FI87951C - Procedure for determining a point in a target space and measuring instrument for carrying out the procedure - Google Patents

Description

1 87951

METHOD FOR DETERMINING THE POINT IN THE TARGET MODE AND POINTS FOR IMPLEMENTING THE METHOD

The invention relates to a method as defined in the preamble of claim 1 for determining a point in a target space.

The invention also relates to a pointer as defined in the preamble of claim 3, in particular a laser pointer.

10 A pointer, in particular a laser pointer, means a device by means of which a desired point, the coordinates of which are known, can be indicated in the target space and, accordingly, the coordinates of an unknown point in the target space can be found.

Various theodolite devices, such as laser theodolites, are already known. In a laser theodolite, a narrow laser beam is aimed at a desired concrete point in the target space from which the laser beam can be reflected back. Based on the reflected radiation, the distance of the point 20 can be measured automatically, e.g. on the basis of the travel time of the light pulse.

The disadvantage of theodolites is that the desired point of the target space must be sought through trial and error. This is time consuming and may not result in 25 accurate results.

The object of the invention is to eliminate the above-mentioned problem. The object of the invention is in particular to provide a method and a device with which the position of a droplet can be quickly and automatically indicated in a large volume in three dimensions.

The method according to the invention is characterized by what is stated in claim 1.

In the method according to the invention for determining a point in the target space, the radiation beams of at least two radiation sources are directed to the point and the position of the point is determined on the basis of the position and direction information of the radiation source. According to the invention, the radiation sources 2 87951 are arranged in the target space at a distance from each other; the target space is determined by arranging in the target space a plurality of calibration points of at least six, the location of which in the three-dimensional target space is known; the radiation beams of the radiation sources are directed to each calibration point and the directional angles of the radiation beams are stored for each calibration station, and the three-dimensional target space is determined by the known locations of the directional angles and calibration points; The directional angles of the radiation beams to the desired point, the three-dimensional coordinates of which point are known, are determined by calibration in the target state; and the radiation beams of the radiation sources are directed to the desired point by means of calculated directional angles.

15 In one embodiment of the method, a plurality of additional calibration points are provided in the target space per one or more radiation sources.

Calibration points are points arranged in the target state that can be removed from the target state after calibration. They are appropriately marked and in themselves easily identifiable points in the target space. The absolute three-dimensional coordinates of all calibration points need not be known; in most cases it is sufficient when the average distances of 25 calibration points are known and only one of these points is determined by its coordinates.

The pointer according to the invention is characterized by what is stated in claim 3.

The pointer according to the invention, in particular the laser pointer 30, for determining a point in the target space comprises at least two radiation sources, in particular a laser, for obtaining a radiation beam with a small opening angle and means for determining the direction of the beam direction for each radiation source. According to the invention, the radiation sources of the 35 pointers, in particular the lasers, are mounted at a distance from each other; each radiation source includes radiation beam directing devices, 3 87951, by means of which the radiation beams are directed in the target space; the pointer comprises a data processing device in which the parameters of predetermined calibration points, such as the directional angles of the beam beams, are stored, 5 and in which the directional the measured angular values 10 are used to calculate the angular values of the radiation beams of each radiation source on the basis of the coordinates of the point to be determined, and on the basis of these the radiation beams of the radiation sources are directed to these points by means of orientation devices.

15 The data processing device comprises means for inputting the three-dimensional coordinate data of the calibration points into the memory of the device. The data can be entered from magnetic data carriers, by line transmission or by means of electromagnetic radiation, e.g. by radio. 20 Data can also be entered using the keypad on a data processing device.

In one embodiment of the pointer, each beam directing device includes an actuator and a mirror to direct it. The radiation beam is then directed to the point of the target space by means of a mirror.

. . In one embodiment of the pointer, each radiation beam directing device includes an actuator for directing a radiation source, most preferably a laser. In one embodiment of the pointer, the directional device of each radiation beam 30 includes a controller by means of which the radiation beam of the radiation source can be manually directed.

