JP6358619B2 - Three-dimensional position measurement method and three-dimensional position measurement system for vehicle body - Google Patents

Description

  The present invention relates to a vehicle body three-dimensional position measurement method and a three-dimensional position measurement system.

  For example, as an inspection of a vehicle body in a manufacturing process of an automobile or the like, the shape accuracy and dimensional accuracy of the vehicle body are evaluated. In this method, the shape or size of the actually manufactured vehicle body is evaluated, and it is determined whether or not the evaluated shape or size matches or is allowed to match the shape or size designed in advance by CAD or the like.

  Here, for example, Patent Document 1 proposes a technique for measuring and evaluating the shape of a vehicle body by imaging the surface of the vehicle body to be measured with a camera and performing predetermined processing on the image obtained by imaging. Has been.

Japanese translation of PCT publication No. 2002-508071

  However, the measurement technique described in Patent Document 1 and the like is a technique for measuring and evaluating the shape of a part of the surface of the vehicle body, and measures and evaluates the shape of the entire vehicle body (in other words, the skeleton shape) and dimensions. It was not always an appropriate technique. Therefore, at present, only a rough shape or position of a predetermined part of the vehicle body is evaluated by using a fixed camera or a laser. In other words, it has been limited to grasping the tendency of deviation from the design shape or dimensions.

  Further, if the three-dimensional position of the vehicle body is to be accurately measured, it is necessary to position the vehicle body at a predetermined position within a region where the three-dimensional position measurement is performed using a positioning jig such as a positioning pin. However, the vehicle body is relatively large as an object to be measured at a three-dimensional position, and is also a heavy object. For this reason, it is desirable that the positioning pin or the like can be rotated from a horizontally tilted state to an upright state so that the vehicle body can be disposed above the positioning pin or the like without being lifted as much as possible. Further, it is desirable that the positioning pins and the like are further extendable from an upright state so that the positioning pins and the like can be accessed from below without lowering the vehicle body.

  However, if the positioning pin or the like has a movable structure as described above, there is a high possibility that the positioning accuracy of the positioning pin or the like will decrease. In this case, it is difficult to ensure the measurement accuracy of the three-dimensional position of the vehicle body that is positioned by a positioning pin or the like.

  In view of the above circumstances, the problem to be solved by the present invention is to accurately measure the three-dimensional position of a large object to be measured such as a vehicle body.

  The solution to the above-described problem is achieved by the vehicle body three-dimensional position measuring method according to the present invention. That is, this measurement method includes a step of setting the origin of three-dimensional coordinates by measuring the positions of a plurality of origin setting markers attached to at least the equipment side with a three-dimensional position measuring device, and a vehicle body to be measured. A 3D position measurement marker based on the origin of the 3D coordinates by attaching the position measurement marker to the 3D position measuring instrument and measuring the position of the position measurement marker and the position of the origin setting marker. A method for measuring a three-dimensional position of a vehicle body including a step of measuring an original position, wherein a position measuring marker is attached to a positioning jig for positioning the vehicle body, and the positioning jig is used before positioning the vehicle body. Measure the position of the position measurement marker and the position of the origin setting marker with a 3D position measuring instrument, and use the origin of the position measurement marker attached to the positioning jig as a reference. It characterized with a point for measuring the three-dimensional position.

  Thus, in the present invention, when measuring the three-dimensional position of the vehicle body, the origin of the three-dimensional coordinates is set by measuring at least the position of the origin setting marker attached to the equipment side, and the position measuring marker is set on the vehicle body. The three-dimensional position of the position measuring marker with respect to the origin is measured by mounting and measuring the position of the position measuring marker and the position of the origin setting marker. By measuring the three-dimensional position of the predetermined part of the vehicle body using the origin setting marker and the position measurement marker in this way, the origin of the three-dimensional position measuring device is set based on the origin set based on the measurement position of the origin setting marker. The position measuring marker can be measured while accurately recognizing the position. Therefore, the three-dimensional position can be measured with higher accuracy than in the case where the vehicle body is directly imaged and the three-dimensional position is measured.

