JPH0843054A - Three dimensional measuring apparatus for structure - Google Patents

Abstract

PURPOSE:To measure an object stably with high accuracy by catching an image in the vicinity of an optional measuring point of the object by a CCD camera and detecting coordinates. CONSTITUTION:A cross girder 3 is hung between a pair of fixed frames 2 and 2. An instrument shaft 4 is set to the cross girder 3 to extend in the vertical direction orthogonal to the girder 3. The instrument shaft 4 consists of a strut 11, an internal shaft 12 inserted in the strut 11 to extend downward, and a CCD camera head 13. A CCD camera 5 is mounted at the lower part of the head 13 to be rotated within the vertical plane around a fulcrum 14 by a CCD camera-rotating mechanism. The camera 5 is moved to the vicinity of a measuring point of an object to be measured by the operation of the cross girder 3 and the instrument shaft 4, and catches an image of the measuring point. A three-dimensional coordinate of the measuring point is detected by processing tone image data by means of an external computer.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a large-scale structural member such as a bridge block which is assembled by being connected,
The present invention relates to a three-dimensional measuring device that accurately measures data regarding the shape, size, etc. of each structural member required when performing numerical temporary assembly of adjacent structural members.

[0002]

2. Description of the Related Art For example, in a structural member such as a bridge block which is assembled by being connected or a long tower main tower block which is assembled by being connected in a longitudinal direction, each manufactured individual structural member is ideal as designed. Since it is inevitable that some error will occur in the shape, the structure is designed so that the error will be the smallest when compared to the ideal overall shape of the entire structure when assembled on site. It is necessary to connect the members. For that purpose, the quality assurance for the on-site construction has been conventionally performed by temporarily assembling the structural members manufactured in the factory.

As a method of this temporary assembly, various problems caused by actually temporarily assembling large structural members of the order of several meters to several tens of meters such as a bridge block, for example, a great deal of time and labor are required for work. In order to solve the problems such as the necessity, a numerical temporary assembly method using computer simulation is being studied. When the numerical temporary assembly is performed, the twists and bends unique to the individual structural members produced as data to be input to the computer, the positions of bolt holes, the dimensions of each part, etc. are precisely set to, for example, 0. It is necessary to measure with high accuracy of the order of 1 mm or more.

Therefore, as a measuring device for measuring the shape and size of the above-mentioned structural member, conventionally, there is an angle measuring type using a CCD camera, a distance measuring type using a theodolite, or an angle measuring type. A so-called triangulation type measuring device such as an object is used, and a structural member is measured by an operator operating these measuring devices.

On the other hand, when the structural members are transported to the construction site for actual construction after performing the numerical temporary assembly using the measured values, the adjacent structural members are vertically, horizontally, and vertically ( A so-called centering work is required such as what kind of positional relationship and twist relationship are to be connected in the (X, Y, Z directions). Therefore, after the numerical provisional assembly is performed, marking is performed as a mark for alignment. That is, after the numerical provisional assembly of the adjacent structural members is completed, one worker uses the transit or the like while the other worker paints on the target position, and then the marking needle is used to perform the marking line. I was trying to pull.

[0006]

As described above, the conventional method for measuring structural members uses a triangulation type measuring device, and as long as measurement is performed by this method, it is possible to measure in the X, Y and Z directions. Since the coordinate distortion is unavoidable, there is a variation in the measurement error in each of the X, Y, and Z directions, and there is a limit in improving the measurement accuracy. Then, when the measurement point cannot be directly collimated, an indirect error occurs by measuring a point offset from the measurement point, a problem that a sufficiently wide working space must be secured, etc.
There were many problems. Further, in terms of work, there is a problem that this measuring work requires skill and labor of the worker and a great amount of work time.

On the other hand, in the marking operation, it is difficult to improve the accuracy of the marking position, the labor and the working time of the operator are very large, and the position to be marked obtained from the measurement result is directly measured from the measuring device side. In order to carry out scribing by the method instructed, there is a problem that it is necessary to prepare equipment and instruments different from the measuring device. That is, the measuring and marking operations of the structural members have many technical, precision, and operational problems, and it has been desired to provide means for eliminating these problems.

