JPH0634368A - Position measuring and drawing device - Google Patents

Abstract

PURPOSE:To make data interchangeable and provide possibility of quick drawing by synthesizing the coordinate position data acquired through measurement of a plurality of positions into a single coordinates system, and preparing one plan view. CONSTITUTION:First the measurement takes place with a measuring head placed in the position P1, and then performed with the head placed in the position P2. A street light 53 has coordinates data (X1, Y1, Z1) while another 51 has coordinates data (X2, Y2, Z2), where the first measuring position P1 is set at the coordinates (0,0,0). If a second measurement takes place on the optical axis T2 of the point of origin from the position P2 having coordinates (XX, YY, ZZ), synthesizing can be made by determining the values of these coordinates (XX, YY, ZZ) and the angle So formed by the first time optical axis T1 to the second time optical axis T2. In this manner, the coordinates acquired from the first time measurement and those from the second time measurement are synthesized for the object concerned, and one plan is prepared. Therefore, measuring can be made with the device moved to other place.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position measuring and drawing apparatus for measuring the position coordinates of a predetermined object placed at the scene of a traffic accident and creating a plan view of the scene.

[Prior art]

When a traffic accident occurs, it is necessary to grasp the situation of the site for accident investigation, and a police officer conducts a live condition inspection and prepares a record, and as a part of it, the distance between related objects. A site sketch (plan view) as shown in Fig. 17, which clarifies the positional relationship between and around, is created.

When creating such a floor plan,
Conventionally, an investigator directly measures the distance between related objects using a tape measure, and creates a plan view using the measurement result. However, measuring with a tape measure requires manpower,
It may be necessary to work with traffic blocked for a long time for measurement, which may cause traffic congestion at a site with heavy traffic, or a worker may be collided with a vehicle passing by. Accompany. Therefore, it is necessary to shorten the working time on the road as much as possible.

Therefore, the applicant has a simple operation,
In addition to being able to perform measurement work at the traffic accident site in the shortest possible time, creating a site sketch at the accident site enables quick verification of the accident site against the completed site sketch,
A position measuring / plotting device that can be easily performed has been proposed (Japanese Patent Laid-Open No. 2-281380). The invention according to the application is provided on an image display unit for displaying a captured image while capturing a target (or marker) previously placed at a desired position in an accident scene with a capturing unit such as a television camera and capturing the target. A pointing head such as a cursor directs a measuring head composed of a photographing means and a position detecting means in the direction of the target, and the position detecting means detects a distance and an angle from a reference position to the target and coordinates thereof. Is calculated, and a site sketch is created based on the calculated coordinates.

[0005]

By the way, the location of a traffic accident is often an intersection with poor visibility, and in such a location, the photographing means and the position detection means remain fixed at one place. In this state, it may not be possible to measure the position of all the related objects related to the traffic accident or the scene. In such a case, it is necessary to use a plurality of position measurement drawing devices or change the setting position of one position measurement drawing device to measure the position of the related object from an appropriate angle.

When the positions of the related objects at the same accident site are measured from a plurality of positions, or when a traffic accident has occurred in the past at the same site, the position measurement / drawing device measures and calculates the position. By overlaying the data measured by other position measurement plotting devices on the floor plan created by the above, it is possible to quickly create a site sketch of the accident site and simplify the measurement work. is there.

Therefore, the present invention is compatible with data relating to a plan view measured and calculated by one position measurement drawing device and data obtained by measuring with another position measurement drawing device at the same site. It is an object of the present invention to provide a position measuring / plotting device capable of rapid plotting by providing data and utilizing data.