  In the present invention, the position measuring marker is attached to the positioning jig for positioning the vehicle body, and the three-dimensional position of the position measuring marker is measured with reference to the origin. Even if the position relative to the side varies, the degree of variation can be recognized and reflected in the three-dimensional position accuracy of the vehicle body to be measured. Therefore, it is possible to accurately evaluate the distance (dimension) accuracy between the predetermined parts of the vehicle body, the shape accuracy, and the like obtained (calculated) on the assumption that the positioning accuracy of the positioning jig is guaranteed. Further, if the position of the positioning jig is measured with a three-dimensional position measuring device, a new measuring device is not necessary, which is beneficial in terms of cost.

  Further, the measurement method according to the present invention is to install a frame in an area where the three-dimensional position measurement of the vehicle body is performed, attach a plurality of origin setting markers to the frame, and install a plurality of origins on the equipment side and the frame. By measuring the position of the marker with a three-dimensional position measuring device, the origin of the three-dimensional coordinates is set, and the position of the position measuring marker and the position of the origin setting marker attached to the frame are also measured. It is also possible to measure the three-dimensional position with reference to the origin of the position measuring marker.

  In this way, by installing the frame in the region where the three-dimensional position measurement of the vehicle body is performed, by attaching a plurality of origin setting markers to the frame and measuring the position at the same time as the position measurement marker, for example, Compared with the case where the origin setting markers are arranged only at a level close to the floor surface such as a mounting table, it becomes easier to measure more positions of the origin setting markers simultaneously with the positions of the position measuring markers. Therefore, the three-dimensional position of the position measuring marker can be measured with higher accuracy.

  In addition, when the origin setting marker is attached to the frame as described above, the origin setting in the frame is performed so that the three-dimensional position measuring device includes the position measuring marker and three or more origin setting markers at the same time in the measurement range. For example, the mounting position and number of mounting markers may be set.

  In performing three-dimensional position measurement on a large object to be measured such as a vehicle body, it is necessary to move the three-dimensional position measuring device along the longitudinal direction thereof. Therefore, when the origin setting marker and the position measurement marker attached to the frame as described above are measured simultaneously, the three-dimensional position measuring device includes a position measurement marker, three or more origin setting markers, and It is preferable to set the attachment position and the number of attachments of the origin setting marker on the frame so that the measurement range is included at the same time. In this way, the position of a predetermined number (three or more) of origin setting markers can be measured simultaneously when the position of the position measuring marker is measured by the three-dimensional position measuring device. Even when the original position measuring device is configured to be slidable, measurement can be performed while always recognizing the position (three-dimensional position) of the measuring device. Thereby, the improvement of the further measurement accuracy can be aimed at.

  The solution to the above problem is also achieved by the three-dimensional position measurement system for a vehicle body according to the present invention. That is, this measurement system includes at least a plurality of origin setting markers attached to the facility side, a position measurement marker attached to the vehicle body to be measured, the position of the origin setting marker, and the position measurement marker. 3D position measuring device to measure, and by measuring the position of the origin setting marker with the 3D position measuring device, the origin of the 3D coordinates is set, the position measuring marker position and the origin setting marker A 3D position measurement system for a vehicle body that measures the 3D position of a position measuring marker with reference to the origin of 3D coordinates by measuring the position of the vehicle with a 3D position measuring device. And a positioning jig for mounting the position measuring marker on the positioning jig.

  As described above, in the three-dimensional position measurement system according to the present invention, at least a plurality of origin setting markers attached to the equipment side, a position measurement marker attached to the vehicle body to be measured, and the position of the origin setting marker And a three-dimensional position measuring device for measuring the position of the position measuring marker, and measuring the three-dimensional position of the predetermined part of the vehicle body using the origin setting marker and the position measuring marker, thereby Similar to the measuring method, the position measuring marker can be measured while accurately recognizing the position of the three-dimensional position measuring device. Therefore, it is possible to measure the three-dimensional position with higher accuracy than when directly imaging the vehicle body and measuring the three-dimensional position of the predetermined part.