The present invention has been made in order to solve the above problems, and provides a three-dimensional measuring apparatus for a structure which can rationally perform work ranging from measurement of various structural members to marking. The purpose is to

[0009]

In order to achieve the above-mentioned object, the three-dimensional measuring device for a structure according to claim 1 is connected to each other to form various structural members such as a bridge. A device for measuring the arbitrary points of the constituent members as three-dimensional coordinates in order to grasp the dimensions and shape of the object, which is movable to a position close to the object to be measured. A CCD camera that detects the coordinates of the measurement point by capturing an image of the measurement point of the measurement object;
A D camera is attached, and a movable frame for moving the CCD camera and a control device for controlling the operation of the movable frame are provided.

A three-dimensional structure measuring apparatus according to a second aspect of the invention is characterized in that a temperature control means for controlling the temperature of the movable frame is provided.

A three-dimensional structure measuring apparatus according to a third aspect of the invention is formed of a material having the same linear expansion coefficient as that of the object to be measured, and corrects an error in a measured value due to a temperature change of the object to be measured. It is characterized in that it is provided with a scale bar that serves as a reference when performing.

Further, the three-dimensional structure measuring apparatus according to claim 4 is provided with an interference preventing means for preventing the movable frame from interfering with the object to be measured or another obstacle. It is a feature.

Further, in the three-dimensional measuring apparatus for a structure according to claim 5, when the adjacent structural members are butted to each other, marking is performed at a predetermined portion of the measured object so as to serve as a mark for centering each other. The marking device for the above can be replaced with the CCD camera by an automatic changing device.

[0014]

In the three-dimensional measuring apparatus for a structure according to claim 1, the movable frame having the CCD camera attached to the object to be measured operates according to the control of the control device, so that the CCD camera moves to the object to be measured. The image is captured at a position close to the measurement point. Then, the three-dimensional coordinates of the measurement point are detected.

In the three-dimensional structure measuring apparatus according to the second aspect of the invention, the temperature control means controls the temperature of the movable frame to prevent the movable frame from expanding or contracting due to temperature change.

Further, in the three-dimensional structure measuring apparatus according to claim 3, when the object to be measured expands or contracts due to temperature change, accurate dimensions have been measured in advance and the same line as the object to be measured is used. By using the scale bar having the expansion coefficient as a reference, the error of the measurement value due to the temperature change of the measured object is corrected.

Further, in the three-dimensional structure measuring apparatus according to the fourth aspect, the interference preventing means has, for example, a large deformation of the measured object or an unexpected obstacle in the moving range of the movable frame. In this case, it is possible to prevent interference between the movable frame and the measured object or obstacle.

Further, in the three-dimensional measuring apparatus for structures according to the fifth aspect, the CCD mounted on the movable frame by the operation of the automatic exchange device after the measurement of the object to be measured is completed.
The camera is automatically replaced with a marking device, and the marking device makes markings to be used as alignment marks for adjacent structural members at predetermined locations on the object to be measured.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a three-dimensional measuring device 1 of this embodiment.
2 is a diagram showing the entire configuration of the above, wherein reference numeral 2 is a fixed frame, 3 is a cross girder (movable frame), 4 is a measurement axis (movable frame), 5 is a CCD camera, 6 is a system controller (control device), B is a bridge block (structural member) that is an object to be measured.

A pair of fixed frames 2, 2 on the floor of the factory
Are erected parallel to each other with a certain distance therebetween. Each fixed frame 2 has a ladder shape, and each fixed frame 2
The guide rails 7 are fixed to the upper surface of each.
A cross girder 3 is installed between the pair of fixed frames 2 and 2. The cross girder 3 is connected to a cross girder drive mechanism (not shown) via a cable bear 8. Therefore, the cross girder 3 is horizontally moved along the guide rail 7 on the fixed frame 2 by the operation of the cross girder drive mechanism.

