JP5386613B2 - 3D positioning system - Google Patents

Description

  The present invention relates to a system for carrying out a positioning operation called inking at various construction sites such as civil engineering and construction.

  Position measurement and positioning work at construction sites, etc., has a laser irradiation function and uses a three-dimensional measuring instrument (commercially available as a total station) that can automatically control the collimation direction with a telescope, etc. Improvements and work efficiency have been achieved.

  In a conventional 3D measurement system, for example, two workers, a worker who has a target for position measurement and a measurer who is in a remote place and collimated with a telescope of a 3D measuring instrument, are required. It is necessary to repeat the measurement until the position matches the target position, and it takes a lot of time to move and install the target, which increases the amount of work. Since the 3D measuring instrument can only be measured at a position where the laser can reach directly, it is difficult to measure in narrow spaces such as machine rooms and pipe shafts where there are many shadows.

  As another method, there is a method of calculating the tip coordinates of the bar from the coordinates using an indicator bar including two prisms. This also takes time for measurement, and there is a problem that accuracy decreases due to camera shake. If the distance between prisms is increased in order to improve accuracy, the indicator rod becomes longer and the operation becomes troublesome. In addition, in order to work alone, the prisms must be recognized alternately, but there are drawbacks such as camera shake that makes measurement difficult.

In JP-A-7-134029 “position surveying method”, a laser oscillator is mounted on a tracking target to be a target position, an automatic tracking type position sensor on a measurement point automatically searches for a tracking target, and wirelessly transmits position data. Further, a laser beam for marking is irradiated vertically downward from the laser oscillator. This method requires fine adjustment by feedback of the target position.

In Japanese Patent Laid-Open No. 2007-51910 “Three-dimensional coordinate measurement or marking method and positioning method using laser light”, the intersection of the optical paths of laser light irradiated from two directions in the optical path visualization module is used as a reference point, and vertically downward from the reference point. The three-dimensional position is specified as the coordinate position or the inking position. It also describes that a target prism is automatically tracked by a surveying instrument called a total station.

In Japanese Patent Laid-Open No. 2007-118165 “Black position recording device”, marking robots perform marking on the position of a mark point presented by a three-dimensional measuring instrument. A laser beam is irradiated from the stamp tip of the marking robot, and marking is performed by matching the stamp point with the mark point.

  As described above, the position measurement with the conventional three-dimensional measuring device has a weak point that it can be directly collimated by the three-dimensional measuring device and cannot be measured unless the laser reaches directly. Further, in the positioning operation, there is a possibility that a laser irradiation point and a target point may be shifted due to a construction error of an object to be positioned such as a floor, a wall, or a ceiling.

The first object of the reference example is to provide a three-dimensional measurement system that enables measurement in a narrow space.
The second object of the reference example is to provide a three-dimensional measurement system that enables measurement in a short time and can reduce the influence of camera shake.
The third object of the reference example is to provide a three-dimensional measurement system that can be measured even by one worker.
The fourth object of the reference example is to provide a three-dimensional measurement system having a pointer for indirectly measuring the coordinates of a point in the shadow that cannot be collimated directly by a three-dimensional measuring instrument.
An object of the present invention is to provide a three-dimensional positioning system having a marking device for correcting a formation error of a laser spot irradiated on a floor, a wall, a ceiling or the like.

  In order to solve the above-mentioned problems, the reference example is a system for measuring a three-dimensional target point in various constructions, and measures the three-dimensional coordinates of the point irradiated and collimated to transmit / receive data. A three-dimensional measuring instrument, a reference recognition target for specifying the installation position of the three-dimensional measuring instrument, an incident angle sensor for receiving a laser and measuring the incident angle, and a rotation angle around the laser receiving axis. A pointer having a tilt sensor to be measured and an indication point to be brought into contact with a target point; measurement data from the three-dimensional measuring instrument and the pointer; calculation of coordinates of the indication point of the pointer; and transmission / reception of data A three-dimensional measurement for measuring the three-dimensional coordinates of the indicated point by contacting the target point on the pointer with the target point To provide a stem.