  In the three-dimensional position measurement system according to the present invention, a positioning jig for positioning the vehicle body in the position measurement region is provided, and a position measurement marker is attached to the positioning jig. If comprised in this way, the actual three-dimensional position of a positioning jig can be known correctly by measuring the position of this position measuring marker with a three-dimensional position measuring device. Thereby, even if the position of the positioning jig with respect to the equipment side varies for the reason described above, the degree of variation can be recognized and reflected in the three-dimensional position accuracy of the vehicle body to be measured. Therefore, it is possible to accurately evaluate the distance (dimension) accuracy between the predetermined parts of the vehicle body, the shape accuracy, and the like obtained (calculated) on the assumption that the positioning accuracy of the positioning jig is guaranteed.

  As described above, according to the present invention, the three-dimensional position of a large object to be measured such as a vehicle body can be accurately measured.

It is a flowchart which shows the flow of the three-dimensional position measuring method of the vehicle body which concerns on one Embodiment of this invention. 1 is a perspective view for explaining an overall configuration of a three-dimensional position measurement system for a vehicle body according to an embodiment of the present invention. It is a perspective view of the positioning jig shown in FIG. It is a principal part side view for demonstrating the arrangement | positioning aspect of the some origin setting marker attached to the flame | frame shown in FIG. It is a perspective view for demonstrating the positional relationship of the three-dimensional position measuring device with respect to a vehicle body and a flame | frame at the time of measuring the three-dimensional position of a vehicle body using the system shown in FIG.

  Hereinafter, a vehicle body three-dimensional position measuring method according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a flowchart for explaining a flow of a three-dimensional position measurement method for a vehicle body according to an embodiment of the present invention. As shown in the figure, this three-dimensional position measuring method includes (A) a step of setting an origin of a three-dimensional coordinate serving as a reference when measuring a three-dimensional position of the measured object, and (B) a measured object. A step of measuring a three-dimensional position of a positioning jig for positioning the vehicle body, and (C) a step of measuring the three-dimensional position of the vehicle body. First, the configuration of a three-dimensional position measurement system used in the above three-dimensional position measurement method will be described.

  FIG. 2 shows the overall configuration of a three-dimensional position measurement system 10 for a vehicle body according to an embodiment of the present invention. As shown in the figure, the three-dimensional position measurement system 10 includes a plurality of origin setting markers 12 attached to the mounting table 11 of the vehicle body 1, one or more position measurement markers 13 attached to the vehicle body 1, And a three-dimensional position measuring device 14 for measuring the positions of the origin setting marker 12 and the position measuring marker 13. In a region 15 where the three-dimensional position measurement of the vehicle body 1 is performed (see FIG. 2 and FIG. 5 described later), positioning for positioning the vehicle body 1 carried into the region 15 at a predetermined position on the mounting table 11 is performed. A jig 16 is provided. A position measuring marker 13 is attached to the positioning jig 16. In the present embodiment, the frame 17 is installed in the region 15 where the three-dimensional position measurement of the vehicle body 1 is performed. A plurality of origin setting markers 12 are attached to the frame 17.

  As the origin setting marker 12 and the position measuring marker 13, those having appropriate functions are appropriately used according to the type (measurement principle) of the three-dimensional position measuring instrument 14 to be used. The three-dimensional position measuring instrument 14 of the present embodiment includes a light source that can irradiate each marker 12, 13 with irradiation light such as laser light, and a camera 18 that images each marker 12, 13. In the illustrated example, a plurality of three-dimensional position measuring devices 14 are provided, and one or a plurality of (two in the illustrated example) cameras 18 are provided for each three-dimensional position measuring device 14. By photographing the object with the two cameras 18, the three-dimensional position of the object can be measured by triangulation. As each marker 12 and 13, it is possible to use the reflector which attached the reflecting plate (reflective material) on the surface, for example. Specifically, as the markers 12 and 13, for example, a non-reflective material (for example, a black plate) pasted around a circular reflective material can be used. In addition, as the markers 12 and 13, a marker having a pattern in which a reflective material and a non-reflective material are regularly arranged can be used. In addition, the markers 12 and 13 are not limited to reflectors, and materials of a color (for example, white) that can be easily captured by the camera 18 may be used. Moreover, the shape of each marker 12 and 13 is not limited to flat form, For example, a spherical shape may be sufficient.