Further, a bellows-shaped cover 9 is provided on the upper part of each fixed frame 2 so as to cover the guide rail 7, and the end of the cover 9 is attached to the end of each fixed frame 2. It is fixed, and the cross girder 3 side is fixed to both side surfaces of the cross girder 3. Therefore, when the cross girder 3 travels on the pair of fixed frames 2 and 2, one side of the cover 9 that sandwiches the cross girder 3 extends and the other side contracts, whereby the cross girder 3 is contracted.
Are able to move without any hindrance. The cover 9 is
This is for preventing dust and the like from accumulating on the sliding surface between the fixed frame 2 and the cross girder 3 and allowing the cross girder 3 to always travel smoothly.

The cross girder 3 is provided with a measuring shaft 4 which extends perpendicularly to the cross girder 3 in the vertical direction. The measuring shaft 4 is connected to a measuring shaft drive mechanism (not shown) via a cabel bear 10, and is horizontally moved along the cross girder 3 by the operation of the measuring shaft drive mechanism. The measurement shaft 4 includes a column 11, an internal shaft 12 that is inserted into the column 11 and extends below the column 11, and a CCD camera head 13.
The internal shaft 12 can be moved up and down with respect to the column 11 by an internal shaft lifting mechanism (not shown). A CCD camera head 13 is attached to the lower end of the inner shaft 1 by a head rotating mechanism (not shown).
It is attached to 2 so as to be rotatable in a horizontal plane and replaceable with a marking device described later.

At the bottom of the CCD camera head 13, CC
The D camera 5 is attached by a CCD camera rotation mechanism (not shown) so as to be rotatable about a fulcrum 14 within a vertical plane. Therefore, the CCD camera 5 moves to the vicinity of the measurement point of the object to be measured by the operation of the cross girder 3 and the measurement axis 4, captures the image of the measurement point, and the image data is stored in the computer outside the three-dimensional measurement apparatus 1. A three-dimensional coordinate of the measurement point can be detected by image processing (not shown).

The above-mentioned cross girder drive mechanism, measurement axis drive mechanism, internal axis elevating mechanism, head rotating mechanism, CC
Each of the D camera rotation mechanisms is electrically connected to the system controller 6 installed outside the fixed frame 2, and all the operations of these mechanisms are performed by the system controller 6.
It is designed to be performed under the control of. Also,
Data relating to various measurement conditions such as measurement points and measurement routes are transferred from the computer outside the apparatus 1 to the system controller 6. Therefore, according to the judgment of the system controller 6 based on the transferred data, the horizontal movement of the cross girder 3, the horizontal movement of the entire measuring shaft 4, the vertical movement of the internal shaft 12, the rotation of the CCD camera head 13, and the rotation of the CCD camera 5. The CCD camera 5 can reach an arbitrary position within a movable range of a space surrounded by the pair of fixed frames 2 and 2 at an arbitrary angle by combining the above operations.

Further, all the outer surfaces of the members constituting the cross girder 3 and the measuring shaft 4 except the sliding surfaces are covered with a heat insulating material, and the inside of each member is a heater (temperature control means) and a heater. A thermostat (temperature control means) for controlling the temperature is embedded. FIG. 2 is a cross-sectional view showing the measurement shaft 4 as an example, but the guide rail 7 is installed, and the side surface other than the sliding surface with the cross girder 3 is the heat insulating material 1.
It is covered with 7. Further, the heater 18 is embedded along the outer peripheral portion, and a thermostat 19 is connected to the heater 18. The temperature of each member is 4
The temperature can be set to an arbitrary temperature within the range of 0 ± 5 ° C., and the temperature of the temperature can be controlled with the accuracy of ± 1 ° C. with respect to the set temperature by the action of the heater 18 and the thermostat 19.

Further, as shown in FIG. 3, at the corners of the lower surface of the column 11 of the measuring shaft 4 and the upper surface of the CCD camera head 13,
A laser emitting section 20 (interference preventing means) and a laser receiving section 21 (interference preventing means) are installed respectively, and laser light is emitted between them during operation of the apparatus, so that the laser beam is emitted along the longitudinal direction of the measurement axis 4. The laser barrier S is formed. When the laser light receiving unit 21 is connected to the system controller 6 and the laser barrier S is blocked by the bridge block B, an obstacle, or the like while the measurement axis 4 is moving, the system controller 6 causes the measurement axis 4 to move. Is configured to stop operating.