The advantage of the invention is that by means of a pointer applying the method, the position of a point in a large volume can be indicated quickly and automatically. This feature of the invention can be utilized in a wide variety of applications, such as buildings, various installations, mechanical engineering, etc.

4 87951

The invention will now be described in detail with reference to the accompanying drawings, in which Figure 1 schematically shows a laser pointer according to the invention; Figure 2a shows a practical implementation of a laser pointer according to the invention; Figure 2b shows a partial section of a laser device used in such a laser player; and Figures 3a, 3b and 4 relate to mathematical modeling of a laser pointer.

Figure 1 illustrates and simply shows a laser pointer according to the invention. It comprises two lasers l, 2. The laser provides a radiation beam with a small opening angle. Each of the lasers 1, 2 15 can be moved, or at least directed, by the laser beam 8, 9 by an ejection device 3, 4 in two planes Xa., Yx perpendicular to each other. The directional angles in these planes can be measured with angle determining devices 5, 6. The lasers 1, 2 are mounted at a distance of 20 s from each other. The pointer further comprises a data processing device 7 to which the aiming devices 3, 4 and the angle determining devices 5, 6 of both lasers 1, 2 are connected. The data processing device 7 is further connected to a keyboard 10 and a display 19.

The lasers 1, 2 are mounted at a sufficient distance s from each other so that the radiation beams 8, 9 of the lasers 1, 2 can intersect in the target space.

Once the laser equipment is securely installed, the laser pointer is calibrated. This 30 takes place in such a way that each laser beam 8, 9 is directed to indicate a point whose three-dimensional coordinates are known. These points are called calibration points. Calibration points Po are required in this case at least six, Ραχ, Pea, Pea, Po «, Pes and 35 Ροβ, but it is recommended to use additional calibration points up to fifteen points. Additional calibration points eliminate 5 87951 measuring device errors. Calibration is a one-time operation that does not need to be renewed as long as the lasers 1, 2 are in place and not being moved. It should be noted, however, that the fixed array of lasers 5 attached to the substrate or body so that the mutual distances remain constant as a whole can be shifted, and the calibration does not need to be repeated.

To perform the calibration, the pointer 10 has its own hand control 11, 12 for each laser 1, 2. By means of these controllers the lasers 1, 2 can be directed so that the radiation beams 8, 9 of the lasers are directed to the selected calibration points Poi, Poa, Po3, Po *, Poa and Poe · 15 For each of the above calibration points, perform the following operations. Each beam of radiation 8, 9 is directed to the calibration point Poi, ..., Poe by manual operation using the hand guides 11, 12. At each calibration point, the direction coordinates of the lasers 1, 2 are read from the angle determining device 5, 6 e.g.

by issuing a command to the data processing device 7 via the keyboard 10.

When all the calibration points have been completed, the calculation program of the data processing device 7 is started, which calculates the parameter values for the system by means of the measured angle values of the calibration points and the corresponding lasers 1, 2. The calculation is based on a suitable mathematical model, which is described below.

The laser pointer can now be used, for example, so that the coordinates X, Y, Z of the desired target space point P are entered from the keyboard 10 to the data processing device 7, which calculates suitable direction angles for the radiation beams 8, 9 of the lasers 1, 2 on the basis of these calculated angles. laser 1, 2 by means of its orienting devices 3, 4 and by observing the angle determining devices 5, 6 at their right directional angles, whereby the radiation beams 8, 9 intersect at the desired point P in the definition. The intersection point P of the control clocks can be found simply by a small plate. When the disc is in the desired position, only one appears on its surface. laser dot. When the disc is on page 5, two laser dots appear from the desired point, the mutual distance of which decreases as you move the disc to the correct point.