[0008]

As a means for solving the above technical problems, a position measurement plotting apparatus according to the present invention projects light from a light emitting unit onto a target arranged at an appropriate position and reflects the reflected light. A large number of spatial coordinates detected by the position detecting means with respect to a large number of target positions are provided by detecting the spatial coordinates of the target by measuring the distance to the target and its direction by capturing with a light receiving unit. In a position measurement plotting apparatus for creating a plan view from a second position measurement plotting apparatus, the position of the object is measured by a plurality of position measurement plotting apparatuses for measuring the position of a predetermined object to create a plan view. By superimposing the second coordinate calculated by measuring the positions of two or more points serving as the reference on the first coordinate measured by the first position measurement plotting device,
The coordinates of the position set by the second position measurement drawing device in the coordinate system measured by the first position measurement drawing device are calculated, and the coordinates of the object measured by the second position measurement drawing device are calculated as first coordinates. It is characterized in that the above plan view is created by synthesizing it with the coordinate system measured by the position measurement drawing device. Here, it goes without saying that a plurality of position measurement drawing devices are not necessarily required at the same time, and it is needless to say that the same device can be appropriately moved to another position and used in the same manner as a plurality of positions.

[0009]

For example, it is assumed that the position measuring / drafting device is used to create a site sketch of a traffic accident site. A position measurement plotter is set at an appropriate position on the accident site, and the coordinates (first coordinates) of a predetermined related object are measured to obtain data (1
Second measurement). If the coordinate measurement data cannot be acquired for all the related objects with the position measurement plotting device set at the one position, the position measurement plotting device is moved to a position where the target object that could not be captured can be captured. Let me set it.

Next, the coordinates of the related object including the coordinates (reference point) of the object such as a power pole, a road sign, and a streetlight measured in the first measurement are measured (second measurement). If this reference point is superposed on the position of the coordinate (first coordinate) measured in the first measurement, the object coordinate measured in the second measurement becomes the coordinate in the coordinate system measured in the first measurement. It is calculated.

Therefore, the coordinates of each related object obtained in the second measurement can be converted into the coordinate system of the first measurement. Further, when there is an object that cannot be measured even in the first and second measurements, the position measurement plotting device is moved to another new position, measured and coordinate-converted to be acquired by a plurality of position measurement plotting devices. The coordinates of the target object can be converted into a common coordinate system and can be created as a single site sketch.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The position measuring and drawing apparatus according to the present invention will be described in detail below with reference to the illustrated embodiments.

FIG. 8 is a perspective view showing a state in which the target 2 which is the target of the position measuring and drawing apparatus according to the present invention is fixed to the pole 1. The target 2 is fixed to the pole 1. Further, both ends of the pole 1 are sharply formed as stone protrusions 3a and 3b. When designating a position to be measured, one of the stone protrusions 3a and 3b is set to a position such as a ground or a road surface. The pole 1 is set in an upright position by pushing it to the part to be measured. Then, the distance measuring light (distance measuring light) emitted from the position detecting means described later is reflected by the targets 2 in a predetermined direction.

FIG. 9 shows a schematic structure of the position detecting means 4 and the target 2. The target 2 is an LED
And a reflector 22 such as a corner cube. Light incident on the target 2 is reflected by the reflector 22 in a predetermined direction. Also,
As shown in FIG. 10A, the light source 21 is arranged in a circular shape so as to surround the reflector 22, and the light source 21 is also arranged in the center of the reflector 22. If the light source 21 is also arranged in the central portion in this way, the image of the circular light source 21 becomes relatively large at the time of short-distance measurement, and the image of the light source 21 in which the four-division light receiving element described later is circularly arranged. Light source 21
It is possible to improve the controllability because the trapped light from the above does not stop entering the light receiving element.

As shown in FIG. 9, the position detecting means 4 is provided with a distance measuring light emitting element 4a as a distance measuring light emitting section and a distance measuring light receiving element 4b as a light receiving section. Distance measuring light emitted from the light emitting element 4a toward the target 2 is reflected by the reflector 22 and captured by the light receiving element 4b. The light emitted from the light-emitting element 4a for distance measurement passes through the beam splitter 4c, is reflected by the beam splitter 4d in a substantially right angle direction, and is projected onto the target 2. And
The reflected light from the target 2 is reflected by the beam splitter 4d, further reflected by the beam splitter 4c, and incident on the distance measuring light receiving element 4b. A capture light-receiving unit 5 for capturing the target 2 is disposed behind the beam splitter 4d, and light emitted from the light source 21 of the target 2 passes through the beam splitter 4d and enters the capture light-receiving unit 5. It is incident. The beam splitter
An objective lens 4e is provided in front of 4d.

