JP7054377B2 - Shape measurement system and shape measurement method - Google Patents

Description

The present invention relates to a shape measuring system and a shape measuring method.

For example, Patent Document 1 describes a plurality of photographing targets A1 to A4 and B1 to B4 arranged on or near a railroad track, a digital camera that captures an image including all of these plurality of targets, and photographing by the digital camera. A track displacement measuring device including a control unit that controls a time, saves a captured image, performs coordinate calculation of each target using the captured image, and saves the calculation result is disclosed. The control unit described in Patent Document 1 calculates the coordinates of the target from the captured image, and in addition to the function of measuring the displacement of the orbit from the change over time of the coordinates from the start of operation based on the calculation result of the coordinates for each capture. It has a self-diagnosis function to diagnose the presence or absence of abnormalities in the target and the lens of the camera.

Japanese Unexamined Patent Publication No. 2014-13256

However, in the orbital displacement measuring device described in Patent Document 1, since all of the targets need to be within the imaging range of the digital camera, the range in which the displacement can be measured is relatively limited. Therefore, in order to confirm the shape in the length direction over a wide range, for example, the structure having a length does not deviate from the design position, the orbital displacement measuring device described in Patent Document 1 can be applied. Have difficulty. Examples of structures having such a length include structures constituting the wall surface of a tunnel, bridges, rails, and structures provided incidental to these.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a shape measuring system or the like capable of easily measuring the shape of a tunnel structure having a length in the length direction. ..

In order to achieve the above object, the shape measurement system according to the first aspect of the present invention is
It is a shape measurement system for measuring the shape of a tunnel structure having a length in the length direction.
A guide pipe extending along the length direction of the tunnel structure and a guide pipe,
An image pickup device that is guided and moves along the inner surface of the guide tube and includes a camera and an irradiation unit for irradiating an image pickup area with light .
In order to measure the position where the tunnel structure is provided along the length direction, the center of the guide pipe is set at predetermined intervals along the length direction in order of proximity to the entrance of the tunnel structure. With the first to Nth imaging targets associated with each of the first to Nth measurement points (N is an integer of 3 or more) set in the above and fixed so as to be in contact with the inner surface of the guide tube. ,
Of the images captured by the image pickup apparatus, at least one known point whose position is a known measurement point and at least one unknown measurement point whose position is unknown among the first to Nth measurement points. A position measuring device having a measuring unit for finding the position of at least one unknown place based on an image including the image pickup target associated with each of the places is provided .
The position measuring device is a predetermined second to Nth image pickup device installed at a first image pickup position which is a place closer to the entrance by a predetermined distance from the first image pickup target. Image information showing the image, including a movement control unit that repeatedly moves to each of the image pickup points and stops the image, and an image pickup control unit that causes the camera to image the front at the first to N image pickup points. From the camera
Based on the position of each measurement point thus obtained, the shape of the guide tube from the first measurement point to the Nth measurement point is obtained .

In order to achieve the above object, the shape measuring method according to the second aspect of the present invention is:
It is a shape measurement method that measures the shape of a tunnel structure having a length in the length direction.
In order to measure the position where the tunnel structure is provided along the length direction , the tunnel structure is arranged at predetermined intervals along the length direction in order of proximity to the entrance of the tunnel structure. The guide tube is associated with each of the first to Nth measurement points (N is an integer of 3 or more) set at the center of the guide tube extending along the length direction of the guide tube . Of the first to Nth imaging objects fixed so as to be in contact with the inner surface of the above, at least one known point whose position is a known measurement point and at least one unknown point whose position is an unknown measurement point, respectively. To capture an image including the image pickup target associated with the image pickup device ,
Including finding the position of the at least one unknown place by a position measuring device based on the image obtained by the imaging.
The image pickup device is configured to be guided and move along the inner surface of the guide tube, and includes a camera and an irradiation unit for irradiating the image pickup region with light.
The position measuring device is a predetermined second to Nth image pickup device installed at a first image pickup position which is a place closer to the entrance by a predetermined distance from the first image pickup target. Image information showing the image, including a movement control unit that repeatedly moves to each of the image pickup points and stops the image, and an image pickup control unit that causes the camera to image the front at the first to N image pickup points. From the camera
Based on the position of each measurement point thus obtained, the shape of the guide tube from the first measurement point to the Nth measurement point is obtained .

According to the present invention, it becomes possible to easily measure the shape of a tunnel structure having a length in the length direction.

It is a perspective view of the shape measurement system which concerns on one Embodiment of this invention. It is a perspective view of the guide tube which concerns on one Embodiment. It is a figure which shows the connection part included in the guide tube which concerns on one Embodiment, (a) is a perspective view, (b) is a front view. It is a front view of the i-th connection member which concerns on one Embodiment, and is the figure which shows the positional relationship of four imaging objects attached to the connection member. It is a figure which shows the image pickup apparatus which concerns on one Embodiment, (a) is a perspective view, (b) is a front view. It is a figure which shows the functional structure of the position measuring apparatus which concerns on one Embodiment. It is a flowchart which shows the flow of the shape measurement method which concerns on one Embodiment. It is a flowchart which shows the flow of the shape measurement method which concerns on one Embodiment. It is a figure which shows an example of the image to be imaged in the image pickup processing step S102. It is a figure for demonstrating the method of finding the vertical position of a measurement point in one Embodiment. It is a flowchart which shows the flow of the shape measuring method which concerns on modification 1. It is a flowchart which shows the flow of the shape measuring method which concerns on modification 1.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The same elements are given the same reference numerals throughout the figure. Further, the terms indicating the front-back, up-down, left-right directions are used for explanation, and are not intended to limit the present invention.

As shown in FIG. 1, which is a perspective view, the shape measuring system 100 according to the embodiment of the present invention has a shape of a structure (tunnel structure) 101 constituting a wall surface of a tunnel as a structure having a length. It is a system for measuring. The shape measurement system 100 includes a guide tube 102, an image pickup target 103 of the first to fourth N, an image pickup device 104, and a position measurement device 105. N is an integer of 3 or more.

As shown in FIG. 2, the guide tube 102 is a tube arranged along the length direction of the tunnel structure 101 to guide the image pickup apparatus 104. FIG. 2 is a perspective view showing a guide pipe 102 arranged in the tunnel structure 101 in FIG. 1. The length direction of the tunnel structure 101 is a direction in which the tunnel structure 101 extends, and can be typically said to be an excavation direction when digging a tunnel.

In this embodiment, the guide pipe 102 is arranged along the bottom of the tunnel structure 101, thereby extending along the length direction of the tunnel structure 101.

The guide tube 102 according to the present embodiment is a tube having a square cross-sectional shape on each of the inner surface and the outer surface. The cross-sectional shape means a shape in a cross section perpendicular to the length direction. Therefore, the guide tube 102 forms a hollow having a square extending in the length direction.

The shape of each of the inner surface and the outer surface of the guide tube 102 in the cross section perpendicular to the length direction is not limited to a square, but may be a circle, a regular polygon, or the like.

