WO1989003049A1

WO1989003049A1 - Position meter using laser beam

Info

Publication number: WO1989003049A1
Application number: PCT/JP1988/001008
Authority: WO
Inventors: Toyoichi Ono; Kenji Tanabe; Yoshio Asayama
Original assignee: Kabushiki Kaisha Komatsu Seisakusho
Priority date: 1987-09-30
Filing date: 1988-09-30
Publication date: 1989-04-06
Also published as: AU2488688A; AU628301B2

Abstract

The present invention provides a position meter which can be used by installing only one laser receiver and can reliably measure the position of a point to be measured even if there is a great difference in level between the position of installation of a laser projector and that of the laser receiver on rugged outdoor construction sites. The position meter of the invention includes laser projectors (10, 13) disposed at two specified points spaced apart from each other, one laser receiver (16) disposed at the point of measurement, reference direction finders (11, 14) and reference direction signal transmitters (12, 15) disposed on the side of the laser projectors and a reference direction receiver (17) and an operational unit (18) disposed on the side of the laser receiver. Furthermore, the laser projector of the invention includes projection angle changing means for changing the elevation angle or depression angle of the laser beam while the laser receiver includes position correction means for correcting the laser beam reception height on the basis of the output from the projection angle changing means.

Description

Specification

Position measuring device using laser light

TECHNICAL FIELD OF THE INVENTION

The present invention relates to a position measuring device using laser light, and more particularly to a device suitable for position measurement on highly uneven ground such as an outdoor civil engineering work site.

BACKGROUND OF THE INVENTION

Conventionally, as a device for measuring the position of a measured point by triangulation based on a geometric relationship between two fixed points (reference points) and the measured point, Japanese Patent Published Japanese Patent Application Nos. 62-273408 and 62-273409 (both by the same applicant as the present applicant), and Japanese Patent Application Publication No. 62-50616 (the applicant; Kashima Construction Co., Ltd.).

In these conventional measuring devices, a laser lighthouse is installed at each of two fixed points, each serving as a laser-emitter. The target moving vehicle such as a work vehicle is equipped with a laser receiver. Then, the laser light is swirled in the horizontal direction from the two laser lighthouses, and the emitted laser light is reflected by the light receiver. When receiving light, the angle (rotation angle) formed by a straight line connecting two fixed points and a straight line extending from one fixed point to the measurement point, and a straight line connecting the two fixed points Angle (rotation angle) formed by a straight line extending from the other fixed point to the measured point And the distance between the two fixed points is calculated by the arithmetic unit, and the position of the measurement point is two-dimensionally determined by triangulation from the obtained angle and the distance between the two fixed points. ) It is calculated.

With such a measuring device, the angle formed by a straight line connecting two fixed points and a straight line extending from the other fixed point to the point to be measured is determined. Then, each laser beam emitted from each lighthouse provided at one and the other two fixed points emits light on a straight line connecting the two fixed points. It is necessary to measure the difference of each light emission time until the measured point is emitted. For this purpose, at the point to be measured, the first light receiver facing the laser lighthouse provided at one fixed point and the second light receiver facing the laser lighthouse provided at the other fixed point. Two receivers are required. Therefore, the laser receiver becomes large and heavy, the installation position is limited, and it is inconvenient to move the measuring point.

In addition, since the laser light is emitted from the laser lighthouse in the horizontal direction, the vertical position of the light-receiving surface on the receiver side should be taken into consideration in consideration of the height difference between the position where the emitter is installed and the point to be measured. The direction is adjusted. However, in an environment where the height difference between the ground is remarkable and large, such as an outdoor civil engineering work site with severe unevenness, the emitted laser light falls off the light receiving surface of the receiver. In many cases, it is impossible to measure the position of the point to be measured.

If position measurement becomes impossible in this way, it is probable that Even if this is temporary, work by moving objects such as work vehicles will have to be interrupted, and other points where measurement is impossible cannot be measured. This has forced us to take countermeasures by using the methods described above, resulting in loss of personnel and time, and significantly impairing the work economy. .

As a method of solving such a problem, a method of setting the length of the receiver ′ in the vertical direction to be long has been studied. However, this method may impair the stability of the moving object if the receiver is installed on the moving object, and the equipment cost may be reduced. None of them have been recruited and implemented because of the rise in the number of employees.

Summary of the Invention

The present invention has been made in view of the above-mentioned circumstances, and the first purpose is to provide a single laser receiver provided at a point to be measured. The purpose is to provide a position measuring device using laser light.