  For example, the three-dimensional position measuring device 14 is disposed on each of the left side and the right side of the vehicle body 1 carried into the three-dimensional position measurement region 15 and is also disposed behind the vehicle body 1. In this case, each of the left and right three-dimensional position measuring devices 14 is configured to be able to measure the position of the position measuring marker 13 attached mainly to the side of the vehicle body 1 from obliquely above. In the present embodiment, both the left and right three-dimensional position measuring devices 14 are configured to be slidable along the front-rear direction of the vehicle body 1, thereby enabling position measurement over the entire longitudinal direction (front-rear direction) of the vehicle body 1. . In addition, the three-dimensional position measuring instrument 14 arranged behind the vehicle body 1 is fixed at a predetermined position, and is configured to be able to measure the position of the position measuring marker 13 attached mainly to the rear portion of the vehicle body 1 from obliquely above. The

  In this embodiment, the positioning jig 16 has positioning pins 19 that can be accessed from below the vehicle body 1. As shown in FIG. 3, the positioning pin 19 can be expanded and contracted by a cylinder 20 provided on the base end side thereof, and a predetermined angle around a predetermined axis orthogonal to the positioning pin 19 by a drive unit such as a motor 21 or the like. It is only possible to rotate. The rotation of the positioning pin 19 is not limited to the motor but may be performed by a cylinder.

  Further, the position of the position measurement marker 13 attached to the positioning jig 16 is not particularly limited. However, as in the present embodiment, when the positioning jig 16 has a movable portion (cylinder 20, motor 21, etc.), It is desirable to attach the position measuring marker 13 to a portion (here, the positioning pin 19 in this case) that finally comes into contact with the vehicle body 1. FIG. 2 illustrates a case where the position measuring marker 13 is attached to the side of the positioning pin 19 (outside in the width direction of the vehicle body 1). The position measuring marker 13 does not necessarily have to be directly attached to the positioning pin 19. For example, the position measuring marker 13 is attached to a cylindrical member that can be fitted to the positioning pin 19 and the cylindrical member is positioned. The position measuring marker 13 may be attached to the positioning jig 16 by fitting the pin 19.

  For example, as shown in FIG. 5 to be described later, the frame 17 is installed on the side of the vehicle body 1 in a state where the vehicle body 1 is carried into the three-dimensional position measurement region 15 and is positioned at a predetermined position by the positioning jig 16. In terms of the relationship with the three-dimensional position measuring device 14, a frame 17 is generally installed between the vehicle body 1 and the three-dimensional position measuring device 14.

  Here, the shape of the frame 17 is not particularly limited. For example, as shown in FIG. 4, a plurality of position measurement markers 13 attached to each part of the vehicle body 1 corresponding to the position information of the vehicle body 1 to be acquired, and a plurality of ( The attachment position and the number of the origin setting markers 12 are set so that the origin setting markers 12 are included in the measurement range 22 of the three-dimensional position measuring instrument 14 (three or more, preferably four or more if possible). Good. That is, it is preferable to determine the shape of the frame 17 so that the above-described conditions (the attachment position and the number of the origin setting markers 12) can be satisfied while the vehicle body 1 is carried into the three-dimensional position measurement region 15. In the present embodiment, when the position measuring marker 13 attached to the relatively upper part of the vehicle body 1 is measured, the origin setting marker 12 attached to the frame 17 is included in the measurement range 22 of the three-dimensional position measuring instrument 14. Further, it is preferable that the frame 17 is formed higher than the vehicle body 1 so as not to overlap the position measuring marker 13 and the origin setting marker 12 is attached to the upper portion of the frame 17.

  The three-dimensional position measurement of the vehicle body 1 using the three-dimensional position measurement system 10 having the above configuration is performed as follows, for example.

(A) Step of setting the origin of the three-dimensional coordinates First, in the state where the vehicle body 1 as the object to be measured is located outside the three-dimensional position measurement region 15 (the state shown in FIG. 2), the equipment side (mounting table 11 and The positions of a plurality of origin setting markers 12 attached to the frame 17) are measured by the three-dimensional position measuring device 14, and the origin of the three-dimensional coordinates serving as a reference when the three-dimensional position of the vehicle body 1 is measured is set.