Further, as shown in FIG. 1, a head exchanging device 22 (automatic exchanging device) is installed below one end of the fixed frame 2. This head exchange device 22
CCD camera head 13 attached to the bottom of the measuring shaft 4
Is automatically replaced with an inkjet type marking head 23 (marking device) as shown in FIG. After the measurement of the bridge block B is completed, the marking head 23 corresponds to a conventional marking operation for the bridge block B, that is, the adjacent bridge block B.
This is for making markings that should be used as alignment marks for the mutual alignment by ejecting ink onto the surface of the bridge block B.

Further, as shown in FIG. 1, a scale bar 24 is fixed near the ends of the pair of fixed frames 2, 2. The scale bar 24 is made of a material having the same linear expansion coefficient as that of the bridge block B, and an accurate dimension at a reference temperature is measured in advance, and before and after the actual measurement of the bridge block B, that is, the bridge block B is measured. By measuring the dimensions again in the same condition as the measurement environment,
The reference scale is used for correcting an error in the measurement value due to the temperature change of the bridge block B.

When the bridge block B is measured by using the three-dimensional measuring apparatus 1 having the above-mentioned configuration, the original size data of the bridge block B is input to the computer outside the apparatus in advance, and the reference, the allowable value, the measurement route, etc. After creating the measurement data, the measurement data is transferred to the system controller 6 of the three-dimensional measuring device 1.

Next, the bridge block B is carried in between the pair of fixed frames 2 and 2 of the three-dimensional measuring device 1, a thermometer is attached to the bridge block B, and the temperature and the device for monitoring the change of the measuring environment are measured. Measure temperature and bridge block temperature respectively. After that, the operator manually sets the CCD
The camera 5 is moved to measure the three-dimensional coordinates of a reference point in the bridge block B, for example, a reference point such as four corners of the bottom surface, and the bridge block B actually stores the pre-input original size data. Coordinate conversion is performed so as to correspond to the written position and orientation.

Next, before the measurement of the bridge block B, the scale bar 24 is measured and temperature correction calculation is performed, and then the measurement of the bridge block B is started. At this time, the CCD camera 5 moves in accordance with the measurement points and the measurement route previously input by the instruction of the system controller 6, and the three-dimensional coordinates corresponding to the designated number of points are measured. After that, scale bar 2 after measuring bridge block B
After performing the measurement of 4 and performing the temperature correction calculation again,
Measure air temperature, equipment temperature, bridge block temperature.

Next, with respect to the ideal predetermined position (coordinates) given by the full-scale data, the bridge block B is set so that the bridge block B on which the three-dimensional measurement is performed is accommodated in the positional relationship with the smallest error as a whole. The so-called optimization calculation (automatic centering) is performed to place the coordinates. Then, for the bridge block adjacent to the bridge block B for which the measurement has been completed, the measurement is performed by the same procedure as described above, and then numerical temporary assembly is performed using the measurement data after the optimization calculation of the adjacent bridge blocks. To do. A detailed description of the data processing of the numerical provisional assembly is omitted.

After performing the numerical temporary assembly, the bridge block B
If the shape of the bridge block B is incorrect, for example, if the deviation of the actual shape of the bridge block B from the ideal shape exceeds the allowable range, After carrying out, the shape is modified and the measurement is performed again. When the shape of the bridge block B is proper and the marking work is to be continued, C which has been attached to the measuring shaft 4 until then is used.
As shown in FIG. 4, after the CD camera head 13 is replaced by the marking head 23 by the sensor head replacement device 22, the marking head 23 is moved to a predetermined position of the bridge block B and marked by the instruction of the system controller 6. Do. In this way, the bridge block B is unloaded from the three-dimensional measuring device 1 after all the work is completed.

In the three-dimensional measuring apparatus 1 of this embodiment,
As a means for detecting the three-dimensional coordinates of the measurement point on the bridge block B, a CCD that detects the coordinates by capturing the image close to the measurement point on the bridge block B
Since the camera 5 is used, unlike the conventional triangulation type measuring device, the coordinate distortion in the X, Y, and Z directions is extremely small, and stable and highly accurate measurement can be performed. Further, since the CCD camera 5 can reach an arbitrary position at an arbitrary angle by the mutual movements of the cross girder 3, the measuring axis 4, the CCD camera head 13, etc., it is possible to directly collimate the position. Unlike the conventional triangulation type measuring device, which was difficult to measure, the CCD camera 5 can reach the side and the upper side of the bridge block B as long as it is within the moving range, which facilitates the measurement of the position. Can be done.