Another object of the present invention is to set the laser projector at two laser lighthouses, such as an outdoor civil engineering work site with severe irregularities, and to set the measurement position at the measurement point. Even in an environment where the height difference from the light receiving surface of the laser receiver is remarkable, the position of the point to be measured can be reliably measured even in a large environment. It is to provide a position measuring device.

Still another object of the present invention is to provide a light receiving height position correcting means in a laser receiver installed at a point to be measured. Accordingly, it is possible to provide a position measuring device using laser light, which enables three-dimensional position measurement of a measured point.

In order to achieve the first object, according to the first aspect of the present invention, two vertical fixed points are set apart from each other, and a vertical axis at each of the setting points is defined as a rotation axis. First and second laser emitting means for emitting laser light while rotating, and disposed at the point to be measured, and the first and second lasers being arranged at the measurement point. Laser light receiving means for receiving laser light which is respectively rotationally projected from the laser light emitting means, and by triangulation based on the output of the laser light receiving means. In the position measuring device for measuring the position of the measured point, a reference azimuth detector and a reference azimuth signal transmitting means provided on each of the laser light emitting means sides; And a reference azimuth signal receiving means and a calculating means provided on the user light receiving means side. The arithmetic unit detects the direction of the laser beam received, and identifies the laser beam received from the laser unit and the laser beam source. In addition, the laser light is characterized in that it is configured to obtain a time difference from each of the reference azimuth detectors to the measurement point by turning. The used position measuring device is provided.

In order to achieve the second object, according to a second aspect of the present invention, each of the first, second and second laser light emitting means in the first aspect is provided. Are emitted from these light emitting means. Provided is a position measuring device using laser light, which is characterized by having a projection angle changing means capable of changing an elevation angle or a depression angle of the laser light.

In order to achieve the third object, according to a third aspect of the present invention, each of the first and second laser light emitting means in the first aspect is provided. Each of them has a projection angle changing means for changing an elevation angle or a depression angle of the laser light projected from these light projection means, and further comprises The light receiving means includes a light receiving height position correcting means for correcting a light receiving height position detected by the light receiving means based on an output from the light emitting angle changing means. Thus, there is provided a position measuring device using laser light, which is characterized in that the three-dimensional position of the measured point is measured.

The above and other objects, aspects, and advantages of the present invention are described in the following description and appendixes in which preferred embodiments are shown as examples that are consistent with the principles of the present invention. Will be apparent to those skilled in the art by being described in connection with the drawings herein.

Brief description of the drawings

FIG. 1 is a schematic front view showing the overall configuration of the first embodiment of the present invention.

FIG. 2 is a schematic plan view of the first embodiment shown in FIG. 1, and FIGS. 3 and 4 are a laser lighthouse and a laser having a laser projector, respectively. 1 is a schematic perspective view of the receiver. ,

FIG. 5 is a block diagram of the calculation means used in the first specific example.

Fig. 6A and Fig. 6B are explanatory diagrams of the direction identification operation of the emitted laser light.

FIG. 7 is a schematic front view showing a modified example of each of the two laser lighthouses used in the first embodiment.

FIG. 8 is a schematic perspective view showing an arrangement state of the device in the second specific example of the present invention.

FIG. 9 is a perspective view conceptually showing a configuration of a mirror drive unit used in the second example shown in FIG.

Figure 10 is a diagram used to explain the principle of position measurement used in the second example.

Fig. 11 shows the received signal of one laser beam output from each reference azimuth detector at two fixed points, and the output signal from the receiver at the point to be measured. Timing chart with the laser light reception signal

FIGS. 12A to 12E are diagrams showing the manner of change of the measured point in the second specific example.

FIG. 13 is a block diagram conceptually showing the configuration of the arithmetic unit used in the second specific example.

FIG. 14 is a flowchart showing a processing procedure in the arithmetic unit shown in FIG. Detailed description of preferred examples

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

First, an example of the first embodiment of the present invention will be described with reference to FIGS. 1 to 7.

As shown in Fig. 2, the first and second fixed points (reference points) A and B, which are two planes apart from each other by a predetermined distance L, and the measuring point C, and the measuring point C Are formed, and vertices A and B of the triangles A, B and C are the first and second reference points.

The first reference point A is provided with a first laser lighthouse 10 for irradiating a turning laser beam, a reference azimuth detector 11 and a reference azimuth signal transmitting means 12. The reference point B emits laser light that rotates in a direction opposite to that of the first laser lighthouse 10, the second laser lighthouse 13, the reference direction detector 14, and the reference direction signal transmission means. In addition to the provision of 15 and, a laser receiver 16, a reference azimuth signal receiving means 17, and an arithmetic means 18 are provided at the measurement target point C.