(B) Step of measuring the three-dimensional position of the positioning jig Also, (A) At the same time or after the origin setting step, the position of the position measuring marker 13 attached to the positioning jig 16 and a plurality of origin setting markers 12 position is measured by the three-dimensional position measuring device 14 and the three-dimensional position of the positioning jig 16 with respect to the origin of the three-dimensional coordinates is measured. When the setting is performed simultaneously with the setting of the origin, the position and number of origin setting markers 12 necessary for the position setting of the positioning jig 16 are measured simultaneously with the measurement of the position and the number of the origin setting markers 12 necessary for the setting of the origin. The position of the marker 12 and the position of the position measuring marker 13 attached to the positioning jig 16 are measured. Thereby, the setting of the origin and the three-dimensional position measurement of the positioning jig 16 with the origin as a reference are simultaneously performed in one measurement operation. In this embodiment, since the position measurement marker 13 is attached to the positioning pin 19 constituting the positioning jig 16 (FIG. 2), the positioning of the positioning pin 19 is performed by positioning the vehicle body 1 with the positioning pin 19. Done before. The measurement of the three-dimensional position of the positioning jig may be performed for each vehicle body 1, but from the viewpoint of work efficiency, it is performed every predetermined number or every predetermined period (for example, only at the start of daily work). You may go.

(C) Car body position measuring step As described above, after (A) the setting of the origin of the three-dimensional coordinates and (B) the three-dimensional position measurement of the positioning jig 16 with reference to the origin are completed, The vehicle body 1 is introduced into the three-dimensional position measurement region 15, and the introduced vehicle body 1 is positioned at a predetermined position on the mounting table 11 by the positioning jig 16 (FIG. 5). In the present embodiment, first, the vehicle body 1 placed on the carriage 23 is carried into the three-dimensional position measurement region 15 with the positioning pin 19 tilted along the horizontal direction, and the vehicle body 1 is placed substantially above the positioning pin 19. Deploy. Then, after the positioning pin 19 is rotated by the motor 21 to the upright state, the positioning pin 19 is extended by the cylinder 20, and the positioning pin 19 is inserted into a positioning hole (not shown) provided in the lower portion of the vehicle body 1. insert. Thus, the vehicle body 1 is positioned at a predetermined position with the positioning pin 19 as a reference.

  After the positioning of the vehicle body 1 is completed in this way, a three-dimensional position measurement of a predetermined part of the vehicle body 1 is performed. In this embodiment, a state in which a plurality of position measuring markers 13 are attached mainly in the vicinity of the edge of the vehicle body 1 in order to mainly evaluate the accuracy of the skeleton shape of the vehicle body 1 (comparison with the design dimensions) (FIG. 4). Then, position measurement of each position measurement marker 13 is performed. That is, a plurality of slidable three-dimensional position measuring devices 14 arranged around the three-dimensional position measuring region 15 and a single fixed three-dimensional position measuring device 14 are used to form a plurality of pieces attached to the vehicle body 1. The position of the position measuring marker 13 is measured. At the same time, the position of the origin setting marker 12 attached to the frame 17 is measured. Here, the positional relationship between each position measurement marker 13 and a point on the vehicle body 1 to be truly measured (such as a mounting hole for a predetermined part formed in the vehicle body 1) is fixed (known). By measuring the three-dimensional position based on the origin of the three-dimensional coordinates of each position measuring marker 13, the three-dimensional position coordinates of the point corresponding to each measuring marker 13 can be acquired. Therefore, it is possible to evaluate the shape accuracy, dimensional accuracy, etc. of the vehicle body 1 to be truly evaluated from these three-dimensional position coordinates.

  Thus, in the present invention, at least a three-dimensional position of a predetermined part of the vehicle body 1 using the origin setting marker 12 attached to the mounting table 11 and the position measurement marker 13 attached to the vehicle body 1 to be measured. Therefore, the position measuring marker can be measured while accurately recognizing the position of the three-dimensional position measuring device 14. Therefore, it is possible to measure the three-dimensional position with higher accuracy than in the case of directly imaging the vehicle body 1 and measuring the three-dimensional position.