As shown in FIG. 11, the capture light receiving section 5 has
Each of the light receiving elements 5a, 5b, is composed of a multi-divided light receiving element such as a four-divided light receiving element
The output signals of 5c and 5d are input to the position calculation means. Now, assuming that the output voltage values of these light receiving elements 5a, 5b, 5c, 5d are Ea, Eb, Ec, Ed, respectively, in the position calculating means, for example,

[Equation 1] (Ea + Eb)-(Ec + Ed) = K

## EQU2 ## (Ea + Ec)-(Eb + Ed) = L is calculated. These output voltage values Ea, Eb, Ec, Ed
5 changes when the four output voltages are not “0” and the values K and L in the equations 1 and 2 are both “0”, the values shown in FIG. As indicated by a symbol P in FIG. 5, the light from the light source 21 is incident on the central portion of the capture light receiving section 5, and the capture light from the light source 21 is evenly incident on the light receiving elements 5a, 5b, 5c, 5d.

Next, the configuration of the position measuring / plotting device according to the present invention will be described with reference to FIGS.

FIG. 12 shows a scene of a traffic accident or the like for which a site sketch is to be prepared. The photographing means 6 (see FIG. 14) such as a television camera and the position detecting means 4 are combined at appropriate positions on the scene. The measuring head 11 is installed and photographs the situation at the site. Further, the optical axis of the position detecting means 4 incorporated in the measuring head 11 and the optical axis of the photographing means 6 are parallel, and the photographing means 6 captures the target 2 near the center of the screen, and as described above. When the direction of the measuring head 11 is controlled so that the output voltages of the four-division light-receiving element are not all "0" but the values K and L of the equations 1 and 2 are both "0", The optical axis of the position detecting means 4 penetrates the center of 2. The measuring head 11 is supported by vertical rotating means 11a for appropriately tilting the direction of the measuring head 11 in a vertical plane and horizontal rotating means 11b for properly tilting the direction of the measuring head 11 in a horizontal plane. Rotating means 11
The measurement head 11, that is, the position detection means 4 is operated by the operation of a and 11b
The optical axis S (see FIG. 9) can be changed to an appropriate direction.

A control unit 13 shown in FIG. 13 is connected to the measuring head 11 by a cable 12, and the control unit 13 includes the position calculating means. The control unit 13 includes an image display means 14 such as a CRT for displaying an image photographed by the photographing means 6 incorporated in the measuring head 11 and a computer 15 for performing input / output processing and calculation. . Further, the computer 15 is connected with a mouse 16 which is an input means for inputting predetermined information regarding a site sketch to be drawn, and an XY plotter 17 for printing the sketch. Further, the control unit 13 is supplied with power from a backup power supply 18, and the backup power supply 18 is a cord.
Can be connected to commercial power via 18a
It can be connected to the on-board battery via b.

FIGS. 14 and 15 are block diagrams showing the configuration of the position measurement drawing device and a part of the signal. The light source 21 such as an LED is driven by an LED lighting circuit 21a,
The D-lighting circuit 21a drives the light source 21 according to the output signal of the state detection transmission circuit 23 that detects the states of various switches provided on the pole 1.

