Object measurement method

Abstract

To suppress occurrence of defects in shape data.SOLUTION: An object measurement method for acquiring shape data of a target object by using photographed data obtained by photographing the target object includes a marking process and a scanning process. In the marking process, a worker gives at least one of figures, symbols, and characters onto a surface of a target object as an imparted object. In the scanning process, a worker grips a photographing device configured so as to generate photographed data by photographing a target object, and acquires photographed data obtained by photographing the surface of the target object by moving the photographing device in a surface side of the target object to which an imparted object is given.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to an object measurement method for acquiring shape data of an object. [Background technology]

[0002] Patent Document 1 describes a tower measurement method in which a portable laser measurement device that irradiates a laser is used to measure a tower and acquire three-dimensional point cloud data of the tower. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7233780 Summary of the Invention [Problem to be solved by the invention]

[0004] When acquiring shape data by measuring a target object using a portable measuring device, there has been a problem in that the acquired shape data may contain defects. The present disclosure aims to prevent loss of shape data. [Means for solving the problem]

[0005] One aspect of the present disclosure is an object measurement method for acquiring shape data of a target object using imaging data obtained by imaging the target object, the method comprising a marking process and a scanning process. In the marking process, an operator applies at least one of a figure, a symbol, and a character as an object to be applied onto the surface of a target object.

[0006] In the scanning process, an operator holds an imaging device configured to photograph the target object and generate imaging data, and moves the imaging device along the surface side of the target object to which the attachment has been applied, thereby obtaining imaging data that photographs the surface of the target object.

[0007] The object measurement method of the present disclosure thus configured can add an object to the surface of the target object, thereby increasing the number of feature points for recognizing the surface of the target object in the shape data generation process for generating shape data from the shooting data. Therefore, the object measurement method of the present disclosure can make it easier to recognize the surface of the target object in the shooting data, and can suppress loss of shape data. [Brief description of the drawings]

[0008] [Figure 1] 13 is a flowchart showing an object measurement process. [Diagram 2] FIG. 1 is a perspective view showing a schematic configuration of a three-dimensional scanner. [Diagram 3] FIG. 13 is a diagram showing a first specific example of a line that a worker draws on the surface of a steel frame member. [Figure 4] FIG. 13 is a diagram showing a second specific example of lines drawn by a worker on the surface of a steel frame member. [Diagram 5] FIG. 13 is a diagram showing a third specific example of a line drawn by a worker on the surface of a steel frame member. [Figure 6] FIG. 13 is a diagram showing a fourth specific example of lines drawn by a worker on the surface of a steel frame member. [Figure 7] FIG. 13 shows examples of effective and ineffective markings. [Figure 8] FIG. 13 is a diagram showing the angle at which the three-dimensional scanner is aimed at the steel frame member. [Figure 9] The image shows a steel frame member with no lines drawn on its surface, and a 3D point cloud image generated by measuring it with a 3D scanner. [Figure 10] The image shows a steel frame member with lines drawn on its surface, and a 3D point cloud image generated by measuring it with a 3D scanner. [Figure 11] FIG. 13 is a diagram showing an overlapping portion of two scan ranges. [Figure 12] FIG. 13 is a diagram showing three-dimensional point cloud data of a bolt. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The object measurement method of this embodiment is used to measure the shape of steel components that make up a power transmission tower using a portable three-dimensional scanner.

[0010] The procedure of the object measurement process executed by the worker will be described. As shown in FIG. 1, in the object measurement process, the worker first performs a marking step (to be described later) in S10.

[0011] When the marking step in S10 is completed, the worker performs the scanning step in S20, which will be described later. When the scanning step of S20 is completed, the object measurement process is completed.

[0012] As shown in FIG. 2, the three-dimensional scanner 1 includes a first camera 2, a second camera 3, a housing 4, a grip portion 5, and a trigger button 6. The first camera 2 and the second camera 3 each capture an image of the object to be measured.

[0013] Housing 4 houses first camera 2 and second camera 3 such that the lenses of first camera 2 and second camera 3 are exposed to the outside. The housing 4 further accommodates a data processing unit (not shown) that acquires the photographic data captured by the first camera 2 and the second camera 3.

[0014] The data processing unit generates three-dimensional point cloud data of the measurement target object by calculating the distance to the measurement target object using the principle of triangulation for each of a plurality of pixels constituting the photographed data photographed by the first camera 2 and the second camera 3. The three-dimensional scanner 1 is configured to be able to display an image showing the three-dimensional point cloud data generated by the data processing unit on a display screen of a display device (not shown) provided in the three-dimensional scanner 1.