  Further, in the present invention, the position measuring marker 13 is attached to the positioning jig 16 for positioning the vehicle body 1, and the three-dimensional position of the position measuring marker 13 is measured with reference to the origin. Even if the positions of the sixteen equipments vary, the degree of variation can be recognized and reflected in the three-dimensional position accuracy of the vehicle body 1 to be measured. Therefore, it is possible to accurately evaluate the distance (dimension) accuracy and shape accuracy between predetermined parts of the vehicle body 1 obtained (calculated) on the assumption that the positioning accuracy of the positioning jig 16 is guaranteed. Here, as shown in FIG. 3, when the positioning jig 16 is constituted by a positioning pin 19 and this positioning pin 19 is driven by a movable part such as a cylinder 20 or a motor 21, the positioning pin 19 is inevitably produced. There is a risk that the positional accuracy of the will vary (decrease) with continued use. On the other hand, as in the present embodiment, the position measuring marker 13 is attached to the positioning pin 19 that finally comes into contact with the vehicle body 1, and the position measuring marker 13 attached to the positioning pin 19 is positioned before the vehicle body 1 is positioned. By measuring the three-dimensional position, it is possible to accurately recognize the deviation from the normal position of the positioning pin 19 that is most affected by the position variation. Therefore, even with the positioning jig 16 having a movable part, it is possible to accurately evaluate the position where the vehicle body 1 is positioned, and to accurately evaluate the shape accuracy and dimensional accuracy.

  In the present embodiment, the frame 17 is installed in the region 15 where the three-dimensional position measurement of the vehicle body 1 is performed. More specifically, the frame 17 is installed between the vehicle body 1 and the three-dimensional position measuring device 14. The origin setting marker 12 is attached, and the positions of a plurality of origin setting markers 12 attached to the mounting table 11 and the frame 17 are measured by the three-dimensional position measuring device 14, thereby setting the origin of the three-dimensional coordinates and the vehicle body. By measuring the position of the position measuring marker 13 attached to 1 and the position of the origin setting marker 12 attached to the frame 17 with the three-dimensional position measuring device 14, the origin of the position measuring marker 13 is used as a reference. The 3D position was measured. As described above, the frame 17 is provided between the vehicle body 1 and the three-dimensional position measuring device 14, the origin setting marker 12 is attached to the frame 17, and the position is measured simultaneously with the position measuring marker 13. Thus, the three-dimensional position of the position measuring marker 13 can be measured with higher accuracy. In particular, when performing a three-dimensional position measurement on a large object to be measured such as the vehicle body 1, it is necessary to move the three-dimensional position measuring instrument 14 along its longitudinal direction. The three-dimensional position measuring instrument 14 measures both the markers 12 and 13 at the same time as shown in FIG. 6 and the three-dimensional position measuring instrument 14 includes the position measuring marker 13 and three or more origin setting markers 12 simultaneously in the measurement range. It is preferable to set the attachment position and the number of attachments of the origin setting marker 12 at 17. That is, when the position of the position measuring marker 13 is measured by the three-dimensional position measuring device 14, the slidable three-dimensional position measuring device 14 can be configured to always measure the positions of a predetermined number of origin setting markers 12 at the same time. Since the position can be measured while always recognizing the position (three-dimensional position), the measurement accuracy can be further improved.

  Although one embodiment of the present invention has been described above, the three-dimensional position measurement method and the three-dimensional position measurement system according to the present invention are not limited to the above-described exemplary forms, and can take any form within the scope of the present invention. Of course it can be taken.

  For example, in the above-described embodiment, the positioning pin 19 constituting the positioning jig 16 can be expanded and contracted by a cylinder 20 provided on the base end side thereof, and a predetermined part orthogonal to the positioning pin 19 by a driving unit such as a motor 21 or the like. Although the case where it is possible to rotate about the axis by a predetermined angle has been illustrated, it is of course not limited to this configuration. For example, the movable portion may be configured such that the positioning pin 19 performs an operation other than the combination of expansion and contraction and rotation, such as a configuration in which the positioning pin 19 can be protruded and retracted from the floor surface. Of course, if it is possible to smoothly carry the vehicle body 1 into the three-dimensional position measurement region 15 without actively providing a movable part, the positioning jig 16 may be configured by a fixed positioning pin 19. Absent.