As shown in FIGS. 1 and 3, the first and second laser lighthouses 10 and 13 are provided on a tripod 10a and 13a. Since laser emitters 10c and 13c having 0b and 13b are installed, the laser receiver 16 is installed as shown in Figs. 1 and 4. The light-receiving element 16 b is placed vertically on the surface of a polygonal prism whose cross section on a tripod 16 a is pentagonal or larger. The light receiving processing means 16c is provided together with a plurality of light receiving processing means, and they are positioned in the same horizontal plane.

The reference azimuth detectors 11 and 14 are mounted on the laser projectors 10c and 13c so as to face the laser transmissive sections 10b and 13b, respectively. Is a laser receiver, and upon receiving the laser beam, sends a signal to the reference azimuth signal transmitting means 12 and 15, respectively, and outputs the reference azimuth signal transmitting means 12 and 15. In this case, a reference azimuth signal is output. That is, the reference azimuth signal transmitting means 12 and 15 are transmitters.

The reference azimuth signal receiving means 17 serves as a receiver, and outputs a signal to the arithmetic means 18 when receiving the transmitted reference azimuth signal.

The arithmetic means 18 is means 20 for identifying the laser lighthouse based on the received signal of the laser light receiver 16, and the reference azimuth time is given by the received signal of the reference azimuth signal receiving means 17. Means 21 for detecting the rotation angle of the first and second laser lighthouses 10 and 13 based on these signals, that is, the first and second angle α, / The X and Υ coordinates of the point C to be measured are calculated using the first and second angle calculating means 22, 23 and the angle and the reference distance L from the reference distance input means 24. It comprises a coordinate calculation means 25, a display means 26 for displaying the position of the measured point C, and a height calculation means 27 for calculating the height of the laser light. The laser lighthouse identification means 2 ◦ senses the direction of movement of the laser light in the order in which the light receiving elements 16 b of the laser light receiver 16 receive light horizontally, and thereby detects the mutual direction. O The first and second lighthouses 10 and 13 that turn in opposite directions are identified.

For example, when you toward Ke sequentially received by the cormorants by Ru is indicated in the first 6 A view to the first light-receiving element 1 6 b! Pressurized et al second light-receiving element 1 6 b ₂ is the first-les-over It is determined that the laser light is from the lighthouse 10 and the third light-receiving element 16b3 to the second light-receiving element 16b, as shown in FIG. 6B. When light is sequentially received in the direction ₂ , it is determined that the laser light is from the second laser lighthouse 13.

The first and second angle calculating means 22 and 23 are connected to the laser receiver 16 after receiving the timing signal from the reference azimuth timing detecting means 21. The angle is calculated based on the time difference until the light is received. .

The coordinate calculating means 25 and the display means 26 are the same as the conventional one, and as shown in FIG. 7, the laser projectors 10 of the first and second laser lighthouses 10 and 13 are provided. c and 13c are mounted on a tripod 10a1 3a via screw rods 10d and 13d, which are vertically movable, and the laser projector 13 of the second laser lighthouse 13 is mounted. Attach a leveling light receiving element 13e to c and attach an actuator 13f to rotate its screw rod 13d. When installing the second laser lighthouses 10 and 13 Drive actuator 13 f until laser emissive element 13 e receives laser light from first laser lighthouse 10 and laser emitter 1 3c may be moved up and down.

By doing so, the laser light of the first laser lighthouse 10 and the laser light of the second laser lighthouse 13 can be set at the same height, so that the manual operation can be performed manually. It is not necessary to adjust the height by operation, and the work can be done easily.

The above operation control stops when the referencing light receiving element 13 e receives light after the drive switch of the actuator 13 f is turned to 0 N. It is only necessary to use a CP に.

Next, a second embodiment of the present invention will be described with reference to FIGS. 8 to 14. FIG.

FIG. 8 is a schematic diagram showing an arrangement of a position measuring device according to a second specific example of the present invention.

The laser projectors 10 and 13 shown in the figure are installed at two predetermined fixed points A and B on the outside civil engineering work site, respectively. The projection positions are set so that they are at the same height.

These light emitters 10 and 13 emit the laser light in all directions while rotating at a fixed period, and rotate in the same direction and synchronously with each other. . In this embodiment, as shown by the arrows in FIG. It is assumed that it rotates counterclockwise.

