JPH10227639A - Vehicle for measuring structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To measure a structure accurately and at the same time improve safety and working efficiency in a system for measuring the structure by mounting a measuring device on an automatic traveling truck. SOLUTION: A measurement vehicle has a measurement robot 5 with a three-dimensional measurement sensor 30 for measuring a structure as a measurement target and a running truck 6 that runs while the measurement robot 5 is mounted. The measurement robot 5 has three outriggers as a means for fixing only the measurement robot 5 for the running surface of the running truck 6 while the running truck 6 is stopped at the measurement point.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure measuring vehicle for measuring the shape of a large structure such as a bridge.

[0002]

2. Description of the Related Art Conventionally, as a measuring device for measuring the shape, size, etc. of a large structure such as a bridge as a measuring object, a guide rail laid in parallel with the structure so as to straddle the structure. A gate-shaped structure that can run along the gate is installed, a measuring hand is attached to this gate-shaped structure, and the structure is measured by the measuring element at the tip of the measuring hand while running the gate-shaped structure along the guide rail. It is known to do so.

However, such a measuring device requires large fixed facilities, occupies a wide area, and inevitably raises the cost to satisfy the conflicting requirements of large size and high accuracy. There is a problem. In addition, there is another problem in that the measurement target needs to be carried to the installation position of the measurement device by using a crane or the like and installed, which requires extremely troublesome work.

In order to solve such a problem, the present applicant mounts a measuring device on a self-propelled bogie so that the measuring device can freely travel around the object to be measured. Has been already proposed (Japanese Patent Application No. Hei 7-250959), which makes it possible to make the measurement device compact and to reduce the operating range of the measurement device by enabling measurement of each block.
issue).

[0005]

By the way, as described above, when the measuring device is mounted on a self-propelled carriage and travels,
In order to ensure the reliability of measurement accuracy, it is necessary to have a structure that allows the measurement device to be positioned and fixed stably during measurement. It is necessary to have a structure that can secure sufficient safety so that no accident occurs.

The present invention has been made in view of the above circumstances, and enables a highly accurate measurement in a system for measuring a structure by mounting a measuring device on a self-propelled bogie. It is an object of the present invention to provide a vehicle for measuring a structure which can improve safety and workability.

[0007]

In order to achieve the above-mentioned object, a structure measuring vehicle according to the present invention includes a measuring device having a measuring sensor for measuring a structure to be measured, and a measuring device having the same. A vehicle for measuring a structure, comprising: a traveling vehicle on which a measuring device is mounted, wherein the measuring device stops the traveling vehicle at a measurement point and only uses the measuring device on a traveling surface of the traveling vehicle. Characterized by having fixing means for fixing to

In the present invention, a traveling vehicle equipped with a measuring device is moved to a measuring point, and at this measuring point, the measuring device is separated from the traveling vehicle by fixing means attached to the measuring device, and the measuring device is separated from the traveling vehicle. Positioned and fixed to the running surface. In this way, even a large measuring device can stably position the measuring device, and the measurement of the structure by the measurement sensor can be performed with high accuracy. Further, since the traveling trolley and the measuring device are configured to be separated from each other, it is possible to reduce the load applied to the fixing means when fixing the measuring device.

In the present invention, the fixing means is preferably constituted by three jacks. In this case, it is preferable that a level adjusting means for adjusting the horizontal level of the measuring device by individual operation or interlocking operation of each jack is provided. By using three jacks in this way, compared to the case of using four jacks, there is no possibility that one leg is lifted by the grounding state,
The measuring device can be fixed stably. Therefore, for example, the present invention can be applied to a measuring device having a robot arm and moving the center of gravity, and can be a suitable fixing means. Also, the level adjustment by the level adjusting means can be easily performed. Here, the level adjusting means expands / contracts or stops the inclinometer which is provided in the measuring device, for example, a level, a display unit for displaying the inclining state of the measuring device in accordance with a signal from the inclinometer, and the jack. An operation panel having an operation unit is preferably provided. By doing so, it is possible to adjust the level of the measuring device while monitoring the output signal of the inclinometer on the operation panel, so that the operation can be simplified and the operation can be conveniently performed away from the measuring device. Since the level can be adjusted at a good position, it is possible to prevent the occurrence of an accident due to an unexpected operation of the measuring device. In addition, as the operation panel, it is preferable to use an input / output integrated type device that can perform monitoring and switching on the same panel, thereby enabling safe and simple operation.