The trapped light emitted from the light source 21 is trapped by the trapping light receiving section 5 of the measuring head 11, and the output signal of the trapping light receiving section 5 is contained in the trapped light from the light source 21 of the control section 13. State detecting means 13a for detecting the state of the pole 1 from the signal
And the captured light from the light source 21 is input to the optical axis shift amount detection means 13b for detecting that the captured light is incident on the appropriate position of the captured light receiving section 5. Further, the distance measuring light emitted from the distance measuring light emitting element 4a of the measuring head 11 and reflected by the reflector 22 of the target 2 enters the optical distance meter 13c and enters the target 2
The distance to is measured. This lightwave rangefinder 13c is a rangefinder control command signal 13e from the computer 15e,
The reflector distance measurement data 13d is output to the computer 15a. The measuring head 11 is supported by the vertical rotating means (elevation motor) 11a and the horizontal rotating means (swing motor) 11b, and these motors 11a and 11b are driven by an angle command motor control signal 13f from a computer 15a. . The elevation encoder 11c and the swing encoder 11d are connected to the motors 11a and 11b, respectively, and the rotation angle positions of the motors 11a and 11b are the angle reading counters connected to the encoders 11c and 11d. Detected at 13g.

On the other hand, the photographing means 6 is controlled by a camera control signal 13h sent from the computer 15e of the control unit 13. Also, the TV image 13i output from the photographing means 6
Is a computer having an image switching function as shown in FIG.
15d and the still image holding means 13m.

When the output of the state detecting means 13a is a measurable signal, the computer 15a calculates the reflecting mirror position data 13j from the reflecting mirror distance measurement data 13d and the angle data of the output of the angle reading counter 13g. The obtained reflector position data 13j is used as data when the computer 15c performs sketch drawing processing to create sketch drawing data 13n. Further, the optical axis shift amount detection means 13b
And the output of the angle reading counter 13g is the angle movement command signal 13k.
At the same time, it is calculated by the computer 15b and output as the angle command motor control signal 13f. Also, the above T
The V image 13i is sent to the computer 15d and the still image holding means 13m, and the output of the still image holding means 13m is the computer.
It has been sent to 15d. In addition, the above sketch data 13n
Is also input to the computer 15d, and these are sent to the image display means 14 so as to be switchable through the computer 15f for performing image synthesis.
It is possible to select and display the situation of the site captured in step 3, the still image held by the still image holding means 13m, and the sketch data 13n being created or completed.

The computer 15c creates the sketch drawing data 13n by the drawing command signal 13o, and the sketch drawing data 13n is created.
13n is stored in the disk 13s from the disk drive 13r. In addition, the characters and symbols stored in the disk 13s in advance, the sketch frame 13t or the symbols and drawing patterns 13u
Data related to the drawing is provided from the disk drive 13r to the computer 15c.

The output signal of the mouse 16 is sent to the mouse driver 16a, and the mouse / cursor display signal 16b output from the mouse driver 16a is sent to the computer 15f.
Image is transmitted to the image display means 14 and is synthesized with another image.
In addition to being displayed on the computer, various control signals 13x are issued by the computer 15e to a predetermined part. Predetermined various command screen data 13y is also input to the computer 15e from the disk drive 13r, and is compared with the mouse / cursor display signal 16b to be various control signals 13x which are issued to predetermined portions. Also, screen data for various commands 13
y is sent to the computer 15f, displayed on the image display means 14, and used as a display when various commands are instructed by the mouse 16. The sketch print command signal 17a of the various control signals 13x is sent to the plotter controller 17b, and the plotter controller 17b drives the XY plotter 17.

The operation of the position measuring / drafting apparatus according to the present invention constructed as described above will be described together with the manner of creating a site sketch.

As shown in FIG. 12, the measuring head 11 is installed at an appropriate position on the site where the sketch is to be prepared. Since the measuring head 11 is provided with the position detecting means 4, the position detecting means 4 is also arranged on the site. On the other hand, the pole 1 to which the target 2 is attached is held at the position where the coordinates should be measured, and the light source 21 and the reflector 22 of the target 2 are held.
Is opposed to the measuring head 11. The image photographed by the photographing means 6 provided in the measuring head 11 is displayed on the image display means.
The mouse 16 is operated to give an instruction so that the target 2 is imaged on the target 14, and the vertical angle and the horizontal angle of the measuring head 11 are adjusted by the angle movement command signal 16k.