The guide tube 102 has an opening at one end, which is an entrance for allowing the image pickup device 104 to enter the hollow. The end of the guide tube 102 (the end located opposite to the entrance) may be open or closed.

Specifically, the guide tube 102 is composed of N unit tubes 106 and N connecting members 107. Each of the N unit tubes 106 is a tube having the same size and shape. The length of each of the unit tubes 106 is, for example, about 1 m (meter).

Each of the connecting members 107 is a member for connecting between the unit pipes 106. As shown in FIG. 3 (a) which is a perspective view and FIG. 3 (b) which is a front view, each of the connecting members 107 is composed of upper, lower, left and right wall portions with both front and rear ends open, and is a unit. It forms a hollow into which the tube 106 fits. The vicinity of the ends of the two unit tubes 106 is fitted to each of the open ends of the connecting member 107, whereby the connecting member 107 connects the two unit tubes 106.

In the present embodiment, in order from the entrance of the guide pipe 102, each of the first to N-1th connecting members 107 is located near the rear end of the m-th unit pipe and in front of the m + 1-th unit pipe 106. The vicinity of the end of the is fitted. Further, the N-th connecting member 107 is fitted with the vicinity of the rear end portion of the N-th unit pipe 106.

Here, m is an integer from 1 to N-1. The vicinity of the end means a portion from the end of the unit pipe 106 to a predetermined length along the length of the unit pipe 106. The connecting member 107 and the unit pipe 106 may be fixed to each other by screws, welding, or the like (not shown).

In the guide pipe 102, measurement points for measuring the position where the tunnel structure 101 is provided along the length direction are set at predetermined intervals. In the present embodiment, the center (center of gravity) JC of the square formed by the inner surface of the connecting member 107 in the cross section perpendicular to the length direction is adopted as the measurement point. Therefore, in the present embodiment, N measurement points from the first to the Nth measurement points are set in the order of proximity to the entrance for the image pickup apparatus 104 to enter, and the intervals between the measurement points are substantially equal.

The measurement points do not have to be at equal intervals as long as they are set at predetermined intervals, that is, at known intervals.

In the present embodiment, the first and second measurement points are already measured at appropriate positions by the time the shape measurement system 100 is used to start measuring the positions of the measurement points. It is a known measurement point. That is, each of the first and second measurement points is a known point (measurement point whose position is known) in the initial state. On the other hand, the third to Nth measurement points are unknown points (measurement points whose positions are unknown) in the initial state. The positions of the first and second measurement points are referred to as a reference for obtaining the positions of the third to Nth measurement points.

Here, the position is the position of each measurement point with respect to a preset reference point, and is represented by, for example, a value that can specify the position. For example, the position is represented by the value of each component whose unit is the distance in the coordinate system set with the first measurement point as the reference point. Further, for example, the position is represented by the value of each component whose unit is the distance in the coordinate system set with the reference point set at the time of construction as the origin. Further, for example, the position is represented by a combination of latitude, longitude and altitude.

Each of the first to fourth N image pickup targets 103_1 to 4N is a member or part to be imaged by the image pickup apparatus 104. Here, the first to fourth N imaging targets 103_1 to 4N are also referred to as “imaging target 103” or the like when they are not particularly distinguished.

The first to fourth N image pickup targets 103 are provided in association with the first to Nth measurement points, respectively. In the present embodiment, as shown in FIG. 4, the first to fourth N imaging targets 103 are fixed to approximately the center of any one of the upper, lower, left, and right rectangular surfaces constituting the inner surface of the connecting member 107. , It is provided in association with the first to Nth measurement points. Here, FIG. 4 is a front view of the connecting member 107 similar to that of FIG. 3B, and the four imaging targets 103_i, 103_N + i, 103_2N + i, attached to the i-th connecting member 107_i in the present embodiment. The positional relationship of 103_3N + i is shown. i is an integer from 1 to N.

Specifically, each of the first to Nth imaging targets 103_1 to N is fixed so that a part of the outer edge is in contact with the inner surface of the upper wall portion of the connecting member 107 constituting the first to Nth measurement points. And sticks out downwards. As a result, the first to Nth imaging targets 103_1 to N are associated with the first to Nth measurement points, respectively.

The imaging targets 103_N + 1 to 2N of the first N + 1 to the second N are fixed so that a part of the outer edge is in contact with the inner surface of the right wall portion of the connecting member 107 constituting the first to Nth measurement points, respectively, to the left. Sticking out to. As a result, the imaging targets 103_N + 1 to 2N of the first N + 1 to the second N are associated with the first to Nth measurement points, respectively.

The second N + 1 to 3N imaging targets 103_2N + 1 to 3N are fixed so that a part of the outer edge is in contact with the inner surface of the lower wall portion of the connecting member 107 constituting the first to Nth measurement points, respectively, and upward. It's sticking out. As a result, the second N + 1 to the third N imaging targets 103_2N + 1 to 3N are associated with the first to Nth measurement points, respectively.

The 3N + 1 to 4N imaging targets 103_3N + 1 to 4N are fixed so that a part of the outer edge is in contact with the inner surface of the left wall portion of the connecting member 107 constituting the first to Nth measurement points, respectively, to the right. Sticking out to. As a result, the 3rd N + 1 to 4N imaging targets 103_3N + 1 to 4N are associated with the first to Nth measurement points, respectively.

In other words, in the present embodiment, the imaging target group composed of four imaging target 104s, that is, the imaging target 103 of the i, N + i, 2N + i, and 3N + i, is associated with the i-th measurement location, which is the same measurement location. Has been done.

In the present embodiment, each of the first to fourth N imaging objects 103 is a reflector having a circular shape of the same size, and the reflector includes a reflecting surface that reflects light with a high reflectance. Each of the first to fourth N imaging targets 103 is fixed to one of the rectangular surfaces constituting the inner surface of the connecting member 107 with the reflecting surface directed toward the opening of the guide portion 102 which is the entrance of the imaging device 104. By doing so, it is associated with one of the measurement points.

Each of the first to fourth N image pickup targets 103 may be a light emitting body such as an LED (Light Emitting Diode) or a plate material coated with a fluorescent paint on one surface.

In the present embodiment, the imaging target 103 of the i, N + i, 2N + i, and 3N + i is a reflector that reflects different colors. When the image pickup target 103 is a light emitter, the image pickup target 103 of the i, N + i, 2N + i, and 3N + i may be any light emitters that emit different colors.

Further, in the present embodiment, each position of the first to fourth N imaging target 103 is represented by the position of the center of each of the first to fourth N imaging target 103. Then, the positions of the first to Nth imaging targets 103 and the positions of the measurement points associated with each may have a predetermined relationship.

In the present embodiment, the positions of the first to Nth imaging objects 103 are located above the positions of the associated first to Nth measurement points by a certain distance D. That is, the first to Nth imaging targets are arranged at substantially the same positions in the cross section perpendicular to the front-rear direction of the connecting member 107 constituting the first to Nth measurement points associated with each other. In the present embodiment, the front-rear direction of the connecting member 107 corresponds to the length direction of the tunnel structure 101.