  In order to solve the above-described problems, the present invention is a system for positioning and marking a three-dimensional target point in various constructions, which can measure the three-dimensional coordinates of a point collimated by irradiating a laser. A three-dimensional measuring instrument capable of irradiating a laser in an arbitrary direction, and a prism, a slider, and a marking means are mounted on the frame, and based on the prism position measurement result by the three-dimensional measuring instrument. A marking device capable of adjusting a position of the slider and marking a predetermined position, and the slider is movable in a longitudinal direction of the marking device with respect to the frame. The marking means and the reflecting plate are installed, and the frame receives a laser beam received on the front surface as viewed in the longitudinal direction of the marking device. A vertical slit is provided on the reflector, and a vertical line parallel to the axial direction of the laser that receives the moving direction of the slider by overlapping the slit light that has passed through the longitudinal slit. The marking means is provided on a straight line from the longitudinal slit to the vertical line when viewed in the longitudinal direction of the marking device, and irradiates the target point with a laser from the three-dimensional measuring instrument, The distance to the prism of the marking device adjusted so that the laser passing through the vertical slit overlaps with the vertical line is measured by the three-dimensional measuring instrument, and the slider is only a horizontal distance from the prism to the target point. The three-dimensional positioning system is characterized in that the marking is moved to a predetermined position by the marking means.

  In a preferred embodiment, the incident angle sensor of the pointer has a pinhole and a two-dimensional position detection device.

  As a more preferable aspect, the orientation of the marking device can be adjusted to be parallel to the axis of the received laser beam.

  As a more preferred aspect, the slider of the marking device is provided with a scale that can move along the longitudinal direction of the marking device and represents the movement distance.

According to the three-dimensional position measurement according to the reference example and the three-dimensional positioning system according to the present invention,
(1) It is possible to measure even in a narrow space because it does not require movement of a three-dimensional measuring instrument. (2) It can measure in a short time because of one-point measurement, and can reduce the effects of camera shake. (3) Work alone (4) Since it is an indirect measurement, even if the measurement target point is in the shadow, the position can be measured by placing the pointer pointing point. (5) The pointer can be miniaturized. (6) Three-dimensional If a measuring instrument is installed, it is possible to easily achieve high-accuracy ink marking thereafter. (7) Directly specifying the adjustment amount enables instantaneous and manual adjustment with sufficient accuracy. (8) Refer to laser spot. In this case, the inking position is determined by measuring the prism, so that there is an advantage that it is not affected by spot stretching.

The schematic perspective view of the three-dimensional position measurement by a reference example, and the three-dimensional positioning system by this invention. The perspective view of a pointer. Block diagram of a pointer control system. Three views of a marking device. Sectional drawing of an incident angle sensor. Angle measurement principle diagram of an incident angle sensor. The front view of the calibration apparatus for incident angle sensors. The graph showing the calibration data of angle (beta). The perspective view showing the setting of a coordinate system. The perspective view showing the measurement angle of an inclination sensor. The perspective view showing conversion by (alpha), (beta), and (gamma). The flowchart of the measurement system by a reference example. Sectional drawing which shows the position instruction | indication by a three-dimensional measuring device. Sectional drawing which shows the position instruction | indication which uses a marking apparatus. The perspective view of a slider. The top view showing adjustment of direction of a marking device. 2 is a flowchart of a positioning system according to the present invention.

  FIG. 1 shows a schematic process for performing three-dimensional position measurement according to a reference example and three-dimensional positioning according to the present invention. FIG. 1A shows a reference recognition target 16 with a three-dimensional measuring instrument 10 installed at a predetermined position. FIG. 1B is an external view of the process of measuring the installation position using the host computer 18, FIG. 1B is an external view of the process of measuring the position using the three-dimensional measuring instrument 10 and the pointer 12, and FIG. 1C is the marking of the three-dimensional measuring instrument 10 and marking. The preferred embodiment of the process of performing inking at a predetermined position using the device 14 is shown.

  The three-dimensional measuring instrument 10 is generally called a total station and is commercially available. The three-dimensional coordinates of the point collimated by the telescope can be measured by a light wave rangefinder and horizontal / vertical angle measurement. In addition, it is possible to irradiate a laser in an arbitrary direction by irradiating a laser beam that coincides with the line of sight and automatically controlling the horizontal and vertical angles. Furthermore, it has a function to automatically search and collimate the prism.

  The host computer 18 performs an interface with the operator, wireless control of the three-dimensional measuring instrument, wireless communication with the pointer (transmission / reception of operation commands and measurement data), and computation using the measurement data.

  The reference recognition target 16 is a target installed at a reference point or a reference line on the site in order to measure the installation position of the three-dimensional measuring instrument in the absolute coordinate system installed on the site. In the present invention, a self-supporting prism having a leveling function is used. The installation position measuring method is a conventionally known technique as described in the above-mentioned patent document.