When the photographing means 6 of the measuring head 11 captures the target 2 near the center of the screen, the capture light emitted from the light source 21 of the target 2 enters the capture light receiving section 5 of the position detecting means 4. The light source 21 of the target 2
The captured light emitted from the captured light receiving portion 5 of the position detecting means 4
When incident on the light receiving element 5 of the capture light receiving unit 5,
It will be incident on any one or more of a, 5b, 5c, and 5d. The computer 15a, which is a position calculating means, performs the calculations shown in the above equations 1 and 2 from the output signal of the optical axis shift amount detecting means 13b.
An angle command motor control signal 13f, which is an actuation signal, is sent to the vertical rotation means 11a and the horizontal rotation means 11b so that the values K and L of the equation become equal to or less than predetermined values. That is, when the vertical rotation means 11a and the horizontal rotation means 11b are operated based on this operation signal, the direction of the optical axis of the position detection means 4 changes, so that the incident position on the capture light receiving unit 5 also changes. . While monitoring this change by the position calculation means, the position detection means 4 is appropriately rotated by the vertical rotation means 11a and the horizontal rotation means 11b so that the light captured by the light source 21 is received by the light receiving elements 5a, 5b, 5c. , 5d
So that the distance measuring light from the distance measuring light emitting element 4a of the position detecting means 4 is reflected by the reflector 22 of the target 2 and is incident on the distance measuring light receiving element 4b. If so, the distance measuring light emitted from the distance measuring light emitting element 4a toward the target 2 is reliably received.
Can be captured with 4b.

That is, if the distance measuring light emitted from the distance measuring light emitting element 4a is captured by the distance measuring light receiving element 4b, a straight line from the position detecting means 4 to the target 2 is obtained according to the principle of the known light distance meter. The distance can be measured. The angle rotated by the vertical rotation means 11a becomes the elevation angle or depression angle from the position detection means 4 to the target 2 in the vertical plane, and the angle rotated by the horizontal rotation means 11b is the deflection angle in the horizontal plane ( Therefore, the spatial coordinates (three-dimensional coordinates) of the target 2 can be calculated from these straight line distances, elevation angles, depression angles, and deflection angles.

A means for calculating the spatial coordinates of the target 2 will be described with reference to FIG. The position to be measured is indicated by the symbol Q, and the stone projection 3 of the pole 1 is pushed up at the position Q. Set the XYZ coordinates of the measurement reference point of the measuring head 11 to (0,
0, 0) and the coordinates of the measurement position Q are (DX, DY, D
Z). Further, the origin optical axis of the measuring head 11 is set to T ₀ , the direction thereof is set to the X axis direction, the direction of the rotating shaft (depression axis) of the vertical rotating means 11a of the measuring head 11 is set to the Y axis direction, and the horizontal direction. The direction of the turning axis (turning axis) of the turning means 11b is the Z-axis direction. Then, the position detecting means 4 of the measuring head 11
DS is the distance to the target 2 and AZ is the rotation angle of the turning axis.
If the rotation angle of the elevation axis is EL °, the target 2
Since the distance DD from the to the ridge 3 is known,

[Equation 3] DX = DS × COS (EL) × COS (AZ)

[Equation 4] DY = DS × COS (EL) × SIN (AZ)

## EQU00005 ## The spatial coordinates of the measurement position Q can be calculated by DZ = DS.times.SIN (EL) -DD. When the target 2 is on the origin optical axis T ₀ , AZ = 0 °, E
Since L = 0 °, DX = DS, DY = 0, DZ =-
It becomes DD.

Then, as shown in FIG. 12, poles 51, 52, street lights 53, road signs 54, pedestrian crossings 55, etc., which are related objects to be measured, are pointed by the pole 1, and the respective spatial coordinates are measured. Once the spatial coordinates for these objects of interest have been obtained, the coordinates are projected onto a horizontal plane. Then, the site sketch shown in FIG. 17 is created from these projected coordinates. The site sketch may be created with the image display means 14 being displayed, and printed by the XY plotter 17.