The positions of the imaging targets 103 of the first N + 1 to the second N are located to the right by a certain distance D with respect to the positions of the associated first to N measurement points. That is, the image pickup targets of the first N + 1 to the second N are arranged at substantially the same positions in the cross section perpendicular to the front-rear direction of the connecting member 107 constituting the first to Nth measurement points associated with each other.

The positions of the imaging targets 103 of the second N + 1 to the third N are located below the positions of the associated first to N measurement points by a certain distance D. That is, the imaging targets of the second N + 1 to the third N are arranged at substantially the same positions in the cross section perpendicular to the front-rear direction of the connecting member 107 constituting the first to Nth measurement points associated with each other.

The positions of the imaging targets 103 of the third N + 1 to the fourth N are located to the left by a certain distance D with respect to the positions of the associated first to N measurement points. That is, the imaging targets of the 3rd N + 1 to the 4th N are arranged at substantially the same positions in the cross section perpendicular to the front-rear direction of the connecting member 107 constituting the associated first to Nth measurement points.

Since the image pickup target 103 of the first to fourth N and the measurement point have such a positional relationship, the position of the third measurement point constitutes the image pickup target group associated with the measurement point i. It coincides with the center of gravity of the position of the imaging target 103 of the i, N + i, 2N + i, and 3N + i.

The image pickup device 104 is a device that moves along the length direction of the tunnel structure 101 to take an image of the first to Nth image pickup targets 103. The image pickup apparatus 104 moves using this hollow that has entered from the entrance, which is an opening at one end of the guide tube 102, as a movement path.

Specifically, as shown in FIG. 5, the image pickup apparatus 104 includes a housing 108, a camera 109, four tires 110, and an irradiation unit 111. FIG. 5A is a perspective view of the image pickup apparatus 104 as viewed diagonally from above, and FIG. 5B is a front view of the image pickup apparatus 104.

The housing 108 is a portion to which a drive mechanism (not shown) including a camera 109, a tire 110, a motor for driving the tire 110, a communication interface for communicating with the position measuring device 105, and the like are attached.

The camera 109 is composed of a lens, an image sensor, and the like. In this embodiment, the focal length of the camera 109 is constant. The camera 109 may have a zoom function that can change the focal length.

The tire 110 is provided so as to make two contacts with each of the two diagonally located corners in the lengthwise cross section of the guide pipe 102. As a result, the image pickup apparatus 104 can move stably along the inner surface of the guide tube 102.

By arranging the tires 110 in this way, in the image pickup apparatus 104 according to the present embodiment, the center of the lens of the camera 109 is approximately the center (center of gravity) of the inner surface of the guide tube 102 in a cross section perpendicular to the length direction. ) And move along the length direction. Therefore, the movement path of the image pickup apparatus 104 can be defined as a path in which the center of the lens of the camera 109 moves.

The irradiation unit 111 is a light source for irradiating the imaging region with light, and is composed of, for example, a plurality of LEDs arranged in a ring around the lens of the camera 109.

Although the image pickup device 104 has described an example of the self-propelled image pickup device 104, the method of moving the image pickup device 104 is to fix a string or the like to the image pickup device 104 and wind the string or the like with a roller. An appropriate method such as a moving traction type may be adopted. In this case, for example, the position measuring device 105 can control the winding amount of the roller to control the moving amount of the image pickup device 104.

The position measuring device 105 controls the operation of the image pickup device 104 and obtains the position of the measurement point based on the image captured by the image pickup device 104.

The position measuring device 105 is physically, for example, a computer, a tablet terminal, or the like, and has a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), and the like. It consists of an SSD (Solid State Drive), a communication interface for communicating with the image pickup device 104, input means (not shown) such as a keyboard, mouse, and touch panel, and a display (not shown) as a display unit. ..

In the present embodiment, as shown in FIG. 1, the position measuring device 105 shows an example of communicating with the image pickup device 104 via a wired communication line L, but for communicating with the image pickup device 104. The line is not limited to a wired communication line, and may be configured to include a wireless communication line.

Functionally, as shown in FIG. 6, the position measuring device 105 has a movement control unit 112, an image pickup control unit 113, an image storage unit 114, a measurement unit 115, a correction reference storage unit 116, and a correction unit. It includes 117 and a position storage unit 118.

The movement control unit 112 controls the movement of the image pickup apparatus 104. Specifically, by controlling the motor included in the image pickup device 104, the advancement, stop, and the like of the image pickup device 104 in the guide tube 102 are controlled.

In the present embodiment, the image pickup apparatus 104 is installed at a predetermined first image pickup location. The first imaging point is set in the middle of the guide tube 102 and near the entrance by a predetermined distance from the first imaging target. The movement control unit 112 repeatedly moves the image pickup device 104 to each of the predetermined second to Nth image pickup points and stops the image pickup device 104.

The image pickup control unit 113 controls the operation of the camera 109, and acquires image information indicating the image captured by the camera 109 from the camera 109. In the present embodiment, the image pickup control unit 113 causes the camera 109 to take an image of the front when the image pickup device 104 stops at each of the second to Nth image pickup points.

When the image storage unit 114 acquires image information from the image pickup control unit 113, the image storage unit 114 stores the acquired image information.

The measurement unit 115 obtains the positions of the third to Nth measurement points, which are unknown points, based on the image captured by the image pickup device 104.

Specifically, the measurement unit 115 is based on an image including an image pickup target provided in association with each of two or more known points and at least one unknown point among the first to Nth measurement points. , The position of the at least one unknown place is obtained. In the present embodiment, the measurement unit 115 is provided in association with each of two or more known points and at least one unknown point in order to obtain the positions of the third to Nth measurement points. Refer to a plurality of images including the image pickup target. When the measurement unit 115 obtains the position of the unknown point, the measurement point for which the position is obtained is treated as a known point.

In the present embodiment, the position of the third measurement point, which is an unknown point in the initial state, is obtained based on the positions of the first and second measurement points, which are known points in the initial state. As a result, the third measurement point becomes a known point. Then, when N is 4 or more, the position of the fourth measurement point, which is an unknown point, is obtained based on the positions of the second and third measurement points, which are known points.

When N is 5 or more, by repeating this sequentially, the positions of the third to Nth measurement points that were unknown in the initial state can be obtained, and the first to Nth measurement points are known points. Become. Based on the position of each measurement point thus obtained, the shape of the guide tube 102 from the first measurement point to the Nth measurement point can be obtained (that is, measured).

Therefore, for example, the shape of the entire guide tube 102 can be obtained by setting the first measurement point and the Nth measurement point in the vicinity of the entrance and the vicinity of the end of the guide tube 102, respectively.