  The pointer 12 shown in FIG. 2 has an incident angle sensor 30 that receives the laser beam 20 and measures the incident angle thereof, and a tilt sensor 25 that measures the rotation angle of the pointer around the laser axis. The coordinates of the indicated point can be measured using measurement data obtained by the original measuring instrument. The incident angle sensor 30 includes a pinhole 29 and a two-dimensional position detection device 32 (for example, PSD, CCD, CMOS, etc.), and measures the incident angle of the laser from the position irradiated with the laser that has passed through the pinhole 29.

  The pointer 12 shown in FIG. 2 is further provided with a grip 21 for an operator to hold, a pointing point 22 at a tip, a prism search button (turning button) 23, a measurement button 24, a light reception confirmation lamp 26, a wireless communication modem 27, a prism. 28, a circuit / battery storage box 31 is included.

  FIG. 3 shows a pointer control system, which includes a tilt sensor 25 and a microcomputer 34 in addition to the apparatus of FIG.

  An operator (operator) grips the grip 21 and uses it at the point where the indication point 22 is measured. The tilt sensor 25 shown in FIG. 3 can measure the entire circumference (360 °) around the rotation axis, and the normal line of the incident angle sensor 30 and the rotation axis are parallel in the circuit / battery storage box 31 in FIG. It is installed to become.

  The marking device 14 shown in FIG. 4 has a slider 40 that can move along a scale 46 printed along the longitudinal direction of the device. The marking device 14 is installed at a laser irradiation position, and the marking device 14 is aligned with the laser axis direction using a longitudinal slit 50 on the front surface of the device and a light receiving plate (reflecting plate) 51 installed on the slider 40. Here, the longitudinal slit 50 is used to adjust the direction of the apparatus by receiving a laser beam as slit light and receiving it with a reflector of the slider. Then, by measuring the position of the prism 41 by the three-dimensional measuring instrument 10, the axial distance from the prism 41 to the target position is calculated, and the position of the slider 40 is manually adjusted in the axial direction of the rail 45 to obtain an appropriate value. Mark the position.

  The marking device 14 shown in FIG. 4 further includes a position indicating needle 42, a marking hole 43, level adjusting screws 44 and 48, and a level 47, which are mounted on a support frame 49.

Position measurement using the pointer 12 is executed as follows.
(1) Configuration and Measurement Principle of Incident Angle Sensor FIG. 5 is a sectional view of the incident angle sensor 30 included in the pointer 12, and FIG. As shown in FIG. 5, the incident angle sensor 30 includes a pinhole 36 and a two-dimensional position detection element 32. When the laser 20 is irradiated to the pinhole 36 as shown in FIG. 6, the laser 20 that has passed through the pinhole 36 is irradiated to the light receiving surface of the two-dimensional position detection device as a spot S, and the output of S as the output of the two-dimensional position detection device. Coordinates (x _p , y _p ) are measured. α is an angle indicating the incident direction of the laser, and is obtained by the following equation.

  β represents the incident angle of the laser 20 with respect to the normal direction of the incident angle sensor 30, and is calculated by a conversion formula for β obtained using an incident angle sensor calibration device 60 as shown in FIG. That is, the sensor output r (Equation 1) with respect to the incident angle β of the laser 20 is measured with reference to FIG. 7, and plotted on a graph in which the horizontal axis is r (mm) and the vertical axis is β (degrees) as shown in FIG. A β conversion formula is obtained by approximating the data by the method of least squares.

  The incident angle sensor calibration device 60 of FIG. 7 further includes a laser light source 61, an optical axis adjustment mechanism 62, a laser light source fixture 63, a rotation mechanism 64, a horizontal stage 65, a coupling tool 66, and a rotation mechanism 67. .

(2) Principle of Point Point Coordinate Measurement As shown in FIG. 9, the coordinate system having the origin of the installation position of the three-dimensional measuring instrument 10 is Σ ₁ , and the coordinate system having the pinhole P ₀ of the pointer 12 as the origin is Σ ₂ . The coordinates of the pointer pointing point P in Σ ₁ can be measured using the coordinates of P ₀ measured by the three-dimensional measuring instrument 10 and the attitude of the pointer with respect to the laser. Parameters representing the posture of the pointer are the incident direction α of the laser, the incident angle β, and the rotation angle γ around the laser axis. α and β can be measured by an incident angle sensor. γ is measured by an inclination sensor, but γ depends on α, β and the irradiation angle θ in the vertical direction of the laser, and therefore cannot be obtained directly by the sensor. Therefore, γ is obtained from the output Ψ of the tilt sensor and α, β, θ.