[0010] The fixing means includes a grounding state detecting means for detecting that the lower surface of the jack is grounded, and a separation and fixing detecting means for detecting that the measuring device is completely separated and fixed from the traveling vehicle. It is good to have. When such a fixing device is provided, it can be easily confirmed that the measuring device has been separated from the traveling vehicle and fixed, and the level adjusting operation by the level adjusting device performed subsequently to the fixing operation of the measuring device can be reliably performed. Can be.

Further, the measuring device has an arm for supporting the measuring sensor, and the arm is movable between a measuring position and a storage position. It is preferable to provide an interlock means that allows the traveling vehicle to travel only when the vehicle is in the retracted position. By providing such an interlock means, when the traveling bogie travels, the occurrence of damage to the measurement sensor due to the measurement sensor being at the measurement position, in other words, being at the overhang position or the jack being at the extension position, is prevented. It can be reliably prevented.

Further, the jack is preferably constituted by a ball screw rotated by an electric motor. According to such an electric motor, as compared with a hydraulic motor, the position of the measuring device does not sink over time, and the position of the measuring device can be stably held for a long time, High-precision positioning can be performed.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, a specific embodiment of a vehicle for measuring a structure according to the present invention will be described with reference to the drawings.

FIG. 1 is a schematic configuration diagram of a structure measuring system according to an embodiment of the present invention. 2, 3, and 4 are a plan view, a side view, and a rear view, respectively, of a structure measuring vehicle used in the structure measuring system.

In this embodiment, a large number of bolt holes 2, convex corner points 3, and marking lines 4 of an H-shaped steel section are formed in a structure 1 to be measured, which is made of H-shaped steel for a bridge girder. The present invention is applied to a system for measuring each position. In this structure measuring system, a measuring robot (measuring device)
A vehicle 7 for measuring a structure composed of a vehicle 5 and a traveling vehicle 6 on which the measuring robot 5 is mounted, and a target 8 for automatic tracking attached to the measuring robot 5 are imaged, and the distance to the target 8 is determined by image processing. Surveying instrument 9 to measure,
A data management terminal 10 for managing measurement data obtained by the measurement robot 5 is provided.

Next, a specific configuration of the vehicle 7 for measuring a structure according to the present embodiment will be described in detail.

The traveling vehicle 6 in the structure measuring vehicle 7 has two traveling wheels 11, each of which is composed of four rubber tires, two at the center of the front part and one on each side of the rear part. A frame structure is formed so that the central portion 14 is slightly lower than the front portion 12.
A handle 16, a brake 17, an accelerator 18, a side brake 19, an operation panel 20, a monitor 21, a work station (measurement terminal) 22, a traveling vehicle controller 23, and the like are provided.
The cable 25 is connected to the power supply box 24 and the measurement robot 5 is operated to perform measurement. The traveling carriage 6 is electrically driven by a battery (not shown) mounted on the vehicle.

The measuring robot 5 is mounted on a central portion 14 of the traveling vehicle 6. The measuring robot 5 includes a base portion 26, a traversing portion 27 that is movable with respect to the base portion 26 in the left-right direction of the vehicle 6, a movable portion that is movable with respect to the traversing portion 27 in the traveling direction of the vehicle 6, and The robot hand 29 is provided at the upper end of the support column 28 and can swing freely. A three-dimensional visual sensor 30 is provided at the tip of the robot hand 29.
Is attached. The base portion 26 is provided with a total of three outriggers 31, one each at a front portion and a rear portion on one side and a central portion on the other side.
By extending the outriggers 31, as shown in FIG. 5, a gap 32 is formed between the lower surface of the base portion 26 and the upper surface of the traveling vehicle 6, and only the measuring robot 5 is moved to the ground (travel surface). 33 so that it can be positioned and fixed. Here, the outrigger 31 is constituted by a jack of a type in which a ball screw is rotated by an electric motor, and by providing an electromagnetic clutch brake on the motor shaft, the current position can be stably held for a long time. . In the outrigger 31, when the motor is stopped, in other words, when the operation signal is not transmitted to the outrigger 31, the electromagnetic clutch brake is applied.

The base 26 is provided with an inclinometer (level) 34 for detecting the inclination of the measuring robot 5 and a left / right position detecting sensor 35 for detecting the position of the traversing section 27 in the left / right direction. The traversing portion 27 is provided with a front / rear position detection sensor 36 for detecting the position of the support column 28 in the front / rear direction. Further, the support column 28 detects the vertical position of the two-stage telescopic support column 28. Vertical position detection sensor 3
7, and a storage position detection sensor 38 for detecting the storage (folded) position of the robot hand 29 and the rising end position of the robot hand 29.