The correction reference storage unit 116 stores in advance the correction reference information indicating the reference value for obtaining the correction value CV of the position obtained by the measurement unit 115. The correction reference information according to the present embodiment is a plurality of imaging images associated with the measurement points located closest to the imaging device 104 in the image captured when the imaging device 104 is accurately stopped at the imaging position. This is information indicating the positional relationship between the objects 103.

The correction unit 117 corrects each position of the measurement point based on the position obtained by the measurement unit 115 and the positional relationship indicated by the correction reference information.

Specifically, the correction unit 117 determines the correction value CV for correcting the position obtained by the measurement unit 115 for each of the third to Nth measurement points based on the positional relationship indicated by the correction reference information. demand. Then, the correction unit 117 corrects the positions of the third to Nth measurement points obtained by the measurement unit 115 by the correction value CV obtained corresponding to each. As a result, the correction unit 117 obtains the corrected positions of the third to Nth measurement points, which were unknown points in the initial state.

The position storage unit 118 stores the first to Nth position information indicating the positions of the first to Nth measurement points. Since the positions of the first and second measurement points are known in the initial state, the first and second position information are preset in the position storage unit 118. The third to Nth position information is obtained by the correction unit 117 and stored in the position storage unit 118.

The correction unit 117 may not be provided. In this case, the positions of the third to Nth measurement points obtained by the measurement unit 115 are not corrected, and the positions of the third to Nth including the respective positions are not corrected. It is stored in the position storage unit 118 as information.

So far, the configuration of the shape measurement system 100 according to the embodiment of the present invention has been described. From here, the operation of the shape measurement system 100 according to the present embodiment will be described.

7A and 7B are flowcharts of the shape measuring method according to the present embodiment. The shape measurement method is a method for measuring the shape of the tunnel structure 101 based on an image including an image pickup target 103, and is executed by the shape measurement system 100 in the present embodiment.

Before starting the shape measurement method, for example, a guide tube 102 including the first to fourth N image pickup targets 103 is installed along the tunnel structure 101. Then, the image pickup apparatus 104 is inserted from the entrance of the guide tube 102 toward the front in the moving direction, and is arranged at a first image pickup position which is a predetermined initial position inside the guide tube 102.

After that, when a start instruction based on a predetermined operation is given to the position measuring device 105, the shape measuring method is started. Upon receiving this start instruction, 1 is set as an initial value for each of the parameters p and q used in the shape measuring method according to the present embodiment. Each of p and q is an integer of 1 or more, and the information indicating the value of p and the information indicating the value of q are held by, for example, the image pickup control unit 113 and the measurement unit 115, respectively.

The position measuring device 105 repeatedly executes the processes of steps S102 to S105 N-2 times until the value of p becomes N-2 (loop A; step S101).

The image pickup apparatus 104 takes an image of the pth image including the image pickup target 103 associated with the measurement points of the pth to the second p + 2 by taking an image under the control of the image pickup control unit 113 (step S102).

FIG. 8 shows an example of the first image captured in the process of the first step S102, that is, the process of step S102 when p is 1. The first image shown in the figure includes an image pickup target 103 associated with the first to fifth measurement points. Of the first to fifth measurement points, the first and second measurement points are known points. The third to fifth measurement points are unknown points.

In the present embodiment, as will be described in detail later, the position of the third measurement point is obtained based on the positions of the first and second measurement points. Therefore, at least the third measurement point is shown in the first image. It suffices if the image pickup target 103 of is included.

Further, as can be seen from FIG. 1, due to the curvature of the guide tube 102 or the like, it may not be possible to image all the imaging targets 103 associated with the first to third measurement points. Therefore, it is not necessary that all of the image pickup targets 103 associated with the first to third measurement points are included in the first image. That is, the fact that the first image includes the image pickup target 103 associated with the first to third measurement points means that the first image includes at least one image pickup target 103 for each of the first to third measurement points. Means that.

Applying what has been described here for the first image captured in step S102 to the p-first image is as follows.

The measurement points of the first p and the first p + 1 are known points. The measurement point of the second p + 2 is an unknown point. The first image corresponds to at least one image pickup target 103 associated with the first measurement point, at least one image pickup target 103 associated with the first p + 1 measurement point, and the second p + 2 measurement point. The attached at least one image pickup target 103 is included.

In the present embodiment, the image pickup target 103 of the first p, the second N + p, the second N + p, and the third N + p is associated with the measurement point of the first p, and at least one of these image pickup targets 103 is the image of the first p. It should be included in.

The same applies to the measurement points of the first p + 1 and the second p + 2. That is, at least one of the imaging target 103 of the first p + 1, the second N + p + 1, the second N + p + 1, and the third N + p + 1, and at least one of the imaging target 103 of the second p + 2, the second N + p + 2, the second N + p + 2, and the third N + p + 2 are the p. It should be included in the image.

By setting the image pickup position, the interval between the measurement points, and the like according to the degree of bending of the tunnel structure 101, the image pickup target 103 associated with the measurement points of the first p to the p + 2 can be included in the pth image. .. For example, when the tunnel structure 101 includes a portion having a large curvature, the interval between the measurement points is shortened, and if necessary, the image pickup position for capturing the p-th image is set near the p-th measurement point. It is good to set to.

In the present embodiment, four image pickup targets 103 are associated with each measurement point, and the four image pickup targets 103 associated with the same measurement point are rotationally symmetric positions in a cross section perpendicular to the movement path. It is provided in. Therefore, even if the tunnel structure 101 is curved in all directions of up, down, left, and right, the p to p + 2 measurement points are more reliable than when the number of image pickup targets 103 associated with the same measurement point is 1 to 3. The image pickup target 103 associated with the image can be included in the p-th image.

The image pickup control unit 113 acquires the p-th image information indicating the p-th image captured in step S102 from the image pickup apparatus 104, and outputs the acquired p-th image information to the image storage unit 114. As a result, the image storage unit 114 acquires and stores the p-th image information from the image pickup control unit 113 (step S103).

The movement control unit 112 moves the image pickup apparatus 104 to the next predetermined image pickup position, that is, the image pickup position of the first p + 1 (step S104). In the present embodiment, the image pickup position of the first p + 1 is set to a position separated from the measurement point of the first p + 1 by a predetermined distance in the direction opposite to the moving direction of the image pickup apparatus 104. In the present embodiment, since the measurement points are set at substantially constant intervals, the imaging positions are also set at substantially constant intervals.

The image pickup control unit 113 adds 1 to p (step S105). The image pickup control unit 113 holds the value of p obtained by performing step S104. When the value of p obtained in step S105 is N-2 or less, the processes of steps S102 to S105 are repeated.

As shown in FIG. 7B, the position measuring device 105 repeatedly executes the processes of steps S107 to S113 N-2 times until the value of q becomes N-2 (loop B; step S106).

The measurement unit 115 acquires the qth image information from the image storage unit 114 (step S107).

The measurement unit 115 specifies the target portion TP corresponding to each of the qth to q + 2 measurement points based on the qth image information and the place identification information acquired in step S107 (step S108). The target portion TP is a portion of the captured image in which the imaging target 103 is captured.

