JPH09141594A - Posture detecting method for three-dimensional shapes structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To inspect three-dimensional form structures accurately by detecting the posture of the three-dimensional form structures using the design data on the three-dimensional form structures. SOLUTION: A projection drawing A as two-dimensional image of a pipe block 3 is photographed and transmitted to an electronic computer 4. Also the electronic computer A stores the projection drawing A of the pipe block 3. Then a three-dimensional CAD data C is overlapped with a directional vector B so as to generate a conversion data D. By this, a projection drawing E in which the conversion data D is formed in a two-dimensional image is generated. When the projection drawing E is identical to the projection drawing A, the posture of the pipe block 3 of the conversion data D is set as the posture of the pipe block 3 placed on an inspection table 2, and the pipe block 3 is proceeded to the processes for the dimensional measurement of three-dimensional form structures and inspection of part mounting state.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a posture detecting method for a three-dimensional shaped structure, and more particularly, to a posture of the three-dimensional shaped structure in a mounted state when inspecting an assembled state of the three-dimensional shaped structure. Regarding detection technology.

[0002]

2. Description of the Related Art When inspecting the assembled state of a three-dimensional structure (pipe block) constructed by assembling a plurality of pipe parts, for example, an inspection worker manually measures the dimensions of each part of the pipe block. Inspects whether or not the assembly dimensions are good and whether there are attached parts. In addition, at the time of this inspection, the inspection worker visually judges the posture of the piping block placed on the inspection table, and carries out the inspection based on this posture.

[0003]

By the way, in the inspection of such a piping block, since the dimension measurement is performed manually, the inspection takes a long time and the inspection result tends to vary, so that the inspection is technically automated. The demand was strong. However, there have been many restrictions such as the fact that it must be placed on the inspection table in a preset posture.

The posture detecting method for a three-dimensional structure according to the present invention has been made in view of the above circumstances and achieves the following objects. The mounting posture of the piping block is automatically detected. Detects the three-dimensional shape of the piping block without contact. The mounting posture is detected by comparison with the design data of the piping block.

[0005]

When detecting a posture of a three-dimensional structure, a step of capturing a mounting state of the three-dimensional structure to obtain a two-dimensional first projection view, A step of imaging the vicinity of the starting point of the three-dimensional shaped structure and generating a direction vector three-dimensionally extended from the starting point; and converting data by superimposing the three-dimensional design data of the three-dimensional shaped structure on the direction vector. And a step of obtaining a two-dimensional second projection drawing for the converted data, and a step of determining whether or not the first projection drawing and the second projection drawing are overlapped and coincide with each other. , A step of rotating the coordinates of the conversion data around the direction vector as an axis when the first projection view and the second projection view do not match, and a step of obtaining a second projection view based on the coordinates of the rotated conversion data And the first and second projections coincide Applying the technology for detecting the setting attitude of the three-dimensional structure based on the rotation amount of the second projection of time. Instead of the step of imaging the vicinity of the starting point of the three-dimensional shaped structure and generating a direction vector extended three-dimensionally from the starting point, the vicinity of the starting point and the ending point of the three-dimensional shaped structure is imaged to change from the starting point to the ending point. A direction vector extending three-dimensionally may be generated. A three-dimensional image of the three-dimensional structure is taken by a moire camera. After the posture of the three-dimensional structure is detected, steps such as dimension measurement and inspection of the component mounting state are added.

[0006]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a posture detecting method for a three-dimensional structure according to the present invention will be described below with reference to FIGS.

In FIG. 2A, reference numeral 1 is a three-dimensional measuring machine, and includes a manipulator 1a and the manipulator 1a.
And a camera 1b provided at the tip of the. As the camera 1b, for example, a general camera that captures a two-dimensional image and a moire camera (or a stereo camera) that captures a three-dimensional image are applied, and a three-dimensional structure (a pipe installed on the inspection table 2 is installed. Take a picture of block 3. An electronic computer 4 is connected to the three-dimensional measuring machine 1, and the electronic computer 4 processes the image of the piping block 3 captured by the camera 1b and the design data of the piping block 3 as described below, The posture of the block 3 is detected.