On the other hand, as shown in FIG. 6, the outrigger 31 is provided with dogs 39 and 40, one at each of the upper and lower sides, and by detecting these dogs 39 and 40, the elevation position of the outrigger 31 is detected. Outrigger position detecting sensors (rising end detecting sensor 41, descending end detecting sensor 42, and intermediate position detecting sensors 43, 43) are provided. In this manner, the outrigger 31 is lowered to the chain line position and the upper dog 39 is detected by the lowering edge detection sensor 42, whereby the lowering end of the outrigger 31 is detected. Is detected by the rising edge detection sensor 41, the rising edge of the outrigger 31 is detected.

FIG. 7 shows an example of a touch panel type operation screen (outrigger operation screen) on the operation panel 20 provided near the driver's seat 15. On this screen, the characters “outrigger operation” indicating the screen name are displayed at the top, a robot drawing 44 schematically showing the measuring robot 5 is displayed at the center, and three robot drawings 44 around the robot drawing 44 are displayed. Three sets of up / down operation switches 45 and limit lamps 46 at the ascending end and the descending end are arranged corresponding to each outrigger 31. When the up / down operation switch 45 is pressed, the outrigger 31 corresponding to the switch 45 is raised / lowered, and the limit lamp 46 is turned on at the rising end and the falling end. An individual / interlocking switch 47 and a low-speed / high-speed switch 48 are provided in the upper right portion of the screen. When the individual / interlocked changeover switch 47 is pressed, either the individual or the interlock is displayed, and any one of the three outriggers 31 is individually operated to operate one of the three outriggers 31 or three individual outriggers. One of the interlocking operation modes in which the outrigger 31 is simultaneously operated is selected. Similarly, low speed /
When the high-speed changeover switch 48 is pressed, the outrigger 3
The first operation speed is selected to be either low speed or high speed. Further, on the left side of the screen, a level position bubble type display unit 4 is provided.
9 and a level position digital numerical display section 50 are provided. The display units 49 and 50 display the horizontal level of the measuring robot 5 based on a signal from the inclinometer 34. The level position bubble type display unit 49 displays a bubble point 51 displayed on the screen in the screen. The horizontal level is displayed by moving, and the level position digital numerical value display section 50 displays the horizontal level by displaying the inclination angles in the X-axis direction (left-right direction) and the Y-axis direction (front-back direction) as digital values. It is. In addition, on the right side of the screen, each switch 52 for shifting to another screen (eg, traveling trolley operation, robot evacuation point movement, etc.) is arranged.

Next, the measuring operation of the structure 1 by the structure measuring vehicle 7 configured as described above will be described.

First, in a state in which each outrigger 31 is contracted, in other words, in a state where the measuring robot 5 is mounted on the traveling carriage 6, the traveling carriage 6 is operated by an operator's driving operation.
To the required measurement point. When the measurement point is reached, the outrigger 31 is extended after stopping the traveling vehicle 6, and the measurement robot 5 is fixed to the ground. The fixing operation of the measuring robot 5 is performed by the following procedure according to the flow shown in FIG.

A1 to A2: The outrigger operation mode is selected by touching the operation panel 20, and the three outriggers 31 are simultaneously operated and grounded by selecting the interlocking operation in the outrigger operation mode. A3 to A4: The level position bubble type display unit 49 and the level position digital numerical value display unit 50 are checked whether or not the display is at the horizontal position. If the display is not at the horizontal position, the level adjustment is performed by operating the outrigger 31 individually. Do. In this level adjustment, a rough adjustment is performed while looking at the bubble point 51 of the level position bubble type display section 49, and then a detailed adjustment is performed while looking at the numerical value of the level position digital numerical display section 50. Note that this adjustment can be performed automatically instead of manually.

A5 to A6: If it is determined in step A3 that the display on the display units 49 and 50 is at the horizontal position, the traveling carriage 6 and the measuring robot 5 are completely separated by a sensor such as a limit switch. The outrigger 31 is further extended if it is not separated, and the flow from step A3 is executed again. On the other hand, when the traveling vehicle 6 and the measuring robot 5 are separated, this flow is terminated.

The storage operation of the measurement sensor and the release operation of the outrigger when the traveling carriage 6 travels after the measurement is completed are performed in the following procedure according to the flow shown in FIG.

