Three-dimensional measuring jig and three-dimensional measuring system

Abstract

To provide a jig for three-dimensional measurement which enables a measurement target to be easily placed even by remote control using a manipulator, and to provide a three-dimensional measurement system.SOLUTION: A three-dimensional measurement system 1 includes: a jig for three-dimensional measurement 2 which is placed in a hole 12 by remote control using a manipulator 11; a camera 3 which captures images of the jig for three-dimensional measurement 2; and a processing device 4 which processes image data of the camera 3. The jig for three-dimensional measurement 2 includes: a leg part 21 including a spherical shape having a diameter larger than an anticipated hole diameter of the hole 12; and a head 22 in which a target 22a for three-dimensional measurement is disposed.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a three-dimensional measuring jig and a three-dimensional measuring system, and more particularly to a three-dimensional measuring jig for measuring the center position of a hole by remote control and a three-dimensional measuring system using the three-dimensional measuring jig. [Background technology]

[0002] For example, Patent Document 1 discloses a method for remotely replacing a connecting pipe in a processing area (high radiation area) that is off-limits to humans, using a manipulator located inside the processing area. In Patent Document 1, a measurement target equipped with an axial member that can be inserted into a bolt hole is used to measure the position of the flange. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-329796 Summary of the Invention [Problem to be solved by the invention]

[0004] As described in the above-mentioned Patent Document 1, when replacing connecting pipes, it is necessary to align the bolt holes. However, in older facilities, precise dimensional information may not be available, and the center positions of the bolt holes in facilities within the processing area must be measured after the fact.

[0005] However, the measurement target described in Patent Document 1 has a problem in that it is difficult to insert the shaft member of the measurement target into the bolt hole using a manipulator.

[0006] The present invention was devised in view of these problems, and its object is to provide a three-dimensional measuring jig and a three-dimensional measuring system that can easily position a measurement target even when remotely operated using a manipulator. [Means for solving the problem]

[0007] According to the present invention, a three-dimensional measuring jig that is placed in a hole by remote control using a manipulator includes a leg portion having a spherical shape with a diameter larger than the expected hole diameter, and a head portion on which a target for three-dimensional measurement is placed. The head portion is provided with a mark for identifying the orientation of the surface, and the mark is configured as a stopper for regulating the position of a locking portion for preventing the head portion from falling. A three-dimensional measuring jig characterized by the above features is provided.

[0008] Furthermore, according to the present invention, there is provided a three-dimensional measuring jig that is placed in a hole by remote control using a manipulator, and that is characterized by comprising: a leg portion having a spherical shape with a diameter larger than the expected hole diameter; a head portion on which a target for three-dimensional measurement is placed; and a support means for supporting the leg portion while it is pressed against the hole.

[0009] The head may have a flat surface on which the target is placed.

[0010] The head may include a gripping portion of the manipulator.

[0011] The head may be provided with a locking portion to prevent it from falling off.

[0014] According to the present invention, there is also provided a three-dimensional measurement system comprising a three-dimensional measuring jig that is placed in a hole by remote control using a manipulator, a camera that images the three-dimensional measuring jig, and a processing device that processes image data from the camera, wherein the three-dimensional measuring jig comprises legs that have a spherical shape with a diameter larger than the expected hole diameter, and a head on which a three-dimensional measurement target is placed, and the processing device is configured to previously store the relative positional relationship between the center of the target and the center of the spherical shape, and to calculate the center position of the hole by comparing the relative positional relationship with the image data. The head portion is provided with a mark for identifying the orientation of the surface, and the mark is configured as a stopper for regulating the position of a locking portion for preventing the head portion from falling. A three-dimensional measurement system is provided. [Effects of the Invention]

[0015] According to the three-dimensional measuring jig and three-dimensional measuring system of the present invention described above, by adopting a spherical shape for the legs to be placed in the holes, the three-dimensional measuring jig can be easily placed even by remote operation using a manipulator.