For example, the piping block 3 is formed in a crank shape having a start point 3a and an end point 3b, as shown in the figure.

Next, the attitude detecting process of the piping block 3 will be described with reference to the flow chart shown in FIG.

[Step S1] The piping block 3 is temporarily assembled by combining a plurality of piping parts in the previous step, is brought to the inspection site, and is placed on the inspection table 2.

[Step S2] The three-dimensional measuring machine 1 is operated, the manipulator 3 is operated, and the camera 1b is moved to a position where the entire shape of the piping block 3 can be photographed. As shown in FIG. A projection view A (first projection view), which is a two-dimensional image of the piping block 3, is captured and transmitted to the electronic computer 4. The electronic computer 4 stores and saves the projection view A of the piping block 3.

[Step S3] The camera 1b is moved to the vicinity of the starting point 3a of the piping block 3, and a moiré camera is used to capture an image of the starting point 3a as shown in FIG.

[Step S4] A coordinate X of the starting point 3a is detected from the image of the starting point 3a, and a direction vector (a three-dimensional vector having the coordinate X as a base point coordinate) B indicating the direction of the piping block 3 extending from the coordinate X is calculated. To be done.

[Step S5] On the other hand, the computer 4 uses the three-dimensional CAD (C
computer aided design) piping block 3 created by the device
Design data (3D CAD data) C is input and stored in the memory. The three-dimensional CAD data C indicates the assembled shape of the piping block 3 in the three-dimensional coordinate system (x axis, y axis, z axis) J as shown in FIG.

[Step S6] Three-dimensional CAD data C
Are read from the memory of the electronic computer 4.

[Step S7] As shown in FIG. 5, the direction vector B calculated in the step S4 is added to the above-mentioned 3
Dimensional CAD data C are overlaid to generate converted data D. For example, the piping block 3 is moved so that the starting point 3a of the piping block 3 coincides with the base point X of the direction vector B, and the direction of the piping block 3 is changed to the direction vector B.
The converted data D is generated by rotating the piping block 3 around the starting point 3a so as to be in the same direction as.

[Step S8] As shown in FIG. 6, a projection view (second projection view) E in which the conversion data D is a two-dimensional image.
Is generated. This projection view E is the projection view A photographed and stored in step S2 by the process of step S7.
This is an image of the piping block 3 viewed from the same direction.

[Step S9] As shown in FIG. 7, the projection view E and the projection view A are superimposed.

[Step S10] It is determined whether the projected view E and the projected view A match. Here, if "YES", the process proceeds to step S11, and if "NO", the process proceeds to step S12.

[Step S11] Here, when the projection view E and the projection view A match, the posture of the piping block 3 of the conversion data D generated in step S7 is placed on the inspection table 2 3 is set as the posture of 3
Proceed to the steps such as measuring the dimensions of the three-dimensional structure and inspecting the mounting state of parts.

[Step S12] On the other hand, when the projection view E and the projection view A do not overlap each other, the piping block 3 is rotated about the direction vector B by a certain angle, and the series of processes from step S8 onward is performed. Repeated. This rotation process is repeated until the projection view E and the projection view A match, and the posture of the piping block 3 when the determination in step S10 is "YES" is the piping block placed on the inspection table 2. It is set as a posture of 3.

In step S3 and step S4 described above, the direction of the piping block 3 is the direction of the piping block 3 which extends from the coordinate X of the starting point 3a when the vicinity of the starting point 3a of the piping block 3 is imaged by the moire camera. ,
The present invention is not limited to this. The start point 3 is obtained by imaging the vicinity of the start point 3a and the end point 3b with a moire camera.
The direction from a to the end point 3b may be the direction of the direction vector.