The reference azimuths of the laser beam emitted from the projector 103 and the laser beam emitted by the rotation, ie, the azimuth indicated by the dashed line in the figure, are the reference azimuth detectors 11 1 and 1, respectively. There are four power stations.

The reference azimuth detectors 11 and 14 are connected to the transmitter / receiver 30, and the transmitter / receiver 30 receives light from the reference azimuth detectors 11 and 14. The received light signal of the laser beam and the output of the controller 18a are transmitted to the transmitter and receiver 31 described later, and the transmitter / receiver 31 Receive the data sent by the user.

The controller 1 Sa is connected to the transmitter ♦ receiver 30, and based on the output of the transmitter ♦ receiver 30, a mirror driver 32, described later. It controls 3 3.

On the other hand, a light receiver 16 having a light receiving portion having a predetermined vertical length H is provided at the measured point. The light receiver 16 is composed of a plurality of light receiving elements 16 b... Arranged at predetermined intervals in the vertical direction.

The transmitter / receiver 31 is connected to the arithmetic unit 18 b, receives the data transmitted from the transmitter / receiver 30, and obtains the data from the arithmetic unit 18. Sends the obtained data to the transmitter / receiver 30. os

The principle of position measurement (triangulation) used in the explanation is explained.

Fig. 10 shows the relationship between the two fixed points AB and the point C to be measured. FIG. 4 is a principle diagram showing a geometric relationship.

In the figure, the distance between the two fixed points A and B is L, the angle between the X axis and the line segment AC is aa, and the angle between the x axis and the line segment BC is ab, the measured point The xy coordinates of C are expressed by the following equation (1).

sin b · cos a a

x = L

sin {a b — a a) C 1) sin b sin a a

y = L

sin (cr b — a a)

In this position measurement method, when the angles aa and b are determined, the light emitted by the projectors 10 and 13 is rotated and emitted. The rotation angle before the light is received by the light source 16 is detected for each of the light emitters 10 and 13 at the two fixed points A and B. It is performed.

In other words, as shown in Fig. 11, the periods at which the light is emitted from the light emitters 10 and 13 at the two fixed points A and B are denoted by Ta and Tb, respectively. (Figure 11 (a), (c), where Ta = Tb). After the laser beams emitted from the emitters 10 and 13 at the two fixed points A and B reach the reference azimuth (X-axis direction), the receiver at the point C Assuming that the time until light is received at 16 is ta and tb for A and B respectively (Fig. 11 (b) and (d)), the rotation angles aa and ab are as follows. Equation (2) is expressed as follows. atb

a a 2 π a b 2 π (2)

T a T b

Then, by substituting the angle a and the distance L between the two projectors 1〇 and 13 into the above equation (1), the two-dimensional position of the measured position point C can be obtained. You can measure.

However, in this case, the laser beam emitted from the two projectors 10 and .13 is rotated and projected from the two projectors 10 and .13, and is reliably received by the receiver 16. Is an indispensable factor in performing this position measurement o

Fig. 12A shows that one laser beam is projected horizontally from the projectors 10 and 13 installed at the two fixed points A and B, and the laser beam is Measurement point C at the same height as points A and B! The figure shows the case where the light is received by the photodetector 16 installed at the point where the heights of the two fixed points A and B and the measured point Ci are equal. Various dimensions in the length direction of the receiving ττ 丄 6 are set so that one laser beam is received at the center of the light receiving section of the receiver 16.

Figures 12B and 12C show that the receiver 16 is

Η

Measured point C ₂ or less within height difference from C

Two

It shows the case where it is moved to and installed at C3, and in this case also, light can be received at the light receiving section of the light receiver 16 at that point.ο As shown in Fig. 12D and Fig. 12Ε,

Η

Receiver 16 has a greater height difference than C

Two

When moved to or installed at measurement point C ₄ or C ₅ , the light emitted by rotation above is no longer received by the light receiving section 16 of the light receiver 16. U.

Therefore, in the second specific example, even in such a case, the angle of elevation of the light that is rotationally projected from the projectors 10 and 13 is set so that light is received. Or, a means for changing the depression angle is provided. That is, the elevation angle or depression angle of the light is changed by the mirror drive units 32 and 33 provided in each of the projectors 10 and 13 shown in FIG.