Further, since the CCD camera 5 is designed to automatically move based on the data transferred from the computer to the system controller 6, especially during the measurement for a long time, especially the three-dimensional measuring device. In order to avoid the temperature change of the object to be measured as much as possible, the measurement may be performed at night when the change of the outside air temperature is small, but even in such a case, the operator does not need to be attached to the measuring device. That is, it is possible to realize a rational measuring device by unmanning the work.

Basically, the three-dimensional measuring device 1 itself needs only to have a size enough to carry in the structural members such as the bridge block B. Therefore, the three-dimensional measuring device can be used for measurement in the case of the conventional triangulation type measuring device. The space in the factory required for measurement can be reduced as compared with the large work space required.

Further, in the three-dimensional measuring apparatus 1 of the present embodiment, the cross girder 3 and the measuring shaft 4 are covered with the heat insulating material 17, and the heater 18 and the thermostat 19 are embedded inside each member. ± temperature control of parts
Since the measurement is performed with an accuracy of 1 ° C. or less, even if the outside air temperature changes remarkably, it is possible to prevent expansion and contraction by maintaining the temperature of the member to ensure the stability of measurement. Further, in the factory, the temperature may rise to about 35 ° C. in the summer, but in the case of this embodiment, the temperature of each member is about 40 ° C. by adopting the heater heating which is lower in cost than the cooling. Since it is configured to control the temperature of the measuring device, the cost required for controlling the temperature of the measuring device can be reduced.

As described above, the temperature of the measuring device is kept constant to ensure the stability of the measurement from the device side, and the measured value of the bridge block B is temperature-corrected using the scale bar 24 as a standard scale. Therefore, compared to the method of theoretically calculating the correction value from the bridge block temperature and the linear expansion coefficient of the material, the behavior is closer to the actual behavior with respect to the thermal deformation of the bridge block B. Since the correction can be performed with a small error in the shape, the accuracy regarding the temperature correction can be sufficiently improved.

The measuring axis 4 and the CCD camera 5 are
Although it operates based on the full-scale data previously input to the system controller 6, for example, the bridge block B
When the measurement axis 4 interferes with the bridge block B or an obstacle or a collision occurs when the deformation of the measurement axis 4 is large or there is an unexpected obstacle in the movement range of the measurement axis 4, the CCD camera 5 is damaged or measured. There is a possibility that extreme deterioration of accuracy may occur. However, in the apparatus of the present embodiment, the measurement axis 4 is provided with the pair of laser light emitting section 20 and laser light receiving section 21, and the laser barrier S is formed around the measurement axis 4 to constitute the interference prevention means. Therefore, even if the above-mentioned abnormality occurs, it is possible to reliably prevent the measurement axis 4 from interfering with or colliding with the bridge block B or an obstacle. Therefore, it is possible to make the device unmanned in that the device does not need to be monitored.

Further, in the three-dimensional measuring apparatus 1 of the present embodiment, the head exchanging device 22 is constituted so that the CCD camera head 13 at the tip of the measuring shaft 4 and the marking head 23 can be automatically exchanged, so that the present device is used. Can perform not only measurement work of bridge block B but also marking work,
It is possible to carry out these operations continuously with one device. Therefore, unlike the case of the conventional marking work in which two workers respectively proceed with the operation of the transit and the paint application, the marking work is unmanned, the marking position accuracy is improved, and the marking work time is shortened. You can get the benefits of. That is, according to the present embodiment, a rational device can be realized through both the measurement work and the marking work of the bridge block B. Further, in the case of this embodiment, the marking head 23
Since it is an inkjet type, it has the advantage that the line width of marking can be made constant and printing can be performed.