[0016] Furthermore, when the leg of the three-dimensional measuring jig is placed in the hole, the center of the spherical shape and the center of the hole always coincide. Therefore, even if the three-dimensional measuring jig is tilted, the center position of the hole can be easily calculated by calculating in advance the relative positional relationship between the target and the center position of the leg (spherical shape). [Brief explanation of the drawings]

[0017] [Figure 1] 1 is an overall configuration diagram showing a three-dimensional measurement system according to an embodiment; [Figure 2] FIG. 2 is a perspective view of the three-dimensional measuring jig shown in FIG. [Figure 3] FIG. 2 is a diagram showing a processing flow of the processing device. [Figure 4] 1A and 1B are diagrams showing a first modified example of a three-dimensional measuring jig, in which FIG. 1A is a perspective view and FIG. 1B is a side view. [Figure 5] FIG. 10 is a diagram showing a second modified example of the three-dimensional measuring jig. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, an embodiment of the present invention will be described with reference to Figs. 1 to 5. Fig. 1 is an overall configuration diagram showing a three-dimensional measurement system according to one embodiment. Fig. 2 is a perspective view of the three-dimensional measurement jig shown in Fig. 1. Fig. 3 is a diagram showing a processing flow of a processing device.

[0019] The three-dimensional measurement system 1 shown in Figure 1 comprises a three-dimensional measurement jig 2 that is placed in a hole 12 by remote control using a manipulator 11, a camera 3 that captures images of the three-dimensional measurement jig 2, and a processing device 4 that processes the image data captured by the camera 3.

[0020] The three-dimensional measurement system 1 is used in a processing section 13 that is off-limits to humans, such as a high radiation area. For ease of explanation, the processing section 13 is shown by a dashed line in Figure 1.

[0021] The manipulator 11 includes, for example, a hand unit that grasps an object and an articulated arm unit that controls the attitude of the hand unit. The manipulator 11 may be configured to be movable by a cart or the like placed within the processing section 13.

[0022] The hole 12 is, for example, a bolt hole formed in a facility, equipment, machine, or the like within the processing section 13. Note that the hole 12 may be a hole (hole) other than a bolt hole as long as it is an object whose center position is to be calculated, or may be a cylindrical structure such as a pipe.

[0023] 2, the three-dimensional measuring jig 2 includes a leg 21 having a spherical shape with a diameter larger than the expected diameter of the hole 12, and a head 22 on which a three-dimensional measurement target 22a is placed. The leg 21 may be a hemispherical shape or a full sphere, as long as it has a spherical shape large enough to be placed in the hole 12.

[0024] The head 22 has a flat surface 22b on which a measurement target 22a is attached. The head 22 has, for example, a rectangular parallelepiped shape. However, the head 22 may have another prismatic shape as long as it has the flat surface 22b.

[0025] The targets 22a have, for example, black and white circular shapes. The targets 22a may be numbered so that it is possible to identify which surface the target is placed on. Although four targets 22a are placed on each flat surface 22b in FIG. 2, the number of targets 22a to be placed is arbitrary.

[0026] Because leg 21 has a spherical shape, three-dimensional measuring jig 2 can be easily placed above hole 12, as shown in Fig. 1. Furthermore, simply placing leg 21 in hole 12 makes it possible to align the center of the spherical shape with the center of hole 12. Therefore, three-dimensional measuring jig 2 can be easily placed in hole 12, which is the measurement target, even by remote operation using manipulator 11.

[0027] The camera 3 is an imaging means that can be used, for example, in high radiation areas. The camera 3 is configured to capture an image of the target 22a of the three-dimensional measuring jig 2 and transmit the captured image to the processing device 4. The camera 3 is remotely controlled by, for example, a manipulator 11.

[0028] The processing device 4 is a computer located outside the processing section 13. The processing device 4 is configured to pre-store the relative positional relationship between the center of the target 22a and the center of the spherical shape of the leg 21, and to calculate the center position of the hole 12 by comparing it with the image data captured by the camera 3.