The mirror drive units 32 and 33 are provided with mirrors 36 and 37 arranged on the optical axis of the laser light sources 34 and 35, and mirrors 36 and 37, respectively. Motors 38, 39 that rotate around the horizontal axis via reduction gears, and a number of pulses corresponding to the amount of rotation of motors 38, 39 are output Pulse encoders 40 and 41, and outputs of encoders 40 and 41. It has counters 42, 43 for counting the screws and drivers 44, 45 for driving the motors 38, 39.

The mirrors 36 and 37 rotate in synchronism with the rotation axes of the light emitters 10 and 13 as indicated by an arrow G in FIG. 10a, 13a power, etc. Rotately emits laser light toward the light receiving section of optical device 16. Here, the operation of the above-mentioned mirror driving units 32 and 33 will be described.

In the initial state, the tilt angles of 36 and 37 are such that the laser beam is emitted from the laser beam source 10a, 13a toward the receiver 16 The optical axis D of the laser beam is set to a reference angle that is parallel to the installation surface of the projectors 10 and 13

-D D 18a force, and the command force of them <When the driver force is applied to the driver 4 4 4 5 5, the motor 3 8

The tilt angle of 36, 37 is + or 1 in the elevation direction or the depression angle direction from the upper optical axis D by being tilted by a predetermined angle from the reference angle. Obtain a changed optical axis E or F

As described above, when the optical axis changes, even in the cases shown in FIGS. 12D and 12E, each of these figures is used. As indicated by the broken line, the laser beam emitted from the emitters 10 and 13 is received by the light receiving section of the receiver 16. Position measurement becomes possible.

Note that the amount of change in the angle from the reference angle for 6 and 37, that is, the change in the optical axis of the laser beam, is

4 Measured by 2 and 4 3 and fed / -loaded to controller 18a

The figure shows the operation unit 18 b provided on the receiver 16 side. FIG. 2 is a block diagram conceptually showing the configuration of the present invention. FIG. 14 shows the processing procedure of the arithmetic unit 18b.

Hereinafter, the second specific example will be described in more detail with reference to these drawings.

When performing position measurement using laser light, measurement errors such as the installation error of each of the projectors 10 and 13 are measured in preparation for the survey, and the data obtained here is obtained. The data is used to correct the measurement data obtained by the position measurement described below, but the description of the correction operation is omitted since it is not directly related to the present application.

When the above survey preparation is completed, the operator moves and installs the light receiver 16 to each measurement point.

The operator is required to set the angle of the mirrors 36 and 37 as necessary so that the laser beam is received by the receiver 16 during such movement and installation. Make adjustments.

In other words, the tilt angle of the mirrors 36 and 37 should be the same as the one shown in Fig. 12A (as shown in the figure below) in the initial state at the start of the survey. The receiver 16 is set at an angle such that it can be projected in the horizontal direction. When the laser beam is moved and installed at the measurement point C ₂ C a shown in the figure, the laser light is received by the receiver 16, so the angle adjustment of the mirrors 36 and 37 is performed. Is not done.

As shown in Figures 12D and 12E, When the receiver 16 is moved to and installed at the measurement point C 4 or C ₅ , a mirror is provided at a predetermined angle so that light is received at the receiver 16. -Input the mirror angle change command data for changing the tilt angles of 36 and 37 to the mirror angle change command input section 2 〇a (Step 1 0 1).

The mirror angle change command data is transmitted to the transmitter / receiver 30 via the transmitter / receiver 31. ♦ Identify which of the mirrors is included in the angle change command signal transmitted from the receiver 3 1. to the transmitter / receiver 20. A signal has been added.

In the transmission ♦ receiver 30, the angle change command signal transmitted from the transmission ♦ receiver 31 is received, and the controller 18 a is based on this reception data. The angle of inclination of each mirror 36, 37 is controlled.

In this case, in the controller 18a, the feed having the above-mentioned inclination angle based on the feed hack 1 of the counters 42, 43 is used. As soon as the lock control is performed, when the tilt angles of the mirrors 36 and 37 reach the predetermined angle corresponding to the target angle change command data, which is the target value, The output of the counters 42 and 43, that is, the amount of change in the angle of the mirrors 36 and 37 from the reference angle is expressed by the controller 18 Transmitted from transmitter / receiver 3 via a. ♦ Transmitted to receiver 3 1. This angle change amount is input from the transmitter / receiver 31 to the coordinate calculator 25. After the above-described operation of changing the laser projection angle, the operator checks whether or not light is being received by the receiver 16 and receives the light. If it is determined that the angle has not been changed, the above process is repeated by re-inputting the mirror angle change command data with the changed angle. If it is determined that light has been received, the process proceeds to the next step 103 (step 102). When the tilt angles of the mirrors 36 and 37 are determined, the laser beams emitted from the projectors 10 and 13 are respectively reflected by the reference azimuth detectors 11 and The light received by the reference azimuth detector 11 and received by the reference azimuth detectors 11 and 14 are transmitted and received by the transmitter and receiver 30 via the transmitter and receiver 30. Is transmitted to the device 31.