The overall structure of the three-dimensional measuring apparatus 1 of this embodiment may be replaced by the apparatus structure shown in FIGS. 5 to 7 below. In these figures, the same components as those of this embodiment shown in FIG. 1 are designated by the same reference numerals. 3 shown in FIG.
The dimension measuring device 29 is formed with a pit 30 in which the floor surface is dug down, and the bridge block B is carried into the pit 30. Guide rails 31 and 31 are installed on both sides of the pit 30, and a cross girder 32 (movable frame) is movably installed between the guide rails 31 and 31. ) Is movably attached to the measuring shaft 33.
A CCD camera 5 is attached to the tip of the.

In the three-dimensional measuring device 34 shown in FIG. 6, a pair of guide rails 35, 35 are installed on the floor surface, and the bridge block B is carried in between these guide rails 35, 35. A girder 36 (movable frame) is movably provided on each guide rail 35, and a measuring shaft 37 (movable frame) is movably attached to the girder 36. A CCD camera 5 is attached.

The three-dimensional measuring device 38 shown in FIG. 7 is provided with a movable floor 39 on which the bridge block B is mounted and which is movable. Then, the gate type frame 40 is fixed so as to straddle the bridge block B, and the gate type frame 4
A measurement axis 41 (movable frame) is movably attached to 0, and a CCD camera 5 is attached to the tip of the measurement axis 41.

Further, in this embodiment, a pair of laser emitting section 20 and laser receiving section 21 are provided as means for preventing interference of the measuring axis 4.
Although the laser barrier S is formed around the measurement axis 4 as described above, general visible light or the like may be used instead of the laser light. Also, instead of this configuration, a monitoring CCD
A configuration using a camera (interference prevention means) can also be used. That is, as shown in FIG.
The monitoring CCD camera 28 is attached to the side surface of the bridge so that the angle can be changed, and the monitoring CCD camera 28 moves together with the measuring axis 4 and while changing the angle, the arrangement and shape of the bridge block B, the presence or absence of obstacles, etc. After collecting the information of
It is configured to transfer data to the system controller 6 via a computer. Then, the system controller 6 controls the measurement axis 4 based on the movement control data of the measurement axis 4 created by the computer. If the three-dimensional measuring device 1 is configured in this way, the measurement axis 4 can be moved more smoothly by adding the movement control data obtained from the monitoring CCD camera 28 based on the original size data.

In this embodiment, the cross girder 3,
Although the heater 18 and the thermostat 19 are used as the temperature control means of the measuring shaft 4 to perform heating control, the present invention is not limited to this configuration. For example, a configuration in which a cooling pipe is embedded inside these members is different from the present embodiment. Conversely, cooling control may be performed. As the marking device, a marking needle type marking device or a laser marking device may be used instead of the ink jet type marking device. Further, regarding the shape of each part, the drive mechanism, and the like of the entire three-dimensional measuring apparatus 1 of the present embodiment,
Of course, design changes are possible. Further, in the present embodiment, the case where the three-dimensional measuring device 1 is applied to the measurement of the bridge block B has been described as an example, but the measurement target is not limited to the bridge block B, and the secondary connecting member, the splice plate, etc. It can be applied to various components.

[0046]

As described in detail above, claim 1 is as follows.
The three-dimensional measuring apparatus for a structure described above performs coordinate detection by capturing an image of a measurement point close to an arbitrary measurement point of the measurement object as a means for detecting the three-dimensional coordinates of the arbitrary point on the measurement object. Since it uses a CCD camera,
Unlike the angle surveying type measuring device, the coordinate distortion is extremely small, so that stable and highly accurate measurement can be performed.
Further, since the CCD camera can reach an arbitrary position at an arbitrary angle by the operation of the movable frame, unlike the conventional triangulation type measuring device in which it is difficult to measure a portion which cannot be directly collimated, the object to be measured can be measured. It is possible to easily measure the measurement points on the side and above. Further, since the CCD camera is automatically moved by the control device, unmanned work can be achieved and a rational measuring device can be realized. Also,
The space required for measurement can be reduced as compared with the large space required for measurement in the case of the conventional triangulation type measurement device.

Further, in the three-dimensional measuring apparatus for a structure according to claim 2, since the movable frame is provided with the temperature control means, the stability of the measurement is ensured by preventing the movable frame from expanding or contracting. be able to.