[0023]

As described above, the present invention can exert the following effects. (1) The posture of the three-dimensional structure can be automatically detected by using the image processing method. (2) Since the mounting posture of the three-dimensional shaped structure is detected using the design data of the three-dimensional shaped structure, the three-dimensional shaped structure can be accurately inspected. (3) Since the shape of the three-dimensional shaped structure is detected in a non-contact manner by imaging, the placement posture of the three-dimensional shaped structure can be detected in a state where interference with the piping block is eliminated.

[Brief description of the drawings]

FIG. 1 is a flowchart showing an embodiment of a posture detection method for a three-dimensional structure according to the present invention.

2A and 2B show one embodiment of a posture detection method for a three-dimensional shaped structure according to the present invention, in which FIG. 2A is a block diagram and FIG. 2B is a projection of a three-dimensional shaped structure placed on an inspection table. It is a figure.

FIG. 3 is a diagram showing a shooting state of a starting point of the three-dimensional structure shown in FIG.

FIG. 4 shows design data (3
It is a figure which shows three-dimensional CAD data.

FIG. 5 is a diagram showing a state in which conversion data is generated by superimposing design data and a direction vector obtained from a three-dimensional shaped structure placed on an inspection table.

FIG. 6 is a diagram showing a state in which a projection drawing is generated from converted data.

FIG. 7 is a diagram showing a state in which a projection view obtained from converted data and a projection view obtained by photographing a three-dimensional structure are superimposed.

[Explanation of symbols]

 1 3D Measuring Machine 1a Manipulator 1b Camera 2 Inspection Table 3 3D Shape Structure (Piping Block) 3a Start Point 3b End Point 4 Computer A, E Projection Diagram B Direction Vector C Design Data (3D CAD Data) D Transform Data J Three-dimensional coordinate system X direction vector base point coordinates

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Eiichi Okazaki No. 1 Shin-Nakahara-cho, Isogo-ku, Yokohama-shi, Kanagawa Ishi Kawashima Harima Heavy Industries Co., Ltd. Yokohama Engineering Center (72) Inventor Kenichi Kono Isogo-ku, Yokohama-shi, Kanagawa Shin-Nakahara-cho No. 1 Ishi Kawashima Harima Heavy Industries Co., Ltd. in Yokohama Engineering Center (72) Inventor Isao Makabe Shin-Nakahara-cho No. 1 Shin Nakahara-cho, Yokohama City, Kanagawa Ishi Kawashima Harima Heavy Industries Co., Ltd. Yokohama No. 1 Factory

Claims (3)

[Claims] 1. A method for detecting a posture of a three-dimensional structure (A), comprising: a. Imaging a mounted state of a three-dimensional structure to obtain a two-dimensional first projection view; b. Imaging the vicinity of the starting point of the three-dimensional structure and generating a direction vector three-dimensionally extended from the starting point; c. Superimposing three-dimensional design data of a three-dimensional shape structure on the direction vector to generate conversion data, d. Obtaining a two-dimensional second projection of the transformed data, e. Superimposing the first projection view and the second projection view and determining whether or not they match, f. Rotating the coordinates of the transformed data about the direction vector as an axis when the first projection view and the second projection view do not match; g. Superimposing the rotated design data on the direction vector, h. And a step of obtaining a second projection drawing based on the coordinates of the rotated converted data, and based on a rotation amount of the second projection drawing when the first projection drawing and the second projection drawing match. A posture detecting method for a three-dimensional structure, comprising detecting a mounting posture of the three-dimensional structure. 2. The method according to claim 2, wherein instead of the step b, the vicinity of the starting point and the ending point of the three-dimensional shaped structure (A) is imaged and a three-dimensional direction vector extending from the starting point to the ending point is generated. 3. The posture detection method for a three-dimensional structure according to 1. 3. The posture detecting method for a three-dimensional shaped structure according to claim 1, wherein a three-dimensional image of the three-dimensional shaped structure (A) is photographed by a moire camera.