Next, based on FIGS. 1 to 7, when there are two reference points, the data of the accident site already acquired and the data of the accident site newly acquired are superimposed on each other to cause a traffic accident. The procedure for creating a floor plan regarding That is, depending on the traffic accident site,
When the measurement head 11 is fixed at one position, it may not be possible to measure the entire site. In that case, the measurement head 11 may be moved to another position or a plurality of measurement heads 11 may be used. Must be fixed at a predetermined position to acquire data at each position, and the data acquired at these one position and the other position must be superimposed. For example, as shown in FIG. 1, _first , the measurement head 11 may be placed on P ₁ for measurement (first measurement), and then the measurement head 11 may be placed on P ₂ for measurement (second measurement). ). In such a case, it is necessary to superimpose the data acquired at the respective positions of P ₁ and P ₂ to create a single site sketch.

First, two appropriate constituents serving as reference points are determined. This reference point is the street lamp 53 and the utility pole 51 in FIG. 1, and these two points are P ₁ (0, 0,
0), street lamp 53 (X1, Y1, Z1), telephone pole 51 (X2,
It has coordinate data of Y2, Z2). As shown in FIG. 1, when the second measurement is performed on the origin optical axis of T ₂ from the position of the P ₂ coordinate (XX, YY, ZZ) of the first measurement, this (X
X, YY, synthetic by obtaining the angle S0 value and T ₁ and T ₂ of the ZZ) performed. The second measurement, as shown in Figure 2,
According to the measurement of FIG. 16, P _{2 is set} to (0, 0, 0), and the coordinates of the street lamp 51 (XA (1), YA (1), ZA (1)) and the utility pole 53 are set with the T ₂ direction reference.
The coordinates (XB (1), YB (1), ZB (1)) are obtained. Figure 6
The step 601 shown in the flowchart of FIG. 6 is the measurement, and the distances L1 and L2 between the two points of the streetlight 53 and the utility pole 51 at the first and second measurements of the step 602 are calculated by the equations 6 and 7. Step 603 The judgment is made.

[6] L1 = {(X2-X1) 2 + (Y2-Y1) 2 + (Z2
-Z1) ² } ^1/2

Equation 7] L2 = {(XB (1) -XA (1)) 2 + (YB (1) -
YA (1)) ² + (ZB (1) -ZA (1)) ² } ^1/2 These steps 601 to 603 confirm that the same point is measured in the first and second measurements. The determination is made by whether or not the difference between the lengths of L2 and L2 is within the allowable range. If it does not fall within the allowable range, there is a possibility that the same point has not been measured. Therefore, the process returns to step 601, and the measurement is performed again.

When it is confirmed in step 603 that the same point is measured in the first and second measurements, the angle S0 formed by the origin optical axes T ₁ and T _{2 in} the _first and second measurements is confirmed in step 604. Is calculated by the equations (8), (9) and (10). 1
The straight angle S1, drawn utility pole 51 than street lamp 53 for T ₁ of the times th measurement, obtained from equation (8).

## EQU8 ## S1 = TAN ^-1 {(Y2-Y1) / (X2-X1)} The angle S2 formed by the straight line drawn from the streetlight 53 to the utility pole 51 with respect to T2 of the _second measurement is obtained from the equation (9).

[Equation 9] S2 = TAN ^-1 {(YB (1) -YA (1)) / (XB
(1) -XA (1)) } S1, S2 origin optical axis T _1, T ₂ of the angle S0 than the number 10
Calculate from the formula.