An implementation of a laser pointer according to the invention is illustrated in Figure 2a. The data-processing device 10 is a microcomputer 7a and the keyboard and the display are the microcomputer keyboard 10a and the display 19a, respectively. The lasers 1, 2 are arranged in the laser devices 13, 14. The microcomputer 7a is connected to the matching devices 15, 16, and these are further connected to the laser devices 15 13, 14. There are preferably as many matching devices 15, 16 as there are laser devices. By means of the matching device 15, 16, the microcomputer 7a is matched with the measuring sensors and actuators of the laser devices 13, 14. The hand controls are implemented as joystick-type 20 lever controllers 17, 18 connected to a fitting device 15, 16.

The laser device 13, 14 is shown schematically in Figure 2b. This includes the actual laser 20, such as the HeNe laser, with its power supplies. The resulting laser beam .25 21 with a wavelength in the visible part of the spectrum,. . such as about 6300 nm, is pointed at the mirror arrangement 22 and used to deflect it in the desired direction. The mirror arrangement 22 includes at least one mirror 23, actuators 24 and angle measuring sensors 25. The mirror 23 can be rotated by the actuator 24 in two perpendicular planes and the angle measuring sensors 25 can be used to measure the angles of rotation. The laser 20 and the mirror arrangement 22 are arranged in a housing 26. The mirror arrangement further comprises a protective glass 27, through which the outgoing radiation beam 8, 9 is directed out of the laser device 35.

The following is a mathematical model of a laser pointer that binds together the coordinates of the points in the target space and the directional angles of the radiation beams of the lasers 1, 2.

The mathematical model of the laser pointer assumes that the beam 5 emitted by the laser device in different directions originate from the same point, or (depending on the structure of the beam deflection mirror system) the beam extensions always intersect at some imaginary point called the projection center PO. The laser beam emits in a direction that requires two plane angle values a and β (spherical coordinates) to determine. To define the angles, it is considered here that all the radiation beams intersect the (imaginary) plane 1 in front of the projection center. The perpendicular distance of the plane 1 from the projection center is denoted by the vector c_. 15 This level 1 intersects the second level 2. The level 2 is perpendicular to the level 1 and includes the projection center. In addition, a plane 3 is defined, which is perpendicular to both plane 1 and 2 and also includes the projection center PO (Fig. 3a). When the outgoing laser beam 20 is now projected onto planes 2 and 3, the angles α and β are the angles formed by the projection lines and the vector c_.

However, the coordinates of the points that the laser pointer is to position (target points) are almost never spherical coordinates, but the coordinates of a rectangular XYZ coordinate system. To define the connection between the coordinate system of the target points and the coordinate system of the laser pointer, the spherical coordinates of the laser pointer are made rectangular. Here, the procedure is 30 so that a two-dimensional xy coordinate system whose axes are parallel to their lines is fixed to the plane 1. . formed by planes 2 and 3 intersecting plane 1. If the vector _c intersects the plane 1 at a point (xO, yO) and the laser beam at the same plane (x, y), 35 are obtained by notation in Figure 3b: x - xO - c tan o (l ) y - yO - σ sin β / cos α 8 07951

If the vector corresponding to the zero angles is not parallel to ci n, in the above group of equations (1) a and β must be replaced by the expressions a - aO and β - fio, the angles aO and βΟ being parallel to the vector 5 c,

Let us now turn to the situation in which the beam of the laser beam strikes a point P in space starting from the projection center PO of the laser device (Fig. 4). The notations are as follows: 10 - the perpendicular vector drawn from the projection center PO to plane 1 is jc, - the vector c_ intersects the plane 1 at point p0 (x0, yO), - the laser beam intersects the plane 1 at point p (x, y), - the target point is P and its three-dimensional the target coordinates are X, Y, Z, - the coordinates of the projection center PO in the target space are X0, YO, ZO. There is now a connection between the two coordinate systems 20

X-XO X-XO

y-yo k x R x Y-YO (2)

-c Z-ZO

where R is an orthogonal so-called rotation matrix 25

Dividing the top two rows of the group of equations (2) by the lowest gives rxi (X-XO) + ria (Y-Y0) + ris (Z-ZO) 30 x * -c x -------—----- -------------——— + x0 r3a. (X-XO) + r »a (Y-YO) + raa (Z-ZO) (3) Rax (X-XO) + Taa (Y-YO) + Taa (Z-ZO) y = -c x- -------------------------------- + yo, 35 r3a. (X-XO) + raa (Y-YO) + raa (Z-ZO) where rxa., Ria ,. · · Are elements of the rotation matrix R. The resulting equation is the so-called the basic equation of the beam model. The beam beam model is commonly used in solving photogrammetric 9 37951 problems, and is explained in more detail, for example, in Francis H. Moffitt - Edward M. Mikhael: Photogrammetry.