As shown in FIG. 10, the output Ψ of the inclination sensor 25 includes a vector G (→ superscript) obtained by normal projection of the gravity direction vector G ₀ (→ superscript) in Σ ₁ onto the light receiving surface of the incident angle sensor, and Since it is equal to the angle formed by the measurement reference direction (vertical direction) vector M (→ superscript) of the sensor, the following equation holds.

Since the measurement reference direction of the tilt sensor 25 before conversion is consistent with the x-axis of the sigma _2, (superscript →) vector M is in the procedure shown m a (→ superscript) = [1,0,0] ^T below It is obtained by converting. In the following equations, Cθ represents Cos θ, and Sθ represents Sin θ.
1) rotates γ to sigma ₂ of z-axis around.

2) Conversion by α and β As shown in FIG. 11, the conversion by α and β is a vector ω (→ superscript) in Σ ₂ = [S (α−γ), C (α−γ), 0] ^T Is synonymous with β rotation around and is converted by the following equation.

3) rotates θ around the Y axis in sigma ₁

The vector G (→ superscript) is obtained by converting the gravity direction vector G ₀ (→ superscript) = [0,0, −1] ^T in Σ ₁ with a matrix Q that is orthogonally projected onto the light receiving surface of the incident angle sensor. It is done. If the direction cosine of the incident angle sensor light receiving surface is n (→ superscript) = [n ₁ , n ₂ , n ₃ ] ^T , the matrix Q is expressed by the following equation.

The direction cosine before conversion is equal to the z-axis direction in Σ ₂ and is expressed as n ₀ (→ superscript) = [0, 0, 1] ^T , which is expressed by α, β, γ, and θ as described above. When converted, the following formula is obtained.

Accordingly, the vector G (→ superscript) is expressed as follows.

  Γ can be obtained by substituting α, β, θ, and ψ into the equation obtained by substituting Equation 5 and Equation 8 into Equation 1.

Using the α, β, γ and L, φ, θ measured by the three-dimensional measuring instrument, the coordinates of the pointer pointing point P at Σ ₁ are obtained. As shown in FIG. 9, (El lowercase) the length l of the pointer 12, and the thickness direction of the offset from the P ₀ of the pointer shaft to d, P before conversion in sigma ₂ P [0, l, d]. P is converted to P ′ by the same conversion as Expressions 3 and 4.

Further, using the coordinates [X _T , Y _T , Z _T ] ^T of P ₀ in L, φ, θ, and Σ ₁ , the point P ′ is converted to a point P _T on Σ ₁ by the following equation.

Finally, according to the coordinate [X ₁ , Y ₁ , Z ₁ ] ^T of the Σ ₁ in the absolute coordinate system Σ ₀ set at the site ^T and the rotation angle ρ around the Z ₀ axis, P _T is increased on Σ ₀ using the following equation: It converted to _{P G} point of.
Here, [X ₁ , Y ₁ , Z ₁ ] ^T and ρ are values obtained by referring to a reference point on the site using a reference recognition target when the three-dimensional measuring instrument is installed on the site. It is.

(3) The measurement procedure is performed in the direction of the arrow in the flowchart of FIG.
Step 70: Start Step 71: Specify the measurement point Step 72: Press the turn button (prism search button) Step 73: Search for the prism Step 74: Irradiate the laser Step 75: Adjust the position of the pointer and make the laser incident angle Step 76: Press the measurement button Step 77: CMM and pointer measure each calculation parameter Step 78: Calculate and display the coordinates of the indicated point Step 79: Record the measurement data Step 80: End.

The principle and procedure of marking out by the marking device 14 are as follows.
(1) Principle of measurement Taking ink on the floor as an example. The three-dimensional measuring instrument 10 uses the origin coordinates of the coordinate system Σ ₁ of the three-dimensional measuring instrument 10 and the rotation angle around the Z axis with respect to the target point P on the absolute coordinate system Σ ₀ of the site input to the system. converted to the point of sigma ₁ Te, it obtains the altitude angle θ and the horizontal angle φ by expressing in polar coordinates, is irradiated with a laser in that direction.