When the transmitter / receiver 31 receives the laser light reception signal transmitted from the transmitter / receiver 30, the transmitter / receiver 31 sends the light reception signal of the emitter 10 to the time measurement section 21 a and sends the light to the transmitter / receiver 31. Output the light receiving signal of 13 to the time measuring section 21b respectively (Step 103)

, The emitters 10 and 13 rotate further, and the laser light emitted from these emitters 10 and 13 is received by the receiver of the receiver 16 These received light signals are sent to the height calculating section 27 and the time difference measuring sections 21a and 21b, respectively, as signals indicating the light receiving height position and the light receiving time. Is entered. The signal indicating the light receiving height position is a signal indicating which light receiving element of each of the light receiving elements 16 b… Is input to the height calculator 27.

― ― -Rr., Explains how to identify which emitter can receive the above received light signal. As in the previous period, the projectors 10 and 13 are rotated almost synchronously. Furthermore, as shown in Fig. 1 (1), this triangulation is performed in an arrangement such that aa <90ab> 90 °. The relationship of each time tatb from the time when the laser beam reaches the reference direction to the time when the laser beam reaches the reference azimuth and the time when the laser beam is received by the light receiving section of the photodetector 16 is ta <tb. According to such a light receiving sequence, it is possible to identify the light receiving signal from any of the light emitters (step 104).

In the time difference measurement units 21a and 21b, the light receiving signal indicating the reference direction output from the transmitter / receiver 3i and the light receiving signal output from the light receiving unit of the light receiver 16 are used. Based on the above, ta and tb for the projectors 10 and 13 are detected (step 105 in FIG. 11).

By substituting these times ta and tb into the above equation (2), the respective rotation angles aa αb of the projector 103 can be calculated by the angle calculators 22, 2. (Steps 10 6) O

Further, by substituting the calculated rotation angle aab and the distance L between the two projectors 1〇13 into the above equation (1), it is possible to obtain the values of the two photodetectors 16-2. The position of the dimension, that is, the position C (X y) of the measured point is calculated by the coordinate calculation unit 25. An operation is performed (step 107).

The height calculation unit 27 calculates the temporary height position of the measured point C in the vertical direction based on the output of the light receiving unit of the light receiver 16.

Z! Is calculated.

That is, the provisional height position indicates the height position of the measured point C at a stage where the inclination of the mirrors 36 and 37 is not taken into consideration. In this case, the installation point A of the emitter 10 (or the installation point B of the emitter 13) is set as the origin in the height direction, and the height of the installation point A and the measurement point C are set as described above. When the heights are equal (see Fig. 12A), the laser beam is set so that it is received at the center of the light receiving section of the receiver 16 and the above temporary height is set. The position ιι is expressed as a displacement from the center of the light receiving section of the light receiver 16.

For example, as shown in Fig. 12B, the light receiving position is

H

16 When the center of the light-receiving part of 6 is shifted downward from

Two

H

The provisional height position Z i =. Also shown in Fig. 12D

Two

Even at the point C ₄ to be measured, since the light is received by the same light receiving element as the light receiving element 16 b in FIG. 12B, the provisional height position is set.

H

Is the same, τ, =.

Two

In other words, in the case shown in Fig. 12 2 and the case shown in Fig. 12D, the light receiving element 16 b of the light receiving section of the light receiver 16 is used. Since the light is received by the same light receiving element, the provisional height position Z1 is the same, but in the case of Fig. 12D, the mirrors 36, 37 are tilted. Since it has been changed, the provisional height position Z 1 in this case does not indicate the true height position. The provisional height position obtained in this way is input to the coordinate calculation unit 25 (step 108).

Next, in the coordinate calculation unit 25, the tilt angle of the mirror 3 6 3 7 changes from the reference angle based on the angle change amount output from the transmitter / receiver 31. It is determined whether or not it has been performed (Step 109) o

If the result of step 109 above is N 0, that is,

If the inclination angles of 36 and 37 are the reference angles, the temporary height position calculated in step 108 above is taken as the vertical coordinate position Z of the measurement point to be measured. Is performed (step 110). In this case, the coordinate position Z is stored in the two-dimensional coordinate values X and X of the measured point calculated in the above step 107, and is displayed on the display unit. It is displayed in 26 (step 11 1).