[0015] The grip portion 5 is a member that is connected to the housing 4 and is to be held by an operator with one hand. The trigger button 6 is provided above the grip part 5 (i.e., near the housing 4 on the grip part 5). The trigger button 6 is configured so that it can be pulled by an operator's finger while holding the grip part 5. When the trigger button 6 is pulled, the first camera 2 and the second camera 3 start capturing images, and the data processing unit starts generating three-dimensional point cloud data.

[0016] In the marking process of S10, a worker draws lines with chalk on the surface of the steel frame members that make up the transmission tower. The recommended color of the chalk is red or blue, from the viewpoint of visibility when analyzing the three-dimensional point cloud data generated by the three-dimensional scanner 1.

[0017] Figures 3, 4, 5 and 6 show specific examples of lines that a worker draws on the surface of a steel member. FIG. 3 shows a line L1 that a worker has drawn on the surface of a steel frame member SM1, and a line L2 that a worker has drawn on the surface of a steel frame member SM2.

[0018] The worker may write, with chalk, on the surface of the steel frame member SM1, a character string CS1 indicating the component name of the steel frame member SM1. The worker may also write, with chalk, on the surface of the steel frame member SM2, a character string CS2 indicating the component name of the steel frame member SM2.

[0019] FIG. 4 shows a line L3 that a worker has drawn on the surface of a steel frame member SM3, and lines L41 and L42 that a worker has drawn on the surface of a steel frame member SM4. The worker may write, with chalk, a character string CS3 indicating the component name of the steel frame member SM3 on the surface of the steel frame member SM3. The worker may also write, with chalk, character strings CS41 and CS42 indicating the component names of the steel frame member SM4 on the surface of the steel frame member SM4.

[0020] FIG. 5 shows a line L5 drawn by a worker on the surface of a steel member SM5. FIG. 6 shows a line L6 that a worker has drawn on the surface of a steel member SM6. As shown in Figure 7, line L11, which has an irregular, irregular or non-periodic shape, is an effective marking for shape measurement using a three-dimensional scanner 1, while line L12, which has a regular shape, is an ineffective marking for shape measurement.

[0021] As shown in Fig. 8, in the scanning step S20, the worker moves the three-dimensional scanner 1 along the extension direction D1 in which the steel frame member SM21 extends, so that the surface on which the lines are drawn in the steel frame member SM21 can be photographed by the three-dimensional scanner 1. The speed at which the worker moves the three-dimensional scanner 1 is preferably about 30 cm per second. This is because if the three-dimensional scanner 1 is moved faster than 30 cm per second, the three-dimensional scanner 1 may not be able to properly generate three-dimensional point cloud data.

[0022] For example, as shown by angle θ1 in Fig. 8, it is desirable for the worker to make a right angle between the surface of the steel frame member SM21 and the measurement direction D2 in which the 3D scanner 1 is directed toward the steel frame member SM21. This is because the 3D point cloud data generated by the 3D scanner 1 can be maximized.

[0023] For example, as shown by angle θ2 in Figure 8, if the angle between the surface of the steel frame member SM21 and the measurement direction D2 in which the three-dimensional scanner 1 is directed toward the steel frame member SM21 is 45° or less, the three-dimensional scanner 1 may not be able to properly generate three-dimensional point cloud data.

[0024] Figure 9 shows a captured image G1 of a steel frame member SM31 having no lines drawn on its surface, and a three-dimensional point cloud image G2 showing three-dimensional point cloud data generated by measuring the steel frame member SM31 having no lines drawn on its surface with a three-dimensional scanner 1.

[0025] As indicated by a circle CL1 in the three-dimensional point cloud image G2, the three-dimensional point cloud data formed in a long shape is lost in the middle, and further, a shift in the three-dimensional point cloud data occurs. Figure 10 shows a captured image G3 of a steel frame member SM31 with irregular lines L31 drawn on its surface, and a three-dimensional point cloud image G4 showing three-dimensional point cloud data generated by measuring the steel frame member SM31 with lines L31 drawn on its surface using a three-dimensional scanner 1.

[0026] As shown in three-dimensional point cloud image G4, in the three-dimensional point cloud data formed in a long shape, there is no loss of three-dimensional point cloud data and no deviation of the three-dimensional point cloud data occurs. Since errors are more likely to occur when a large number of blocks of data are combined, we try to scan each steel component in one go whenever possible during the S20 scanning process.