[Equation 10] S0 = (S1-S2)

Calculations for obtaining the coordinates (XX, YY, ZZ) of P ₂ from the angle S 0 calculated in step 604 are steps 605 and 606. As shown in FIG. 3A, in order to match the second-time measured value with the first-time measured value, the streetlight 53 and the utility pole 51 are rotated about P ₂ as the rotation center. The coordinates after rotation are (XA (2), YA (2), ZA (2)), (XB
(2), YB (2), ZB (2)),

[Expression 11] XA (2) = XA (1) × COS (S0) −YA (1) × SIN (S0)

[Equation 12] YA (2) = XA (1) × SIN (S0) + YA (1) × COS (S0)

[Equation 13] ZA (2) = ZA (1)

XB (2) = XB (1) × COS (S0) −YB (1) × SIN (S0)

[Formula 15] YB (2) = XB (1) × SIN (S0) + YB (1) × COS (S0)

[Expression 16] ZB (2) = ZB (1)

The rotation-corrected coordinates of the streetlight 53 in step 605 are translated so as to match the coordinates of the streetlight 53 measured from P ₁ (step 606). This movement amount indicates the position of P _{2 on} the first coordinate (XX, YY, ZZ). This parallel movement is shown in FIG.

[Expression 17] XX = X1-XA (1)

[Formula 18] YY = Y1-YA (1)

[Formula 19] ZZ = Z1−ZA (1) The coordinates after movement of the electric pole 51 are (XB (3), YB (3), ZB (3)).
Then,

XB (3) = XB (2) -XA (2) + X1 = XB (2) + XX

[Expression 21] YB (3) = YB (2) -YA (2) + Y1 = YB (2) + YY

ZB (3) = ZB (2) -ZA (2) + Z1 = ZB (2) + ZZ

The coordinates of the electric pole 51 calculated in step 606 should match the coordinates (X2, Y2, Z2) of the electric pole 51 of the first measurement (they do not completely match because there is a measurement error). There are many). This confirmation is performed in step 607.

[Equation 23] XB (3) -X2 <allowable range

[Equation 24] YB (3) -Y2 <allowable range

[Equation 25] ZB (3) -Z3 <allowable range

The conversion formula If with XYZ directions is a value within the allowable range is completed at step 606, the coordinates of the object measured at the origin optical axis T ₂ reference at P ₂ point (XN (1), YN
(1), ZN (1)) are converted on the first measurement coordinates as follows. {Coordinates after conversion: (XN (3), YN (3), ZN
(3))} Angle rotation correction

XN (2) = XN (1) × COS (S0) −YN (1) × SIN (S0)

XN (2) = XN (1) × SIN (S0) + YN (1) × COS (S0)

[Equation 28] ZN (2) = ZN (1) parallel movement correction

[Expression 29] XN (3) = XN (2) + XX

[Formula 30] YN (3) = YN (2) + YY

[Equation 31] ZN (3) = ZN (2) + ZZ

If the horizontal adjustment of the measuring head 11 with respect to the ground at the time of the first and second measurements is sufficiently adjusted to the extent that it does not affect the desired measurement accuracy, step
In the confirmation of 606, the error in the Z direction is suppressed within the allowable range. However, in practice, such horizontal adjustment is quite difficult, and therefore a method of correcting by calculation when an error occurs is more practical. 4, FIG. 5 (a),
FIGS. 5B and 7 show an example of this arithmetic correction.
In FIG. 4, as a result of performing the coordinate conversion in steps 601 to 606, the coordinates of the electric pole 51 become (XB (3), YB (3), ZB (3)) and the first measurement data (X2, Y2, Z2). ) With an error.

As shown in FIG. 4, in step 701, the streetlight 5
Perform parallel movement so that the coordinates of 3 become P ₁ . After this movement, the coordinates of the first measurement data of the utility pole 51 are changed to (X3, Y3, Z3
) The second measurement coordinate is (XB (4), YB (4), ZB
(4)), the first measurement data coordinates

[Expression 32] X3 = X2-X1

[Expression 33] Y3 = Y2-Y1

[Equation 34] Z3 = Z2-Z1 Second measurement coordinates

(35) XB (4) = XB (3) −X1

[Equation 36] YB (4) = YB (3) −Y1

[Equation 37] ZB (4) = ZB (3) −Z1

As shown in FIG. 5A, in step 702, the coordinates of the electric pole 51 are rotated by S3 so that the Y-direction component is eliminated. The coordinate of the first measurement data after this movement is (X
4, Y4, Z4), the second measurement coordinates (XB (5), YB
(5), ZB (5)),