B1 to B5: The measurement sensor storage mode is selected by touching the operation panel 20. Then, the measurement sensor storage program stored in the controller of the measurement robot 5 is selected and activated. Thereby, the traversing part 27 first moves to the storage position in the left-right direction of the vehicle 6, then the support column 28 moves to the storage position in the front-rear direction of the vehicle 6, and the support column 28 moves to the storage position in the vertical direction. I do. Then, finally, the robot hand 29 is folded to the position P in FIG. In this way, the fact that the traversing portion 27 and the support column 28 have reached the required storage positions and the robot hand 29 has been stored in the folded position indicates that the left / right position detection sensor 35, the front / rear position detection sensor 36, the up / down position detection sensor 37, When each is detected by the storage position detection sensor 38, the lamp of the measurement sensor storage position of the operation panel 20 is turned on.

B6 to B12: Select an outrigger operation mode on the operation panel 20. Then, the outrigger operation screen is displayed, and the horizontal level of the measuring robot 5 by the inclinometer 34 is displayed on the screen. Next, when all the three outriggers 31 are raised in the interlocking operation mode, the measuring robot 5 is lowered to be in a state of being mounted on the traveling vehicle 6. In this way, the rising edge detection sensor 41 attached to each outrigger 31 detects that all the outriggers 31 have reached the rising edge. B13: When the lighting conditions of the lamp at the storage position of the measurement sensor in step B5 and the detection by the rising edge detection sensor 41 in step B12 are met, the traveling vehicle 6 is ready to travel.

In this embodiment, the level position of the measuring robot 5 is displayed by the bubble type display unit.
Instead of such a bubble-type display unit, for example, a display unit that displays the inclination state of the measurement robot 5 in an animation manner may be provided.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a structure measurement system according to one embodiment of the present invention.

FIG. 2 is a plan view of a structure measuring vehicle.

FIG. 3 is a side view of the vehicle for measuring a structure.

FIG. 4 is a rear view of the structure measuring vehicle.

FIG. 5 is a side view showing an outrigger in an extended state.

FIG. 6 is an explanatory diagram of an operation of the outrigger.

FIG. 7 is a diagram illustrating an example of a screen of an operation panel.

FIG. 8 is a flowchart illustrating a fixing operation of the measurement robot.

FIG. 9 is a flowchart illustrating the operation of housing the measurement sensor and releasing the outrigger.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Structure 5 Measurement robot 6 Traveling trolley 7 Structure measurement vehicle 11 Traveling wheel 20 Operation panel 23 Traveling trolley controller 26 Base part 27 Traversing part 28 Supporting column 29 Robot hand 30 Three-dimensional visual sensor 31 Outrigger 32 Air gap 34 Inclinometer 35 Left / right position detection sensor 36 Front / back position detection sensor 37 Vertical position detection sensor 38 Storage position detection sensor 41 Rising edge detection sensor 42 Falling edge detection sensor 49 Level position bubble type display unit 50 Level position digital numerical value display unit 51 Bubble point

Claims (6)

[Claims] 1. A vehicle for measuring a structure, comprising: a measuring device having a measuring sensor for measuring a structure as a measuring object; and a traveling trolley on which the measuring device is mounted.
The structure measuring vehicle includes a fixing unit that fixes only the measuring device to a traveling surface of the traveling vehicle while the traveling vehicle is stopped at a measurement point. 2. The structure measuring apparatus according to claim 1, wherein said fixing means is constituted by three jacks, and level adjusting means for adjusting a horizontal level of said measuring device by individual operation or interlocking operation of each jack is provided. For vehicles. 3. The level adjusting means includes an inclinometer provided in the measuring device, a display unit for displaying a tilting state of the measuring device in accordance with a signal from the inclinometer, and an operating unit for expanding and contracting or stopping the jack. The structure measurement vehicle according to claim 2, further comprising an operation panel having the operation panel. 4. The grounding state detecting means for detecting that the lower surface of the jack has grounded, and the separation fixing detection for detecting that the measuring device has been completely separated and fixed from the traveling vehicle. The vehicle for measuring a structure according to claim 2 or 3, further comprising: 5. The measuring device has an arm for supporting the measuring sensor, the arm being movable between a measuring position and a storage position, the arm being in the storage position, and all jacks being in the storage position. The structure measuring vehicle according to any one of claims 2, 3 and 4, further comprising interlock means for allowing the traveling vehicle to travel only when the vehicle is at the retracted position. 6. The jack according to claim 2, wherein the jack comprises a ball screw rotated by an electric motor.
6. The vehicle for measuring a structure according to any one of 5.