  Further, regarding the frame 17 to which the origin setting marker 12 is attached, in the present embodiment, the left and right portions of the frame 17 are installed on the left side and the right side of the vehicle body 1 carried into the three-dimensional position measurement region 15. In addition, although the left part and the right part are illustrated in a form in which the left part and the right part are connected in the width direction at the upper part, it is of course possible to adopt other forms. For example, the frame 17 is not necessarily installed on the floor surface, and may be supported by being suspended from the top surface (ceiling).

  Of course, the frame 17 described above is not necessarily installed. In this case, for example, the origin setting marker 12 is attached to the equipment side (mounting table 11), and the position measuring marker 13 is attached to the vehicle body 1 to be measured. Then, not only the position measuring marker 13 but also the origin setting marker 12 is attached to the vehicle body 1. Thereafter, the position of the origin setting marker 12 attached to the vehicle body 1 and the position of the origin setting marker 12 attached to the equipment side are measured by the three-dimensional position measuring device 14 to obtain the origin of the three-dimensional coordinates. Set. After the origin is set in this way, the position of the position measuring marker 13 attached to the positioning jig 16 is measured by the three-dimensional position measuring device 14 to measure the three-dimensional position of the positioning jig 16, and then By measuring the position of the origin setting marker 12 attached to the vehicle body 1 and the position of the position measuring marker 13 also attached to the vehicle body 1 with the three-dimensional position measuring device 14, You may make it measure a three-dimensional position.

DESCRIPTION OF SYMBOLS 1 Car body 10 Three-dimensional position measuring system 11 Mounting base 12 Origin setting marker 13 Position measuring marker 14 Three-dimensional position measuring device 15 Three-dimensional position measuring area 16 Positioning jig 17 Frame 18 Camera 19 Positioning pin 20 Cylinder 21 Motor 22 Measurement Range (3D position measuring device)
23 trolleys

Claims (4)

A step of setting the origin of 3D coordinates by measuring the position of at least a plurality of origin setting markers attached to the equipment side with a 3D position measuring device;
By attaching a position measuring marker to the vehicle body to be measured, and measuring the position of the position measuring marker and the position of the origin setting marker with the three-dimensional position measuring device, the origin of the three-dimensional coordinates A three-dimensional position measurement method for a vehicle body comprising a step of measuring a three-dimensional position of the position measurement marker with reference to
Attaching the position measuring marker to a positioning jig for positioning the vehicle body,
Before positioning the vehicle body, the positioning jig is configured to measure the position of the position measuring marker attached to the positioning jig and the position of the origin setting marker with the three-dimensional position measuring instrument. A method for measuring a three-dimensional position of a vehicle body, wherein a three-dimensional position with respect to the origin of the position measuring marker attached to the vehicle is measured. A frame is installed in a region where the three-dimensional position measurement of the vehicle body is performed, and a plurality of origin setting markers are attached to the frame,
By measuring the position of the plurality of origin setting markers attached to the equipment side and the frame with the three-dimensional position measuring device, the origin of the three-dimensional coordinates is set,
A three-dimensional position based on the origin of the position measuring marker by measuring the position of the position measuring marker and the position of the origin setting marker attached to the frame with the three-dimensional position measuring device. The method for measuring a three-dimensional position of a vehicle body according to claim 1, wherein   The attachment position and the number of attachments of the origin setting marker in the frame are set so that the three-dimensional position measuring device includes the position measurement marker and three or more origin setting markers simultaneously in the measurement range. The method for measuring a three-dimensional position of a vehicle body according to claim 2. A plurality of origin setting markers attached to at least the equipment side;
A position measuring marker attached to the vehicle body to be measured;
A three-dimensional position measuring device that measures the position of the origin setting marker and the position of the position measuring marker;
By measuring the position of the origin setting marker with the three-dimensional position measuring device, the origin of the three-dimensional coordinates is set, and the position of the position measuring marker and the position of the origin setting marker are A vehicle body three-dimensional position measurement system that measures a three-dimensional position of the position measurement marker with reference to the origin of the three-dimensional coordinates by measuring with a position measuring instrument,
A three-dimensional position measurement system for a vehicle body, further comprising a positioning jig for positioning the vehicle body, wherein the position measuring marker is attached to the positioning jig.

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