[0029] Specifically, the center position of the hole 12 is calculated using the processing flow shown in Fig. 3. When executing this processing flow, the relative positional relationship between the center of the target 22a of the three-dimensional measuring jig 2 and the center of the spherical shape of the leg 21 is calculated in advance by measurement or the like, and stored in the memory unit of the processing device 4.

[0030] The three-dimensional measuring jig 2 is remotely controlled by the manipulator 11 and placed in the hole 12 to be measured. Next, the camera 3 is remotely controlled by the manipulator 11 to capture an image of the target 22a of the three-dimensional measuring jig 2.

[0031] After acquiring the imaging data of the target 22a, the processing device 4 calculates the three-dimensional coordinate values ​​of the target 22a. Next, the processing device 4 compares the relative positional relationship data between the target 22a and the center of the spherical shape stored in advance, and calculates the center position of the hole 12.

[0032] At this time, since the relative positional relationship between the target 22a of the three-dimensional measuring jig 2 and the center of the spherical shape of the leg 21 is uniquely determined, even if the three-dimensional measuring jig 2 is placed in the hole 12 in an inclined state, the center position of the hole 12 can be easily calculated by comparing the coordinate values ​​of the target 22a.

[0033] The processing device 4 may be configured to calculate the diameter of the hole 12 using imaging data of the target 22a and known data (the relative positional relationship between the center of the target 22a of the three-dimensional measuring jig 2 and the center of the spherical shape of the leg 21).

[0034] Next, modified examples of the three-dimensional measuring jig 2 will be described with reference to Fig. 4 and Fig. 5. Fig. 4 shows a first modified example of the three-dimensional measuring jig, where (a) is a perspective view and (b) is a side view. Fig. 5 shows a second modified example of the three-dimensional measuring jig.

[0035] The first modified example of the three-dimensional measuring jig 2 shown in Figures 4(a) and 4(b) is provided with a gripping portion 23 of the manipulator 11 and a locking portion 24 for preventing it from falling. For ease of explanation, Figure 4(a) shows the locking portion 24 in a lying position, and Figure 4(b) shows the locking portion 24 in an upright position.

[0036] The gripping portion 23 is configured, for example, by a flange portion formed on the head portion 22. By forming such a gripping portion 23 on the three-dimensional measuring jig 2, it becomes possible to easily grip the head portion 22 with the manipulator 11. Note that the position and shape of the gripping portion 23 are not limited to the configuration shown in the figure.

[0037] The locking portion 24 is a wire bail that is rotatably arranged on the head portion 22. By forming such a locking portion 24 on the three-dimensional measuring jig 2, the three-dimensional measuring jig 2 can be suspended by a crane in the processing section 13, and a fall prevention measure can be taken. Note that the position and shape of the locking portion 24 are not limited to the configuration shown in the figure.

[0038] The head 22 may also have a mark to identify the orientation of the surface. The mark may be, for example, a stopper 25 that regulates the position of the wire bail that constitutes the locking portion 24. The stopper 25 may be, for example, a bolt disposed on the side of the head 22, and also has the function of preventing the wire bail from tipping over.

[0039] By providing such a stopper 25 (marker), the direction in which the wire bail falls can be made constant, making it easier to distinguish the position of the target 22a (the orientation of the surface of the head 22). Note that the stopper 25 can be omitted if the target 22a is installed asymmetrically or if the marker is formed by a component other than the stopper 25. The marker may also be formed by a component other than the bolt, or the marker may be placed on the head 24 that does not have the locking portion 24.

[0040] Furthermore, when the head 22 is rectangular, the gripping portion 23 can be formed on one pair of side surfaces, and both ends of the locking portion 24 can be placed on the remaining pair of side surfaces, so that the gripping portion 23 and the locking portion 24 can be placed without interfering with each other.

[0041] Furthermore, the gripping portion 23 may be used when the three-dimensional measuring jig 2 is installed in the hole 12, and the locking portion 24 may be used when the three-dimensional measuring jig 2 is removed from the hole 12. Furthermore, the three-dimensional measuring jig 2 may be provided with only either the gripping portion 23 or the locking portion 24.