On the other hand, if the result of the determination in step 109 is YES, that is, if the tilt angles of the mirrors 36 and 37 are tilted and change from the reference angle, And the two-dimensional positions X and y of the measured point calculated in step 107 above and the two-dimensional positions A (XA, X) of the two fixed points A and B y A), B (XB, y B) The process for capturing Z! Is executed.

That is, as shown in Figs. 12D and 12E, the tilt angles of the mirrors 36 and 37 change so that the laser beam optical axis is horizontal. If the elevation and depression angles change by + α and 1α in order to obtain the coordinate position 地点 of the measured point, the tentative height position Ζ, adding a correction value Zeta ₂ will that accompanied the change of the optical axis (or subtraction) must be there Ru.

. The Ru obtains the correction value Zeta _2, the two-dimensional positions of the two fixed points A, two-dimensional position A of _{B (x A, y A)} , B (x B y B) Contact good beauty the measurement point C The distance i? _AC between the points A and C from C (X, y) and the distance £ _BC between the points B and C are calculated based on the following equation (3).

5. AC = (x _A - _{X c} ) 2 _{+ (} y _A _ _yc)

(3)

BC (XB-Xc) ¹ + (yB-yc) Then, the amount of change in the elevation or depression angle direction of the corresponding optical axis from the amount of angle change of mirrors 36 and 37 above + a, requested an a was, the amount of change in this and the distance _AC or is Tsu by the and this substituting £ _BC below equation (4) above ToTadashichi Z ₂ is Ru is calculated ( Step 1 1 2).

Z 2 = Q tan a-(4)

(However, J ?; i? AC or J2 BC) When the calibration value Z2 is calculated as described above, the following According to the equation (5), processing for calculating the coordinate position Z is executed.

Z = Z i + Z 2 (5) Incidentally, the temporary height position Z 1 of the measured point C ₄ shown in FIG. 12D is the same as the temporary height shown in FIG. 12B. Ri Oh at the height position Z 1 and the same rather than Ζ ·! = HZ 2, correction value Z _2, the above equation (4) force, since et al ί Actan a (or the _BC tan a) and that Do, true coordinate position of the measurement point C ₄ is, Z = HZ 2 + ΰ Actan ( or the HZ 2 + £ _BC tan a) and that Do (scan STEP 1 1 3).

When the coordinate position Z is calculated in this way, the coordinate position Z is calculated using the two-dimensional coordinates x and x of the measured point calculated in step 107 above. It is stored together with y and displayed on the display unit 26 (step 11 1).

As described above, according to the second specific example, the optical axis of one laser beam is changed in the elevation angle or the depression angle direction. Light is received reliably.

At the same time, as a modification of the second specific example, the light receiving height position of the light receiver is corrected based on the change amount of the optical axis, and the true vertical position coordinates of the measured point are obtained. You can do it. This enables three-dimensional position measurement of the measured point. In the second specific example, the angle change command for the mirror drive units 36 and 37 is used as the angle change command. , Which is limited by the power input provided by the operator. There is no.

In other words, means for determining whether or not light was received at the light receiving section of receiver 6 in arithmetic unit 18b, and no light was received by the means When it is determined that

(I) It is also possible to provide an angle change command generating means for generating an angle change command for appropriately changing the tilt angles of 36 and 37, thereby implementing an automatic control of the mirror angle change. Naturally, it is possible. In the second specific example, an angle change command to the mirror drive units 32 and 33 is given by radio by means of a two-unit transmitter / receiver. However, the present invention is not limited to this and can be implemented by wire. In this case, the command is not limited to a command by remote control from the measured point, but is sent directly to the controller 18a at the location where the projector is installed. You can give it ο

Also, in the second specific example, the description has been made assuming a case where spot surveying is performed at each point at a work site.However, a receiver is mounted on a moving body, and the position of the moving body is determined. You may try to measure As a matter of course, the position measurement of a moving object is not limited to vehicles, and can be applied to position measurement of any moving object such as positioning of a ship in a port or the like.

