JPS5918408A - Slant degree detecting device for slant member - Google Patents

Abstract

PURPOSE:To perform accurate measurement, by resolving the image part of a marking obtained by an image sensing camera, and computing the slant degree based on the positional relationship of a marking projector and the image sensing camera. CONSTITUTION:A marking is projected on both a flat plate 1 and a slant member 2, which are intersected in three dimensions each other, by a marking projector 3. The projected part of the marking is picked up by an image sensing camera 4. Its output is resolved by an image processing circuit 10, and the A/D conversion of the image area is performed. The slant degree of the slant member 2 with respect to the flat plate 1 is computed based on the positional relationship of the output of the image processing circuit 10, the photomarking projector 3, and the image sensing camera 4.

Description

[Detailed description of the invention] The present invention relates to a device for detecting the degree of inclination of a tilted member.

For example, when installing a slope member 2 on a base plate 1 in a shipyard, conventionally, as shown in the perspective view of Fig. The operator should visually read the slope and
Set the inclined member 2 at a predetermined angle using a protractor jig 4 or the like,
Since this is attached to the base plate 1 using the mounting piece 5,
This visual inspection, use of jigs, installation work, etc. require a great deal of time, and many errors occur in terms of accuracy, so setting the inclination angle is a major obstacle in automating the assembly of flat plates.

The present invention was proposed in view of the above circumstances, and is a device for detecting the degree of inclination of a tilted member, which automatically measures the degree of inclination of the tilted member based on current drawing information, thereby improving accuracy and saving labor. The present invention aims to provide a 7-point marking system that irradiates markings drawn across both a flat plate and an inclined member that intersect with each other three-dimensionally, and a 7-point marking system that is installed diagonally with respect to the photo marking projector and images the irradiated portion. an image sensing camera, an image processing circuit that resolves the imaging portion of the marking by the image sensing camera and A/D converts the imaging area, an output of the image processing circuit, the photomarking sensor, and the image sensing. The present invention is characterized by comprising an arithmetic circuit that calculates the degree of inclination of the inclined member with respect to the flat plate from the relative position of the camera.

An embodiment of the present invention will be explained with reference to the drawings. Fig. wJ2 is a perspective view thereof, Fig. 3 is a block diagram showing the mounting angle detection function in Fig. 2, and Fig. 4 is a block diagram showing the image processing and processing in Fig. 2e. FIG. 5 is an explanatory diagram showing the calculation process, and FIG. 5 is an explanatory diagram showing the member inclination angle calculation method in FIG. 2.

First, as shown in Fig. 2, in order to mount the inclined member 2 on the base plate 1 at a predetermined angle, a marking pronoector 3 is placed on one side of the aggregate (hereinafter referred to as the mounting surface) for detecting the inclination angle. Fl image sensing camera 4 for imaging
The image sensing camera 4 consists of an I'I'V camera 2 or a CCD solid-state camera, and its position is adjusted as necessary by signals from the system microcomputer 9. do.

Electrical image information from the image sensing camera 4 is sent to a high-speed image processing circuit 10, and further processed to calculate the degree of inclination.
The processing information is automatically output to the system microcomputer 9, where the inclination error with respect to the design plan value is calculated, and a control signal corresponding to the correction amount is output to the mounting arm 80 controller.

To explain the above operation with reference to FIG. 3, the slit pattern projected on the intersection of the base plate 1 and the inclined member 2 is (1) imaged by an image sensing camera.

(2) The image sensing camera has a drive control circuit for obtaining images necessary for tilt detection.

(3) Electrical image information from the image sensing camera is resolved by a high-speed image processing circuit and A/D converted into a binary signal as shown in FIG.

(4) The binarized signal is output to a comparison processing circuit in the system computer, which calculates the inclination angle Δθ of the member from the area difference between the projected images of the flat plate surface and the vertical plate surface, and outputs it as a correction value. do.

(5) The correction value is converted into a control signal with the center of rotation as 0', and output as a control signal to the correction drive motor.

(6) Final tilt angle adjustment is automatically performed by driving the motor or hydraulic cylinder of the required axis.

The resolution accuracy (mesh) required for position adjustment is ensured by disassembling the lens and image processing circuit of the image sensing camera.

That is, in FIG. 4, (1) the pickpocket mark imaged by the straightness of the light is transverse (length) to the vertical plane depending on the degree of inclination of the inclined member (A in the same figure).

(see B and C) create different images.

(2) This electrical image information is one piece in the horizontal direction.

The area of 81+SG is bright -+1. Binarized image processing (A/D5-conversion) is performed as dark → 0.

(3) Calculation of 81+SO, calculation of θ1, calculation of Δθ, and comparison calculation with the design value Δθ0 are performed in the system minicomputer or the microcomputer in the manner described later.

(4) Output the calculation result in (3) above to the control system as a correction value.

Here, the method of calculating the member inclination angle according to the above (3) will be explained. As shown in FIG. 5, (1) The acute angle and obtuse angle of the inclination angle θl of the inclined member with respect to the mounting surface are established based on the imaging area S. , the magnitude relationship of Sl ≧ S.

Ku This is done by

(2) If Ss < So (acute angle mounting), (
Let (x, y) be the intersection point of the 45° inclined straight line passing through Since y-4So='-Tan-8.8a holds true, we obtain θ1=tan-''L from both equations.

(3) In the case of Sr > So (obtuse angle mounting), y-4B1 = x y -fE S - and 71 embryos are similarly established, so based on the above two formulas, we obtain θs = bm -" + 180°. , the inclination angle θ1 is calculated based on the above geometrical relationship.

In short, according to the present invention, there is a seven-dimensional marking zologector that irradiates markings drawn across both a flat plate and an inclined member that intersect with each other three-dimensionally, and a photomarking zoloprojector that is installed obliquely with respect to the photomarking zologector and images the irradiated portion. an image sensing camera, an image processing circuit that resolves the imaging portion of the marking by the image sensing camera and A/D converts the imaging area, an output of the image processing circuit, the photo marking projector, and the image sensing camera. The present invention is industrially advantageous because a labor-saving and high-performance device for detecting the inclination of the inclination member is obtained by including an arithmetic circuit that calculates the inclination of the inclination member with respect to the plate relative to the position of the inclination member. It is extremely useful.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing a known procedure for setting the inclination of the inclination member with respect to the base plate, Fig. 2 is a perspective view showing an embodiment of the present invention, and Fig. 3 shows the mounting angle detection function in Fig. 2. A block diagram, FIG. 4 is an explanatory diagram showing the image processing and arithmetic processing in FIG. 2, and FIG. 5 is an explanatory diagram showing the member inclination angle calculation method in FIG. 2. DESCRIPTION OF SYMBOLS 1... Mother plate, 2... Inclined member, 3... Marking projector, 4... Image sensing camera, 6
... Adjustment device, 7... Rotation center line, 8... Mounting arm, 9... Microcomputer, 1o... Image processing circuit. Applicant's sub-agent Patent attorney Takehiko Suzue9

Claims (1)

[Claims] a photo marking projector that irradiates markings drawn across both a flat plate and an inclined member that intersect with each other three-dimensionally; an image sensing camera that is installed diagonally with respect to the seven automatic marking projectors and images the irradiated portion; and the image sensing camera. An image processing circuit that resolves the imaging part of the marking by the camera and A/D converts the imaged image, and the relative position of the output of the image processing circuit, the photo marking projector, and the image sensing camera with respect to the flat plate. 1. An inclination degree detection device for a tilted member, comprising: an arithmetic circuit that calculates the degree of inclination of the tilted member.