More specifically, for example, the measurement unit 115 extracts pixels having a luminance equal to or higher than a predetermined luminance threshold as the target portion TP among the pixels constituting the qth image. The measurement unit 115 holds in advance the location identification information for identifying the target portion TP corresponding to each of the qth to q + 2 measurement locations from the captured image. In the present embodiment, the measurement unit 115 previously provides location identification information including information indicating the above-mentioned luminance threshold value and information indicating the size of the target portion TP corresponding to each of the qth to q + 2 measurement locations. Hold.

In the present embodiment, the imaging target 103 has substantially the same size and is associated with measurement points set at substantially equal intervals. In the case of such an image pickup target 103, if the distance from the image pickup target 103 closest to the image pickup device 104 at the time of image pickup is kept constant, the size of the target portion TP corresponding to the same measurement point in the image taken can be determined. It falls within a certain range. Here, the size of the target portion TP is represented by a length representing the extracted portion, an area of the extracted portion, and the like.

In the present embodiment, since the image pickup target 103 is circular as shown in FIG. 3B, the target portion TP is generally circular or elliptical. In the present embodiment, the size of the target portion TP is the maximum width of the target portion TP, which is the diameter of the circle or the length in the major axis direction of the ellipse.

In the location identification information according to the present embodiment, R1 to R2 are associated with the qth measurement location, R3 to R4 are associated with the qth measurement location, and R5 to R6 correspond to the qth measurement location. It is the attached information. R1 to R6 are a predetermined number of pixels. Since the size of the target portion TP in the captured image becomes smaller as the distance from the imaging device 104 to the imaging target 103 increases at the time of imaging, R1 to R6 have a relationship of R5 <R6R3 <R4 <R1 <R2. ..

In the present embodiment, the measurement unit 115 specifies the extracted target portion TP having a maximum width of R1 to R2 as the target portion TP corresponding to the qth measurement point. The measurement unit 115 specifies the extracted target portion TP whose maximum width is R3 to R4 as the target portion TP corresponding to the measurement point of the q + 1th. The measurement unit 115 specifies the extracted target portion TP having a maximum width of R5 to R6 as the target portion TP corresponding to the measurement point of the q + 2.

The measurement unit 115 acquires the position information of the q and q + 1 indicating the positions of the measurement points of the q and q + 1 included in the image of the qth from the position storage unit 118 (step S109).

The measurement unit 115 determines the position of the measurement point of the q + 2 in the cross section perpendicular to the length direction based on the image information of the qth and the position information of the qth and q + 1 acquired in each of steps S107 and S109. Ask for. Then, the measuring unit 115 obtains the position of the measuring point of the q + 2 based on the distance between the measuring points of the q + 1 to q + 2 and the position of the measuring point of the q + 2 in the cross section perpendicular to the length direction ( Step S110).

At this time, in the present embodiment, the positions of the center (center of gravity) TPGs of the four target portion TPs corresponding to the same measurement points in the image are set as the positions of the target portion TPs in the image. Further, the positions of the centers (centers of gravity) of the four imaging targets 103 associated with each of the measurement points are set as the positions of the measurement points.

Then, the position of the measurement point of the q + 2 is actually the position where the target portion TP of the q + 2 should be imaged in the image of the qth, for example, when the measurement points of the qth to q + 2 are arranged on a straight line. The positional deviation (positional deviation on the image) of the target portion TP of the q + 2 in the captured qth image is the position of the q + 2 when the measurement points of the qth to q + 2 are aligned on a straight line. It is obtained by converting the image into a positional deviation (positional deviation of the target) from the actual q + 2 image pickup target 103. Since the positional deviation on the image includes components in the vertical direction and the horizontal direction, it can be expressed by (Δx, Δy). Similarly, the positional deviation of the target also includes components in the vertical direction and the horizontal direction, and thus can be represented by (ΔX, ΔY).

At this time, the measurement unit 115 determines the focal length of the lens of the camera 109, the distance from the center of the lens to each of the measurement points of the qth to q + 2, and the vertical and horizontal directions of the image pickup region IA of the image pickup element mounted on the camera 109. The size of the image and the number of vertical and horizontal pixels in the image pickup area IA are referred to.

In the present embodiment, the focal length of the lens of the camera 109 is f [mm] (millimeters), the distance from the center of the lens to the qth measurement point is a [mm], and the qth and q + 1s. It is assumed that the distance between the measurement points and the distance between the measurement points of the q + 1 and the q + 2 are both L [mm]. It is assumed that the dimensions of the image pickup region IA possessed by the image pickup element mounted on the camera 109 are H [mm] in the vertical direction and W [mm] in the horizontal direction. Further, as shown in FIG. 8, the number of pixels of the image pickup region IA possessed by the image pickup element mounted on the camera 109 is assumed to be Ph [pixel] in the vertical direction and Pw [pixel] in the horizontal direction.

The deviation ΔY in the vertical direction can be obtained by using the similarity ratio of the triangles, as can be seen with reference to FIG. In the present embodiment, it is obtained by the formula of ΔY = Δy × (H / Ph) × (D + 2L) / f.

Similarly, the deviation ΔX in the left-right direction can be obtained by the formula ΔX = Δx × (H / Ph) × (D + 2L) / f.

The position of the measurement points of the q + 2 when the measurement points of the qth to q + 2 are arranged on a straight line is, for example, the measurement points of the qth to q + 2 are at regular intervals, and the step S109. It is calculated from the positions of the qth and q + 1 acquired in. Then, the position of the q + 2 measurement point is obtained by adding the position of the q + 2 when the calculated qth to q + 2 measurement points are lined up on a straight line and the deviation obtained by the conversion. Be done. In this way, when the position is obtained in step S110, the position of the q + 2 measurement point becomes known, so that it is treated as a known place in the subsequent processing.

The correction unit 117 corrects the position of the measurement point of the q + 2 obtained in step 110 (step S111).

In detail, for example, the correction unit 117 is indicated by the qth image information based on the qth image information acquired in step S107 and the correction reference information stored in the correction reference storage unit 116. The correction value CV applied to the qth image is obtained.

When the qth image is imaged, the image pickup apparatus 104 stops at a predetermined image pickup position, so that each measurement point included in the qth image and the camera 109 (more specifically, for imaging included in the camera 109). The distance from the center of the lens) is a generally known value. Then, when the image is accurately stopped at a predetermined image pickup position and the image is taken, the qth q of the image pickup target 103 associated with the same measurement point (for example, the qth measurement point closest to the image pickup device 104). The positional relationship in the image (for example, the distance between the imaging objects 103) is a predetermined relationship obtained theoretically or experimentally.

However, in reality, the image pickup apparatus 104 for capturing the qth image may deviate from a predetermined imaging position and stop. In step S107, when the positional relationship of the imaging target 103 associated with the specific measurement point included in the qth image deviates from the predetermined relationship, the positional relationship is corrected to the predetermined relationship. Obtain the correction value CV.