However, as shown in FIG. 13, the three-dimensional measuring device when the height difference between the installation position and the target point P of 10 Delta] h is present, the laser irradiation from the horizontal distance L _d to the target point P in a position shifted by P '[Delta] L Is done. Therefore, as shown in FIG. 14, set up a marking device 14 to the laser irradiation point, the horizontal distance L ₀ to the prism is measured by a three-dimensional measuring device 10 determines the horizontal distance L ₁ from the prism to the target point P . By moving the slider 40 of the marking device 14 (FIG. 4) by L ₁ along the rail 45, it is possible to mark the target point P. At that time, the axial direction of the marking device 14 needs to be parallel to the axial direction of the laser.

  As shown in FIG. 15, a vertical line 53 is marked on the laser reflector 49 integrated with the slider 40. As shown in FIG. 16, when the marking device 14 is installed, the device is leveled and the laser is emitted. The direction of the apparatus is adjusted in the direction of the arrow so that the laser beam that has passed through the slit 50 overlaps the vertical line 53 of the reflector 49. Here, in FIG. 16, the prism is omitted in order to display the slit.

(2) The inking procedure is performed in the direction of the arrow in the flowchart of FIG.
Step 90: Start Step 91: Input the coordinates of the marking point Step 92: Irradiate the target point with laser Step 93: Install the marking device and adjust the leveling and orientation Step 94: Press the measurement button Step 95 : Measure the prism Step 96: Display the distance to the target point Step 97: Adjust the slider position Step 98: Mark Step 99: End.

  As described above in detail, according to the three-dimensional position measurement according to the reference example and the three-dimensional positioning system according to the present invention, since the movement of the three-dimensional measuring instrument is not required, measurement can be performed even in a narrow part. Therefore, it is possible to measure in a short time, reduce the effects of camera shake, enable one person to work, and since it is an indirect measurement, even if the measurement target point is in the shadow, the position can be measured by applying the pointer indication point The rod can be miniaturized, and if a 3D measuring instrument is installed, high-accuracy marking can be performed easily thereafter. By directly specifying the adjustment amount, adjustment with sufficient accuracy can be performed instantaneously and manually. There are many advantages, such as not being affected by spot stretching because the marking position is determined by measuring the prism without referring to the laser spot, and its technical value is extremely remarkable. .

DESCRIPTION OF SYMBOLS 10 Three-dimensional measuring instrument 12 Pointer 14 Marking apparatus 16 Target 18 Host computer 20 Laser beam 22 Pointing point 25 Inclination sensor 28 Prism 30 Incident angle sensor 32 Two-dimensional position detection device 36 Pinhole 40 Slider 45 Rail 46 Scale 49 Frame 50 Slit 51 reflector

Claims (3)

A system for positioning and marking three-dimensional target points in various constructions,
A three-dimensional measuring instrument capable of measuring the three-dimensional coordinates of the point collimated by irradiating the laser, and capable of irradiating the laser in an arbitrary direction;
A marking device in which a prism, a slider, and marking means are mounted on a frame, the position of the slider is adjusted based on a result of the prism position measurement by the three-dimensional measuring instrument, and marking can be performed at a predetermined position; With
The slider is movable in the longitudinal direction of the marking device with respect to the frame;
The slider is provided with the marking means and a reflector.
The frame is provided with a longitudinal slit on the front surface seen in the longitudinal direction of the marking device, with the received laser as slit light,
The reflecting plate has a vertical line written parallel to the axial direction of the laser that receives the moving direction of the slider by overlapping the slit light that has passed through the longitudinal slit,
The marking means is provided on a straight line from the longitudinal slit to the vertical line as seen in the longitudinal direction of the marking device,
The distance from the three-dimensional measuring instrument to the prism of the marking device, in which the target point is irradiated with laser and the laser that has passed through the longitudinal slit is adjusted to overlap with the vertical line, is measured with the three-dimensional measuring instrument. 3. A three-dimensional positioning system characterized by measuring and moving the slider by a horizontal distance from the prism to the target point and marking the ink at a predetermined position by the marking means.   The three-dimensional positioning system according to claim 1, wherein the frame is provided with a scale representing a moving distance along a moving direction of the slider. The three-dimensional positioning system according to claim 1 or 2,
Furthermore, it becomes an interface with an operator, can be operated using measurement data from the three-dimensional measuring instrument, and comprises a host computer capable of controlling the three-dimensional measuring instrument,
The three-dimensional measuring system can transmit and receive data to and from the host computer, and has a function of automatically searching and collimating the prism.