[0027] As shown in Fig. 11, when scanning one steel frame member in two or more separate scans in the scanning step S20, it is desirable to secure an overlap of 50 cm or more required for combining models for the purpose of combining when analyzing the 3D point cloud data generated by the 3D scanner 1. The rectangle RT1 in Fig. 11 indicates the first scanning range of the steel frame member SM41, and the rectangle RT2 indicates the second scanning range of the steel frame member SM41.

[0028] If the head of the bolt is not scanned, the bolt center position cannot be determined during analysis, and the component manufacturing accuracy may not be met. In the scanning process of S20, it is desirable to be aware of scanning the bolt head. After the scanning process, it is desirable to check the 3D point cloud data generated by the 3D scanner 1 on the display screen of the 3D scanner 1 and confirm whether the bolt head has been scanned. If the bolt head has not been scanned properly, it is desirable to focus on scanning the bolt center again and complement the 3D point cloud data. When rescanning the bolt, it is easier to obtain the 3D point cloud data of the bolt by moving the 3D scanner 1 by twisting the wrist rather than moving the 3D scanner 1 at a speed of 30 cm per second.

[0029] Circles CL11, CL12, CL13, CL14, CL15, and CL16 in FIG. 12 indicate three-dimensional point cloud data of a bolt that is generated when the head of the bolt is sufficiently scanned.

[0030] Circles CL21, CL22, CL23, CL24, CL25, CL26, and CL27 in FIG. 12 indicate three-dimensional point cloud data of a bolt that is generated when the head of the bolt cannot be sufficiently scanned.

[0031] The object measuring method configured in this manner includes a marking step and a scanning step. In the marking process, a worker applies irregular lines as marks on the surface of the steel frame member.

[0032] In the scanning process, a worker holds a three-dimensional scanner 1 configured to photograph the steel frame component and generate photographic data, and moves the three-dimensional scanner 1 over the surface side of the steel frame component to which the attachment is applied, thereby obtaining photographic data of the surface of the steel frame component.

[0033] In this object measurement method, by adding an object to the surface of the steel frame member, the number of feature points for recognizing the surface of the steel frame member can be increased in the shape data generation process for generating three-dimensional point cloud data from the photography data. Therefore, the object measurement method makes it easier to recognize the surface of the target object in the photography data, and can suppress the occurrence of defects in the three-dimensional point cloud data.

[0034] In the marking process, a worker applies an object to the surface of a steel frame member by drawing a line with chalk. This object measurement method allows a worker to easily apply an object to a steel frame member when working on a transmission tower, and thus makes it possible to obtain three-dimensional point cloud data without impairing workability on the transmission tower.

[0035] In the marking process, the worker marks the steel frame members SM1, SM2, SM3, SM4 with character strings CS1, CS2, CS3, CS41, and CS42, which indicate the names of the members. This object measurement method makes it easier to distinguish the members during analysis, and can shorten the analysis time.

[0036] In the embodiment described above, the steel frame members SM1 to SM6 correspond to the target object and long members, the three-dimensional point cloud data corresponds to shape data, the lines L1, L2, L3, L41, L42, L5, and L6 correspond to figures, and the three-dimensional scanner 1 corresponds to an imaging device.

[0037] Moreover, the rectangle RT1 corresponds to the first shooting range, and the rectangle RT2 corresponds to the second shooting range. Although one embodiment of the present disclosure has been described above, the present disclosure is not limited to the above embodiment and can be implemented in various modified forms.

[0038] [Variation 1] In the above embodiment, irregular lines are written as the imparted object, but at least one of symbols and characters may be written as the imparted object.

[0039] [Variation 2] In the above embodiment, lines are drawn with chalk, but anything that can add figures, symbols and letters may be used, for example, a water-based pen or oil-based pen.

[0040] [Variation 3] In the above embodiment, a form in which a steel frame member, which is a long member, is photographed as the target object, has been described, but the target object is not limited to a long member, and may be an object other than a long member.

[0041] In the above embodiments, multiple functions of one component may be realized by multiple components, or one function of one component may be realized by multiple components. Also, multiple functions of multiple components may be realized by one component, or one function realized by multiple components may be realized by one component. Also, part of the configuration of the above embodiments may be omitted. Also, at least part of the configuration of the above embodiments may be added to or substituted for the configuration of another of the above embodiments. [Technical idea disclosed in this specification] [Item 1] 1. An object measurement method for acquiring shape data of a target object using photographed data of the target object, comprising: A marking step in which an operator applies at least one of a figure, a symbol, and a character as an object to be applied onto a surface of the target object; a scanning process in which the worker holds an imaging device configured to capture an image of the target object and generate the imaging data, and moves the imaging device on the surface side of the target object to which the object is attached, thereby acquiring the imaging data obtained by capturing an image of the surface of the target object; A method for measuring an object comprising:

[0042] [Item 2] Item 1, an object measurement method comprising: The object measuring method, in which the worker applies the object to the surface of the target object by drawing a line with chalk in the marking step.