[0042] 5 is provided with support means 26 that supports legs 21 while pressing them against holes 12. When holes 12 are formed on a horizontal surface or a surface with a small inclination, three-dimensional measuring jig 2 can be placed simply by placing legs 21 on top of holes 12.

[0043] On the other hand, as shown in Fig. 5, if hole 12 is formed on a vertical surface or a surface with a large inclination, it is difficult to maintain the position of three-dimensional measuring jig 2. Therefore, as shown in Fig. 5, by connecting support means 26 to head 22 of three-dimensional measuring jig 2 and holding support means 26 with manipulator 11, three-dimensional measuring jig 2 can be pressed against hole 12, and the position of three-dimensional measuring jig 2 can be maintained.

[0044] The support means 26 includes, for example, a universal joint 26a connected to the three-dimensional measuring jig 2, a main body 26b connected to the universal joint 26a, and a gripper 26c disposed on the main body 26b. Note that the configuration of the support means 26 is merely an example and is not limited to the configuration shown in the figure.

[0045] By connecting the three-dimensional measuring jig 2 and the support means 26 with a universal joint 26a, the legs 21 can be easily positioned in the hole 12 in accordance with the direction and inclination of the hole 12. The main body 26b may be provided with an elastic body such as a spring that applies elastic force to the universal joint 26a. By providing an elastic body in the main body 26b, the three-dimensional measuring jig 2 can be easily pressed against the hole 12. The gripping portion 26c is a portion that is gripped by the manipulator 11.

[0046] The present invention is not limited to the above-described embodiment, and it goes without saying that various modifications are possible without departing from the spirit of the present invention. [Explanation of symbols]

[0047] 1. Three-dimensional measurement system 2. 3D measurement jig 3 Camera 4 Processing equipment 11 Manipulator 12 holes 13 Treatment Area 21 Legs 22 Head 22a Target 22b Plane part 23 Gripping part 24 Locking part 25 Stopper (mark) 26 Support means 26a Universal joint 26b Main body 26c Grip

Claims

1. A three-dimensional measuring tool that is placed in a hole by remote control using a manipulator, A leg portion having a spherical shape with a diameter larger than the expected hole diameter; a head on which a target for three-dimensional measurement is placed, The head portion is provided with a mark for identifying the orientation of the surface, and the mark is configured as a stopper for regulating the position of a locking portion for preventing the head portion from falling. A three-dimensional measuring jig characterized by:

2. A three-dimensional measuring jig that is placed in a hole by remote control using a manipulator, A leg portion having a spherical shape with a diameter larger than the expected hole diameter; a head on which a target for three-dimensional measurement is placed; a support means for supporting the leg portion in a state where the leg portion is pressed against the hole; A three-dimensional measuring jig comprising:

3. The three-dimensional measuring tool according to claim 1 or 2, wherein the head portion has a flat portion on which the target is placed.

4. The three-dimensional measuring tool according to claim 1 or 2, wherein the head portion is provided with a grip portion of the manipulator.

5. The three-dimensional measuring tool according to claim 1 or 2, wherein the head portion is provided with a locking portion for preventing the head portion from falling.

6. A three-dimensional measurement system including a three-dimensional measuring tool that is placed in a hole by remote control using a manipulator, a camera that captures an image of the three-dimensional measuring tool, and a processing device that processes image data captured by the camera, the three-dimensional measuring jig includes a leg portion having a spherical shape with a diameter larger than an expected hole diameter, and a head portion on which a three-dimensional measurement target is placed; the processing device is configured to previously store a relative positional relationship between the center of the target and the center of the spherical shape, and to calculate the center position of the hole by comparing the relative positional relationship with the imaging data; The head portion is provided with a mark for identifying the orientation of the surface, and the mark is configured as a stopper for regulating the position of a locking portion for preventing the head portion from falling. A three-dimensional measurement system characterized by:

Images