Further, in the three-dimensional structure measuring apparatus according to the third aspect, the temperature of the measured value is corrected with reference to the scale bar having the same linear expansion coefficient as the object to be measured. Compared with the method that theoretically calculates the temperature correction value from the temperature and the linear expansion coefficient of the material, it is possible to perform correction with less error in a form closer to the actual behavior for thermal deformation of the measured object. The accuracy regarding temperature correction can be sufficiently improved.

Further, since the three-dimensional structure measuring apparatus according to the fourth aspect is provided with the interference preventing means of the movable frame, for example, when the object to be measured is greatly deformed or within the moving range of the measuring axis, it is expected. Even when there is an obstacle that does not occur, it is possible to reliably prevent the movable frame from interfering with the measured object or the obstacle. Therefore, it is possible to make the device unmanned in that it is not necessary to monitor the device.

Further, in the three-dimensional measuring apparatus for a structure according to claim 5, since the CCD camera of the movable frame and the marking device can be automatically exchanged by the automatic exchange device, this device is to be measured. Not only the measurement work of the object but also the marking work can be performed, and these works can be continuously performed by one device. Therefore, 2
Unlike conventional scribing work, in which each worker performs transit operation and paint painting, various advantages such as unmanned marking work, improved marking position accuracy, and shortened marking work time are provided. Obtainable. Therefore, a rational device can be realized through both the measurement work and the marking work of the object to be measured.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing a three-dimensional measuring apparatus that is an embodiment of the present invention.

FIG. 2 is a diagram showing a sectional structure of a measuring axis of the apparatus.

FIG. 3 is a perspective view showing a main part of a measuring shaft of the apparatus.

FIG. 4 is a perspective view showing a state in which a marking head is attached to the measurement shaft.

FIG. 5 is a perspective view showing another embodiment of the same device.

FIG. 6 is a perspective view showing another embodiment of the same.

FIG. 7 is a perspective view showing another embodiment of the same.

FIG. 8 is a perspective view showing a state in which a monitoring CCD camera is attached to the measurement axis.

[Explanation of symbols]

 1, 29, 34, 38 Three-dimensional measuring device 3, 32 Cross girder (movable frame) 4, 33, 37, 41 Measuring axis (movable frame) 5 CCD camera 6 System controller (control device) 18 Heater (temperature control means) 19 Thermostat (Temperature Control Means) 20 Laser Emitting Section (Interference Preventing Means) 21 Laser Receiving Section (Interference Preventing Means) 22 Head Replacement Device (Automatic Replacement Device) 23 Marking Head (Marking Device) 24 Scale Bar 28 Monitoring CCD Camera ( Interference prevention means) 36 Girder (movable frame) B Bridge block (component)

Claims (5)

[Claims] 1. In order to grasp the dimensions and shapes of various constituent members that constitute a structure such as a bridge by being connected to each other, the constituent members are measured and the arbitrary points are measured as three-dimensional coordinates. And a CCD camera that is movable to a position close to the object to be measured and that detects the coordinates of the measuring point by capturing an image of the arbitrary measuring point of the object to be measured. A three-dimensional measuring apparatus for a structure, comprising a movable frame to which a camera is attached, for moving the CCD camera, and a control device for controlling the operation of the movable frame. 2. The three-dimensional measuring apparatus for a structure according to claim 1, further comprising temperature control means for controlling the temperature of the movable frame. 3. The three-dimensional structure measuring device according to claim 1, wherein the structure is made of a material having the same linear expansion coefficient as that of the object to be measured, and an error in a measured value due to a temperature change of the object to be measured. A three-dimensional measuring apparatus for structures, comprising a scale bar as a reference for correcting 4. The three-dimensional structure measuring apparatus according to claim 1, wherein the movable frame prevents the movable frame from interfering with the object to be measured or another obstacle. A three-dimensional measuring apparatus for structures, comprising: 5. The three-dimensional measuring apparatus for a structure according to claim 1, wherein a predetermined object to be measured is used as a mark for centering each other when adjacent structural members are butted to each other. A three-dimensional measuring apparatus for a structure, wherein a marking device for marking the location is exchangeable with the CCD camera by an automatic exchange device.