[0043] [Item 3] The object measuring method according to item 1 or 2, In the marking step, the worker applies a character string indicating a name of a component of the target object as the object to be marked.

[0044] [Item 4] The object measurement method according to any one of items 1 to 3, The object measurement method is such that the imaging device is a three-dimensional scanner equipped with a plurality of cameras, and uses the plurality of pieces of imaging data captured by each of the plurality of cameras to calculate the distance to the target object utilizing the principle of triangulation, thereby generating the shape data of the target object.

[0045] [Item 5] The object measurement method according to any one of items 1 to 4, the target object is an elongated member, The object measuring method includes the step of marking the elongated member with the object to be applied along the extension direction of the elongated member.

[0046] [Item 6] The object measurement method according to any one of items 1 to 5, The object measuring method, wherein the shape data is three-dimensional point cloud data.

[0047] [Item 7] The object measurement method according to any one of items 1 to 6, A method for measuring an object, in which, in the scanning process, when the operator photographs the surface of the target object in two or more separate takes using the photographing device, the operator moves the photographing device so that a first photographing range and a second photographing range that are different from each other partially overlap.

[0048] [Item 8] The object measurement method according to any one of items 1 to 7, the target object includes a bolt; The object measuring method includes, after the scanning process, checking the shape data of the head of the bolt, and if the worker determines that the shape data of the head of the bolt has not been generated appropriately, photographing the bolt again using the photographing device.

[0049] [Item 9] Item 2: The object measurement method according to item 2, The method for measuring an object, wherein the chalk is red or blue in color.

[0050] [Item 10] The object measurement method according to any one of items 1 to 9, A method for measuring an object, wherein the object has an irregular, irregular or non-periodic shape. [Explanation of symbols]

[0051] 1...3D scanner, L1, L2, L3, L41, L42, L5, L6...wires, SM1~SM6...steel members

Claims

1. 1. An object measurement method for acquiring shape data of a target object using photographed data of the target object, comprising: A marking step in which an operator applies at least one of a figure, a symbol, and a character as an object to be applied onto a surface of the target object; a scanning process in which the worker holds an imaging device configured to capture an image of the target object and generate the imaging data, and moves the imaging device on the surface side of the target object to which the object is attached, thereby acquiring the imaging data obtained by capturing an image of the surface of the target object; A method for measuring an object comprising:

2. 2. A method for measuring an object according to claim 1, comprising: The object measuring method, in which the worker applies the object to the surface of the target object by drawing a line with chalk in the marking step.

3. 3. The object measuring method according to claim 1 or 2, In the marking step, the worker applies a character string indicating a name of a component of the target object as the object to be marked.

4. 3. The object measuring method according to claim 1, further comprising: The object measurement method is such that the imaging device is a three-dimensional scanner equipped with a plurality of cameras, and uses the plurality of pieces of imaging data captured by each of the plurality of cameras to calculate the distance to the target object utilizing the principle of triangulation, thereby generating the shape data of the target object.

5. 3. The object measuring method according to claim 1, further comprising: the target object is an elongated member, The object measuring method includes the step of marking the elongated member with the object to be applied along the extension direction of the elongated member.

6. 3. The object measuring method according to claim 1, further comprising: The object measuring method, wherein the shape data is three-dimensional point cloud data.

7. 3. The object measuring method according to claim 1 or 2, In the scanning process, when the operator photographs the surface of the target object in two or more separate takes using the photographing device, he or she moves the photographing device so that a first photographing range and a second photographing range that are different from each other partially overlap.

8. 3. The object measuring method according to claim 1, further comprising: the target object includes a bolt; The object measuring method includes, after the scanning process, checking the shape data of the head of the bolt, and if the worker determines that the shape data of the head of the bolt has not been generated properly, photographing the bolt again using the photographing device.

9. 3. A method for measuring an object according to claim 2, comprising: The method for measuring an object, wherein the chalk is red or blue in color.

10. 3. The object measuring method according to claim 1, further comprising: A method for measuring an object, wherein the object has an irregular, irregular or non-periodic shape.

Images