More specifically, for example, the correction reference storage unit 116 is used in an image between a predetermined set of image pickup targets 103 among the image pickup target 103 associated with the measurement point closest to the image pickup apparatus 104 at the time of image pickup. The correction reference information indicating the distance D1 is stored in advance.

That is, in the case of the qth image, the correction reference information is theoretically in the image between a predetermined set of the imaging target 103 among the four imaging target 103 associated with the measurement point of the qth. The distance D1 is shown. The correction reference information indicates, for example, the vertical interval of the set of the upper and lower image pickup targets 103 (in the case of the qth image, the image pickup targets 103 of the qth and the second N + q).

The predetermined set of image pickup targets 103 may be a set of the upper right image pickup target 103 (in the case of the qth image, the image pickup target 103 of the qth and N + q), and is exemplified here. A plurality of combinations of the above may be adopted.

Further, the distance D1 indicated by the correction reference information may be represented by, for example, the number of pixels. When the image pickup apparatus 104 captures each image at a constant distance from the nearest measurement point, the correction reference information shows a constant value.

Based on the qth image information acquired in step S107, the correction unit 117 is the distance between the upper and lower images of the image pickup target 103 associated with the measurement point of the qth in the actually captured qth image. D2 (the unit is, for example, a pixel) is obtained (see FIG. 8). Then, the correction unit 117 obtains the ratio of the distance D2 to the distance D1 as the correction value CV (= D2 / D1).

The correction unit 117 corrects the position obtained in step S110 by multiplying each component of the position obtained in step S110 by the correction value CV. As a result, even when the image pickup apparatus 104 is stopped at a position deviated from a predetermined image pickup position at the time of image pickup to take an image, the position deviation of the measurement point that may occur due to the deviation of the stopped position is eliminated. It can be corrected. Therefore, it becomes possible to obtain the position of the measurement point more accurately.

The correction unit 117 outputs the position information including the corrected position to the position storage unit 118 as the position information of the measurement point of the q + 2.

The position storage unit 118 stores the position information of the measurement point of the q + 2, which indicates the position corrected in step S111 (step S112).

The measuring unit 115 adds 1 to q (step S113). The measuring unit 115 holds the value of q obtained by performing step S113. When the value of q obtained in step S113 is N-2 or less, the processes of steps S107 to S113 are repeated. Then, when the value of q obtained in step S113 becomes larger than N-2, the measuring unit 115 ends the shape measuring method.

The embodiment of the present invention has been described above.

According to the present embodiment, the images of the first to N-2 are captured by the image pickup device 104, which is a device that moves along the length direction of the tunnel structure 101 and includes the camera 109. Each of the p-th images includes an image pickup target 103 associated with the measurement points of the p-th to p + 2. Then, the measurement unit 115 has an image pickup target 103 associated with each of the two known points p and p + 1 measurement points, and an image pickup target 103 associated with the unknown point p + 2 measurement points. The position of the unknown part is obtained based on the image including and. By repeating this, the positions of the third to Nth measurement points can be obtained.

Since the third to Nth measurement points are set along the length direction of the tunnel structure 101, the length direction of the tunnel structure 101 is based on the respective positions of the third to Nth measurement points. The shape of the tunnel can be measured. That is, only by taking an image with the image pickup device 104 that moves along the length direction of the tunnel structure 101, the shape of the tunnel structure 101 in the length direction can be measured based on the image. Therefore, it becomes possible to easily measure the shape of a structure having a length in the length direction.

Further, in the present embodiment, an image including two or more known points and one or more unknown points is referred to, and the positions of the one or more unknown points are based on the positions of the two known points. Desired. Therefore, the position of the unknown part can be accurately obtained rather than the position of the unknown part based on the position of only one known part. Therefore, it becomes possible to easily and accurately measure the shape of a structure having a length in the length direction.

In the present embodiment, each of the imaging objects 103 is a reflector or a light emitter. As a result, when the image pickup target 103 is imaged, the brightness of the image pickup target 103 is increased, so that the target portion TP can be reliably and accurately extracted from the entire captured image. Since the position of the measurement point is obtained based on the position of the target portion TP in the captured image, reliably and accurately extracting the target portion TP contributes to improving the accuracy of the position of the measurement point. Therefore, it becomes possible to easily and accurately measure the shape of a structure having a length in the length direction.

In the present embodiment, the imaging target group associated with the same measurement point is composed of reflectors that reflect different colors. As a result, from the captured image, whether the image pickup target 103 is the image pickup target 103 fixed to the top, bottom, left, or right (that is, the image pickup target group consisting of the first to Nth image pickup targets, the N + 1 to the second N). Imaging target 103 included in any of the imaging target groups consisting of the imaging target group consisting of the imaging targets, the imaging target group consisting of the second N + 1 to 3N imaging targets, and the imaging target group consisting of the third N + 1 to 4N imaging targets. Is it?) Can be easily determined. As a result, the imaged portion used for correction can be reliably and accurately extracted from the entire captured image, and the positions of the third to Nth measurement points obtained by the measuring unit 115 can be corrected. Therefore, it becomes possible to easily and accurately measure the shape of a structure having a length in the length direction.

According to the present embodiment, a guide tube 102 is provided along the length direction of the tunnel structure 101 and the image pickup device 104 moves inside, and the image pickup device 104 irradiates the image pickup region with light. The irradiation unit 111 for the purpose is included. As a result, the image pickup apparatus 104 can be reliably moved along the length direction of the tunnel structure 101, and the image pickup target 103 can be easily imaged. Therefore, it becomes possible to easily and accurately measure the shape of a structure having a length in the length direction.

Although one embodiment of the present invention has been described above, the present embodiment may be modified as follows.

(Modification 1)
In the first embodiment, an image including two or more known points and one or more unknown points is referred to, and the positions of the one or more unknown points are obtained based on the positions of the two known points. An example was explained. However, the image may include at least one known location and at least one unknown location. In this case, the position of one or more unknown points included in each image may be determined based on the position of one or more known points included in each image.

In the first modification, an image including one or more known parts and one or more unknown parts is referred to, and an example in which the position of one unknown part is obtained based on the position of one known part will be described. .. In this modification, among the first to Nth measurement points similar to those in the first embodiment, the first measurement point is a known point in the initial state, and the second to Nth measurement points are unknown in the initial state. Suppose it is a place.

The shape measurement system according to this modification is related to the fact that the second measurement point is not a known point but an unknown point, and that the number of known points referred to for finding the position of the unknown point is one. Except for the configuration, the configuration may be substantially the same as that of the shape measurement system 100 according to the first embodiment.

For example, the measurement unit 115 according to this modification obtains the positions of the second to Nth measurement points, which are unknown points, based on the image captured by the image pickup device 104. Specifically, the measurement unit 115 is based on an image including an image pickup target provided in association with at least one known point and at least one unknown point among the first to Nth measurement points. The position of the at least one unknown place is obtained. That is, the measuring unit 115 may be configured in the same manner as in the first embodiment in this modification, except that the number of known points referred to for obtaining the position of the unknown place is different.