However, the mathematical treatment presented above is only one possibility, although it is quite flexible and can be applied to a wide range of practical situations. However, the mathematical model to be chosen depends on the physical properties of the laser devices themselves, the most important of which is not, for example, the assumed product of rays from the same projection point assumed in the 10 models presented above. The most important feature of the laser device to be selected is the reproducibility of the coordinates, so that the selected angles or other device control quantities always point to the same points in the target space.

The invention is not limited to the application example presented above, but many modifications are possible while remaining within the scope of the inventive idea defined by the claims.

Claims (6)

A method of determining a point in a storage space, wherein a method of at least two beam cones (1, 2) beam cones (8, 9) is directed to a point (P) and the position of the point is determined by the position of the beam sources. - and directional data, characterized in that - the beam sources (1, 2) are arranged in the target space at a distance (s) from each other; - the stock space is defined by providing in the stock space a plurality of calibration points (Pcl, Pc2, Pc3 / Pc4, Pc5 and Pc6), of which there are at least six pieces and whose positions in the three-dimensional stock space are known; - The beam cones (1, 2) of the beam cones (8, 9) are directed to each of the calibration points (Pcl, Pc2, Pc3, Pc4, Pc5 and PJ) and - the direction angles of the beam sources are stored for each part of the calibration points and - by means of the direction angles and the coordinates of the calibration points are defined the three-dimensional ... interspace space - the direction angles of the beam cones to the desired point (P) are calculated, which three-dimensional coordinates of the point are known, by means of the calibration in the defined interspace space, and - beam 2, beam cones (8, 9) are directed to the desired point (P) by means of the calculated directional angles. 2. A method according to claim 1, characterized in that a plurality of extra calibration points, of which there are one or more per beam source, are arranged in the storage space. 3. An indicator, in particular a laser indicator, for determining point (P) in the storage compartment, to which the indicator includes at least two beam sources (1, 2), specifically laser, for providing a beam cone (8, 9) with a small opening angle and determining means (5, 6. for the direction angle of the beam cone for each beam source, characterized in that the 5-light beam sources, in particular laser (1, 2), are mounted at a distance (s) from each other; - to each beam source belongs directional devices (3, 4. for the laser cone, with the aid of which the beam cones (8, 9 can be directed in the storage compartment; 10. to the indicator belong to a data processing device (7), where the pre-defined calibration points (pd, pc2, Pc3 / Pc4, Pc5 and Pc6) coordinates have been stored, and the direction angles of the beams of the beams are read from the angle-determining devices (5, 6) dk, when the laser devices are directed to the point of calibration (P ,, P _, P ,, P ·, Pe and PJ, and where, the laser devices are directed to the point (P) to be determined and, using the calibration points and their measured angular values, are calculated on the basis of The angles of the point to be determined coordinate the beams of each beam source to this point and, as a result, the beams of the beam sources are directed with the direction adjustment devices to these points. ; · 25 4. An indicator according to claim 3, characterized in that the direction device (3, 4) of each beam cone (3, 4) includes a functional device and a mirror which can be directed with the aid thereof. 5. An indicator as claimed in claim 3, characterized in that the directional device (3, 4) of each beam cone means a functional device with which the beam source, most advantageously the laser, is directed. 6. An indicator according to claim 3, 4 or 5, characterized in that the direction device (3, 4) of each beam source (3, 4) includes an actuator (11, 12), by means of which the beam cone of the beam source can be directed manually.