Further, in the second specific example, the reference azimuth signals obtained from the two projectors from the projectors are transmitted and received by one transmitter / receiver. It goes without saying that transmission and reception may be performed by another transmitter / receiver. Also, in the second specific example, the rotation directions of the two projectors are set to be the same direction, but needless to say, as in the case of the first embodiment described above, the rotation directions are opposite to each other. Alternatively, in the second specific example, the laser light emitted from the two projectors is received by the common receiver of the receiver 16. However, in order to receive each of the laser beams received from the two projectors respectively, the receivers at different heights were used. You may set up a part.

Further, in the second specific example, the reference azimuth detector 11, which identifies and receives the laser light emitted from these two projectors in each reference azimuth of the two projectors, Although each of the 14 is provided separately, the reference azimuth detectors 11 and 14 are not necessarily provided, and each emitter is synchronized to rotate at a constant speed. The position measurement may be performed only at the light receiving timing at the measurement point of the laser beam emitted from each emitter.

The point is that the configuration of the device itself is arbitrary as long as it is a device that performs triangulation using laser light.

In this embodiment, an example in which a laser beam is projected and triangulation is performed is shown. However, it is needless to say that the laser beam is not limited to the laser beam and has excellent straightness. , It is of course possible to implement using it o

In the second example, the angle of the mirrors 36 and 37 is changed to change the direction of the optical axis of the laser beam. Without being limited to this, the projector itself may be tilted to change the optical axis direction.

The point is that any method can be used as long as the optical axis direction of the laser beam can be changed.

In addition, a position sensor (PSD) may be used in the light receiving section of the light receiver 16 to detect the light receiving position in the height direction.

Claims

The scope of the claims

1.Installed at two fixed points separated from each other, and emit laser light while turning around the vertical axis at each installation point as the axis of rotation. A second laser light emitting means, and a laser light arranged at the point to be measured and which are respectively rotated and emitted from the first and second laser light emitting means. A laser receiving means for receiving the laser beam, and measuring the position of the measurement point by triangulation based on the output of the laser receiving means. In the position measuring device, a reference azimuth detector and a reference azimuth signal transmitting means provided on each of the laser light emitting means sides, and a laser light receiving means side are provided. The reference direction signal receiving means and the calculating means are further included, and the relay is performed by the calculating means. -Detects the direction of the received light, identifies the laser beam from the laser beam source that received the laser beam, The laser light is characterized in that it is configured to calculate the time difference between each of the reference azimuth detectors and the time of arriving at the point to be measured. Position measuring device.

2. The position measuring device according to claim 1, wherein each of the first and second laser light emitting means emits light from the light emitting means. A position measuring device using laser light, characterized by having a projection angle changing means for changing an elevation angle or a depression angle of the laser light to be emitted.

3. The position measuring device according to claim 1, wherein Each of the first and second laser emitting means can change the elevation angle or the depression angle of the laser light emitted from these light emitting means. Angle changing means, and the laser light receiving means corrects a light receiving height position detected by the light receiving means based on an output from the light emitting angle changing means. A position measuring apparatus using a laser beam, comprising a light receiving height position correcting means, whereby the three-dimensional position of the measured point is measured.

4. The position measuring device according to claim 1, wherein each of the first and second laser light emitting means is arranged to adjust a light emitting height. A position measuring device using laser light, characterized by having means for moving each laser projector in the vertical direction.

5. The position measuring device according to claim 1, wherein the laser light receiving means has a light receiver having a polygonal shape of a pentagon or more in a horizontal section. Laser Position measurement device using one light.

6. The position measuring device according to claim 1, wherein the calculating means includes a laser light emitting means identifying means, a pair of angle detectors, and a timing. A position using a laser beam characterized by having a detecting means, a laser beam height detecting means, a reference distance inputting means, a coordinate calculating means and a display means. Measuring device.

7.Described in any one of claims 2 and 3 The position measuring device according to claim 1, wherein the light projecting angle changing means rotates on the optical axis of the laser light source in synchronization with the turning of the laser light projecting means, With respect to the mirror, a mirror provided on its own and a mirror driving means for giving the mirror an elevation motion. Characterized laser Position measurement means using light.

8. The position measuring device according to claim 4, wherein a light receiving element for repelling is provided on one of the up-and-down moving means of the laser projector, and the leveling device. And a laser beam for driving the up / down moving means by an output from the light receiving element for laser. Position measurement device.

9. The position measuring device according to claim 7, wherein the mirror driving means includes one motor and a number of pulses corresponding to a rotation amount of the motor. One pulse encoder that outputs a pulse, one counter that counts the output pulse of the encoder, and the motor that drives the motor It is characterized by having driver means and one controller for controlling the driver means according to the output of the counter. A position measuring device that uses laser light.