Further, for example, the correction unit 117 according to this modification obtains the corrected positions of the second to Nth measurement points that were unknown in the initial state.

So far, the configuration of the shape measurement system according to the first modification of the present invention has been described. From here, the operation of the shape measurement system according to this modification will be described.

10A and 10B are flowcharts of the shape measuring method according to this modification. The shape measuring method according to this modification includes steps S201 to S202, S206, S208 to S210, and S212 instead of each of steps S101 to S102, S106, S108 to S110, and S112 according to the first embodiment. Except for these points, the shape measuring method according to the present modification is substantially the same as the shape measuring method according to the embodiment. Here, in order to simplify the explanation, a process different from the embodiment will be described.

As shown in FIG. 10A, the position measuring device 105 repeatedly executes the processes of steps S202 and S103 to S105 N-1 times until the value of p becomes N-1 (loop C; step S201).

The image pickup apparatus 104 takes an image of the pth image including the image pickup target 103 associated with the measurement points of the pth to the p + 1 by taking an image under the control of the image pickup control unit 113 (step S202).

After that, the image pickup control unit 113 and the movement control unit 112 execute steps S103 to S105 in the same manner as in the embodiment. Then, when the value of p obtained by executing step S105 is N-1 or less, the processes of steps S201 to S202 and S103 to S105 are repeated.

As shown in FIG. 10B, the position measuring device 105 repeatedly executes the processes of steps S107, S208 to S210, S111, S212, and S113 N-1 times until the value of q becomes N-1 (loop D). Step S206).

The measurement unit 115 executes step S107 in the same manner as in the embodiment, and based on the qth image information and the location identification information acquired thereby, the target portion corresponding to each of the qth to q + 1 measurement locations. The TP is specified (step S208). The method for specifying the target partial TP may be the same as in the embodiment.

The measuring unit 115 acquires the position information of the qth indicating the position of the measurement point of the qth included in the image of the qth from the position storage unit 118 (step S209).

The measuring unit 115 obtains the position of the q + 1 measurement point in the cross section perpendicular to the length direction based on the qth image information and the qth position information acquired in each of steps S107 and S209. Then, the measurement unit 115 obtains the position of the measurement point of the q + 1 based on the distance between the measurement points of the qth to q + 1 and the position of the measurement point of the q + 1 in the cross section perpendicular to the length direction ( Step S210).

At this time, the position of the target portion TP and the position of the measurement point may be defined as in the embodiment.

Then, the position of the measurement point of the q + 1 should be such that the target portion TP of the q + 1 should be imaged in the image of the qth, for example, when the measurement points of the qth to q + 1 are arranged on a straight line along the imaging direction. The positional deviation (positional deviation on the image) between the position and the position of the target portion TP of the q + 1 in the actually captured qth image is measured by the measurement points of the qth to q + 1 on a straight line along the imaging direction. It is obtained by converting the position of the q + 1 position and the actual position of the image pickup target 103 of the q + 1 into a position shift (position shift of the target) when they are lined up in.

The method of converting the position shift on the image into the target position shift can be obtained by the same method as the method described with reference to FIG. 9 in the embodiment. That is, the focal length of the lens of the camera 109, the distance from the center of the lens to the measurement point of the qth, the distance between the measurement points of the q and q + 1, the dimensions and pixels of the image pickup region IA of the image sensor mounted on the camera 109. The positional deviation on the image can be converted into the target positional deviation by using the similarity ratio of the triangles based on the number and the like.

Further, the imaging direction may be obtained, for example, from the direction from the known measurement point q-1 to the known measurement point q. Here, when determining the position of the second measurement point, there is no measurement point corresponding to the q-1th measurement point. Therefore, it is preferable that the optical axis of the lens included in the camera 109 at the first imaging position and the position of the first ruled portion are arranged coaxially. When determining the position of the second measurement point, the direction corresponding to the installation direction of the guide tube 102 including the first image pickup position and the direction of the image pickup device 104 at the first image pickup position is the image pickup direction of the camera 109. It is good to be adopted as.

Then, when the measurement points of the qth to q + 1 are arranged in a straight line along the imaging direction, the positions of the measurement points of the q + 1 are, for example, the measurement points of the qth to q + 1 at regular intervals. Is calculated from the qth position acquired in step S209. Then, the position of the q + 1 measurement point is obtained by adding the position of the q + 1 when the calculated q + 1 measurement points are lined up on a straight line and the deviation obtained by the conversion. In this way, when the position is obtained in step S210, the position of the q + 1 measurement point becomes known, so that it is treated as a known place in the subsequent processing.

The measuring unit 115 executes step S113 similar to that of the embodiment. When the value of q obtained by executing step S113 is N-1 or less, the processes of steps S107, S208 to S210, S111, S212, and S113 are repeated. Then, when the value of q obtained in step S113 becomes larger than N-1, the measuring unit 115 ends the shape measuring method.

The modification 1 has been described above.

According to this modification, the images of the first to N-1 are captured by the image pickup device 104, which is a device that moves along the length direction of the tunnel structure 101 and includes the camera 109. Each of the p-th images includes an image pickup target 103 associated with the measurement points of the p-th to p + 1s. Then, the measurement unit 115 includes an image pickup target 103 associated with each of the measurement points of the first p, which is one known point, and an image pickup target 103 associated with the measurement point of the first p + 1, which is an unknown point. Find the position of the unknown part based on the image. By repeating this, the positions of the first to Nth measurement points can be obtained.

Since the second to Nth measurement points are set along the length direction of the tunnel structure 101, the length direction of the tunnel structure 101 is based on the respective positions of the second to Nth measurement points. The shape of the tunnel can be measured. That is, only by taking an image with the image pickup device 104 that moves along the length direction of the tunnel structure 101, the shape of the tunnel structure 101 in the length direction can be measured based on the image. Therefore, it becomes possible to easily measure the shape of a structure having a length in the length direction.

(Other variants)
Further, for example, in the embodiment, an example in which four image pickup targets 103 are provided in association with each measurement point has been described. However, at least one image pickup target 103 may be provided at each measurement point.

Even when only one image pickup target 103 (for example, the first to Nth image pickup targets 103) is associated with each of the measurement points, for example, when the tunnel structure 101 is not curved so much or the tunnel When the structure 101 is substantially curved in one direction, the image pickup target 103 associated with the three measurement points can be included in each image to be captured. Thereby, the position of the measurement point whose position is unknown can be obtained based on the captured image and the position of the two measurement points whose positions are known.

Further, by providing a plurality of image pickup targets 103 at different positions in the cross section perpendicular to the length direction at each of the measurement points in a predetermined positional relationship, the tunnel structure 101 is curved along the length direction. Even if this is the case, it becomes easy to include the image pickup target 103 associated with the three measurement points in each image to be imaged. Depending on how the tunnel structure 101 is curved along the length direction, for example, two or three imaging targets 103 at each of the measurement points are point-symmetrical positions and rotations with respect to the movement path of the camera. It should be provided at symmetrical positions.

