 : detection horizontal angle of the encoder of the first sensor V _L2 : first speed of the second sensor Detection speed of LDV of 2 V _S2 : Detection speed of vibrometer of second sensor θ _S2 : Detection horizontal angle of encoder of second sensor

    Next, a data recording method will be described.

  The measurement points determined by the above-described method are stored by being linked to the three-dimensional point group to be measured and the image data (corresponding to “link / record of measurement point position information and data” in FIG. 5). Thereby, a measurement point can be displayed and confirmed on a three-dimensional point group or image data.

  The vibration data measured by the method described above and its spectrum, dominant frequency, maximum amplitude / average amplitude, attenuation constant, etc. calculated by the vibration calculation unit are automatically recorded linked to the coordinate information of the measurement point and the measurement date and time. Is done.

  The recorded data can be viewed as appropriate on the control device. By clicking a measurement point indicated on the three-dimensional point group or image data to be measured, the data of the measurement point can be called up. Calculation results such as the dominant frequency, amplitude, and attenuation constant can be displayed numerically near the measurement point.

  FIG. 13 is an explanatory diagram of a situation in which detection of measurement points by extracting feature points is applied to a rock slope as another embodiment of the present invention.

  In this figure, 201 is a three-dimensional point group of a rock slope, 202 is a designated area, and 203 is a measurement point.

  In the specified area 202 of the three-dimensional point group 201 by the method described above, a part having a shape whose kurtosis and size exceed the threshold is automatically extracted, and additionally specified by visual inspection of the three-dimensional point group 201. This is an example in which protrusions in the region 202 are extracted as measurement points 203.

  Thus, the non-contact detection method of the measurement object of the present invention is effective not only for structures but also for natural slopes.

  In addition, this invention is not limited to the said Example, Based on the meaning of this invention, a various deformation | transformation is possible and these are not excluded from the scope of the present invention.

  The non-contact detection method and apparatus for an object to be measured according to the present invention perform automatic determination of a measurement location and collimation in non-contact vibration measurement, automatic correction of an error due to an increase in measurement angle, and measurement position and contact data. It can be used as a data recording method by automatic linking.

1,71,92 controller 2, 93 communication unit 3, 94 control operation unit 4 vibration computing unit 5 stereo image computing unit 6 synchronous drive operation and control unit 7 and other computing section 8 operation and display section 8A display unit 8B operation input Unit 9 , 95 storage unit 11, 72, 96, 112 first non-contact sensor device 12 first LDV (first laser Doppler vibrometer)
13 first CCD camera 14 first horizontal manual adjuster 15 first horizontal drive unit 16 first horizontal encoder 17 first vertical manual adjuster 18 first vertical drive unit 19 first vertical encoder 21, 73, 97, 113 Second non-contact sensor device 22 Second LDV (second laser Doppler vibrometer)
23 second CCD camera 24 second horizontal manual adjuster 25 second horizontal drive unit 26 second horizontal encoder 27 second vertical manual adjuster 28 second vertical drive unit 29 second vertical encoder 31 measurement Non-contact detection device for target object 32 Control unit 33, 41 CCD camera 34, 42 LDV lens 35, 43 Distance meter 36, 45 LDV light receiving unit 37 GPS
38 Vibrometer 39 Filter 40 Receiver 44 Laser tube 44a, 44b, 44e, 44g Mirror 44c, 44d, 44f Beam splitter 51 Sensor unit 52 Vertical drive unit (Motor for vertical rotation)
53 Manual adjuster V
54 Vertical encoder 55 Manual adjuster H
56 Horizontal drive unit (motor for horizontal rotation)
57 Horizontal encoder 61 Left non-contact sensor device 62 Right non-contact sensor device 74, 111 Bridge to be measured 75, 87 Post 76, 86 Cable 81 Image of first non-contact sensor device 82 Second non-contact sensor Image of the device 83 Search line 84 Search plane 85, 101 Point group (extracted point group) located on the search plane of the three-dimensional point group of the entire measurement object
91,102 Measurement points 103 Close-up imaging range 104 Individual coordinate points 105 Measurement points determined from the average position of point group coordinates 201 Three-dimensional point group of rock slope 202 Designated area 203 Measurement points

Claims (9)

(A) using two non-contact sensor devices including a laser Doppler vibrometer and a CCD camera, and a control device for controlling the two non-contact sensor devices,
(B) Photographing the entire view of the measurement object with the CCD cameras of the two non-contact sensor devices;
(C) Create three-dimensional point cloud data of the entire measurement object by stereo imaging,
(D) selecting a region to be measured on the three-dimensional point cloud data of the entire measurement object, automatically extracting feature points in the region, and determining measurement points;
(E) Based on the positions of the two non-contact sensor devices and the three-dimensional coordinates of the measurement points, the two non-contact sensor devices are controlled to synchronize the measurement points,
(F) Non-contact measurement of vibration at the measurement point with the two non-contact sensor devices;
(G) A non-contact detection method for an object to be measured, wherein vibration analysis of measured data is performed.   2. The non-contact detection method for a measurement object according to claim 1, wherein the angle information of the camera necessary for the stereo image method is obtained from an encoder provided in a driving unit of the non-contact sensor device. Non-contact detection method.   2. The non-contact detection method for a measurement object according to claim 1, wherein the position information of the CCD camera is acquired by a GPS built in the non-contact sensor device.   2. The non-contact detection method for an object to be measured according to claim 1, wherein when the extracted feature point is not properly captured at a position to be measured, the periphery of the measurement point is zoomed up to perform synchronous shooting, and stereo A non-contact detection method for a measurement object, wherein three-dimensional point cloud data around the measurement point is created by an imaging method, and a measurement position can be determined in detail.   2. The non-contact detection method for an object to be measured according to claim 1, wherein the two non-contact sensor devices have a self-vibration correction function, and the two non-contact sensor devices perform non-contact measurement of vibration at a measurement point. A non-contact detection method for an object to be measured.   6. The non-contact detection method for a measurement object according to claim 5, wherein correction for separating vibration components in two horizontal directions at a measurement point is performed using measurement data of the two non-contact sensor devices. Non-contact detection method for measuring objects.   6. The non-contact detection method for an object to be measured according to claim 5, wherein the measurement data of the two non-contact sensor devices are used to calculate an index of a vibration component at a measurement point, a dominant frequency, and a damping constant. A non-contact detection method for an object to be measured.   8. The non-contact detection method for a measurement object according to claim 7, wherein the obtained vibration data and each index are recorded and linked with the position data of the measurement point. (A) two non-contact sensor devices comprising a laser Doppler vibrometer and a CCD camera;
(B) a controller for controlling the non-contact sensor equipment of two said,
(C) The whole non-contact sensor device is used to photograph a whole view of the measuring object, and three-dimensional point cloud data of the entire measuring object is created by a stereo image method, and the positions and points of the two non-contact sensor devices are created. A non-contact detection device for an object to be measured, comprising: means for grasping group data in the same coordinate system.

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