Further, for example, in the embodiment, an example of finding the position of the third to Nth measurement points after all the images of the first to N-2 have been captured has been described. However, the positions of the third to Nth measurement points may be determined before the first to N-2 images are captured and the next image is captured, respectively. This makes it possible to sequentially know the positions of the third to Nth measurement points while taking an image.

Further, for example, in the embodiment, an example of obtaining a correction value CV based on the correction reference information and correcting the positions of the third to Nth measurement points has been described.

However, the movement control unit 112 may adjust the imaging position based on the correction reference information. In this case, when the image pickup device 104 is stopped at the image pickup position of the first p + 1, the movement control unit 112 refers to the image captured by the image pickup device 104 and the positional relationship of the image pickup target 103 indicated by the correction reference information. .. Then, in the movement control unit 112, two or more image pickup targets 103 associated with the same measurement point (for example, the measurement point of the first p + 1) included in the image have a positional relationship of the image pickup target 103 indicated by the correction reference information. It is preferable to determine the image pickup position of the first p + 1 so as to match the above, and stop the image pickup apparatus 104 at the determined image pickup position of the first p + 1.

According to this, it is possible to obtain the corrected position of the third to Nth measurement points based on the images of the first to N-2 without performing the correction process (step S111). Therefore, it becomes possible to easily and accurately measure the shape of a structure having a length in the length direction.

Although embodiments and modifications of the present invention have been described above, the present invention is not limited thereto. For example, the present invention also includes a form in which a part or all of the embodiments described above and a modification thereof are appropriately combined, and a form in which the form is appropriately modified.

100 Shape measurement system 101 Tunnel structure 102 Guide tube 103 Imaging target 104 Imaging device 105 Position measurement device 106 Unit tube 107 Connection member 108 Housing 109 Camera 110 Tire 111 Irradiation unit 112 Movement control unit 113 Imaging control unit 114 Image storage unit 115 Measurement unit 116 Correction reference storage unit 117 Correction unit 118 Position storage unit

Claims (10)

It is a shape measurement system for measuring the shape of a tunnel structure having a length in the length direction.
A guide pipe extending along the length direction of the tunnel structure and a guide pipe,
An image pickup device that is guided and moves along the inner surface of the guide tube and includes a camera and an irradiation unit for irradiating an image pickup area with light .
In order to measure the position where the tunnel structure is provided along the length direction, the center of the guide pipe is set at predetermined intervals along the length direction in order of proximity to the entrance of the tunnel structure. With the first to Nth imaging targets associated with each of the first to Nth measurement points (N is an integer of 3 or more) set in the above and fixed so as to be in contact with the inner surface of the guide tube. ,
Of the images captured by the image pickup apparatus, at least one known point whose position is a known measurement point and at least one unknown measurement point whose position is unknown among the first to Nth measurement points. A position measuring device having a measuring unit for finding the position of at least one unknown point based on an image including the image pickup target associated with each of the points is provided .
The position measuring device is a predetermined second to Nth image pickup device installed at a first image pickup position which is a place closer to the entrance by a predetermined distance from the first image pickup target. Image information showing the image, including a movement control unit that repeatedly moves to each of the image pickup points and stops the image, and an image pickup control unit that causes the camera to image the front at the first to N image pickup points. From the camera
A shape measurement system characterized in that the shape of the guide tube from the first measurement point to the Nth measurement point is obtained based on the position of each measurement point thus obtained . The measuring unit is based on an image including the image pickup target provided in association with each of two or more known points and at least one unknown point among the first to Nth measurement points. The shape measurement system according to claim 1, wherein the position of the unknown portion is obtained. Further provided with N + 1 to 2N imaging targets associated with each of the first to N measurement points and fixed so as to be in contact with the inner surface of the guide tube .
Among the first to second N imaging targets, the imaging target group associated with the same measurement point is characterized in that they are arranged at different positions on a plane perpendicular to the length direction. The shape measuring system according to claim 2. Further provided with second N + 1 to third N imaging targets associated with each of the first to N measurement points and fixed so as to be in contact with the inner surface of the guide tube .
Among the first to third N imaging targets, the imaging target group provided at the same measurement location is characterized in that they are arranged at different positions on a plane perpendicular to the movement path of the camera. Item 3. The shape measurement system according to item 3. A third N + 1 to 4 N imaging target, which is associated with each of the first to N measurement points and is fixed so as to be in contact with the inner surface of the guide tube, is further provided.
Among the first to fourth N imaging targets, the imaging target group associated with the same measurement point is arranged at a position rotationally symmetric with respect to the movement path on a plane perpendicular to the movement path of the camera. The shape measuring system according to claim 4, wherein the shape measuring system is provided. When the image includes an image pickup target group associated with the same measurement point, the position measurement device is said to have been obtained based on the positional relationship of the image pickup targets constituting the image pickup target group. A correction value for correcting the position of each of the third to Nth measurement points is obtained, and the obtained correction value corresponding to each of the obtained third to Nth measurement points is obtained. The shape measurement system according to any one of claims 3 to 5, further comprising a correction unit for correction. The shape measurement system according to any one of claims 3 to 6, wherein each of the imaging objects is a reflector or a light emitting body. The shape measurement system according to claim 7, wherein the image pickup target group associated with the same measurement point is a reflector that reflects different colors or a light emitter that emits different colors. The guide tube is composed of a tube having a square cross section on each of the inner surface and the outer surface.
The image pickup device is characterized by further comprising four tires provided so as to make two contacts with each of two diagonally located corners in a longitudinal cross section of the guide tube. The shape measuring system according to any one of 1 to 8. It is a shape measurement method that measures the shape of a tunnel structure having a length in the length direction.
In order to measure the position where the tunnel structure is provided along the length direction , the tunnel structure is arranged at predetermined intervals along the length direction in order of proximity to the entrance of the tunnel structure. The guide tube is associated with each of the first to Nth measurement points (N is an integer of 3 or more) set at the center of the guide tube extending along the length direction of the guide tube . Of the first to Nth imaging objects fixed so as to be in contact with the inner surface of the above, at least one known point whose position is a known measurement point and at least one unknown point whose position is an unknown measurement point, respectively. To capture an image including the image pickup target associated with the image pickup device ,
Including finding the position of the at least one unknown place by a position measuring device based on the image obtained by the imaging.
The image pickup device is configured to be guided and move along the inner surface of the guide tube, and includes a camera and an irradiation unit for irradiating the image pickup region with light.
The position measuring device is a predetermined second to Nth image pickup device installed at a first image pickup position which is a place closer to the entrance by a predetermined distance from the first image pickup target. Image information showing the image, including a movement control unit that repeatedly moves to each of the image pickup points and stops the image, and an image pickup control unit that causes the camera to image the front at the first to N image pickup points. From the camera
Based on the position of each measurement point thus obtained, the shape of the guide tube from the first measurement point to the Nth measurement point is obtained.
A shape measurement method characterized by this.

Images