[Equation 38] S3 = TAN ^-1 (YB (4) / XB (4)) First measurement data coordinates

[Formula 39] X4 = X3 × COS (S3) -Y3 × SIN (S3)

[Equation 40] Y4 = X3 × SIN (S3) + Y3 × COS (S3)

[Formula 41] Z4 = Z3 Second measurement coordinates

[Equation 42] XB (5) = XB (4) × COS (S3) −YB (4) × SIN (S3)

[Formula 43] YB (5) = XB (4) × SIN (S3) + YB (4) × COS (S3)

[Expression 44] ZB (5) = ZB (4)

FIG. 5B is a view of FIG. 5A viewed from the AA direction (the Z-axis direction is the vertical direction of the paper surface).
The amount of deviation S4 of the first and second measurements is exaggerated. If the second measured value is rotated by the angle S4 which is the amount of this deviation, the directions of the first and second measured values match. (Step 703) The second measurement coordinate after this movement is set to (XB
(6), YB (6), ZB (6)),

[Formula 45] S4 = TAN ^-1 (Z4 / X4) -TAN ^-1 (ZB (5) / XB (5)) Second measurement coordinates

XB (6) = XB (5) × COS (S4) −ZB (5) × SIN (S4)

[Equation 47] YB (6) = YB (5)

[Formula 48] ZB (6) = XB (5) × SIN (S4) + ZB (5) × COS (S4)

The first and second coordinates that have matched are converted into the original (X
2, Y2, Z2) to obtain FIG. 4, FIG.
The angle S rotated to calculate the angle of the shift amount in (b)
The amount of parallel movement to 3 and P ₁ is returned, and finally the coordinates of the electric pole 51 become (XB (8), YB (8), ZB (8)). this is,
It agrees with the first measurement data (X2, Y2, Z2). (Steps 704, 705)

XB (7) = XB (6) × COS (−S3) −YB (6) × SIN (−S3)

[Expression 50] YB (7) = XB (6) × SIN (−S3) + YB (6) × COS (−S3)

[Equation 51] ZB (7) = ZB (6)

[Equation 52] XB (8) = XB (7) + X1

[Equation 53] YB (8) = YB (7) + Y1

[Equation 54] ZB (8) = ZB (7) + Z1

[0044]

As described above, according to the position measurement plotting apparatus of the present invention, the first measurement of the object acquired by the position measurement plotting apparatus set at the position of the first measurement is performed.
The first coordinate acquired at the first measurement position where the position measurement plotting device is set by superimposing the coordinate and the second coordinate obtained by the position measurement plotting device set at the second measurement position. Since the coordinates in the coordinate system are calculated and the coordinates obtained in the second measurement are converted into the coordinate system of the first coordinate, the related object is obtained in each of the first measurement and the second measurement. The coordinates can be combined to create a single plan.

Therefore, even if the positions of all the related objects cannot be measured at only one position in a traffic accident, the position measurement plotting device is moved to another position to move the positions of the related objects. It is possible to measure, and it is possible to create an almost accurate site sketch.

Further, since it is possible to combine the position measurement drawing devices even if the positions are set differently, for example, in the site sketch created in the past traffic accident, the position of the related object relating to the newly generated traffic accident can be set. Can be synthesized. Therefore, it is possible to shorten the on-site verification work and prevent traffic congestion as much as possible.

[Brief description of drawings]

FIG. 1 is a schematic plan view of a traffic accident scene showing a case in which two measurement positions are used and a position measurement drawing apparatus according to the present invention is used to create a sketch of the traffic accident scene.

FIG. 2 is a diagram for explaining the content of processing of the flowchart shown in FIG.

FIG. 3 is a diagram for explaining the content of processing of the flowchart shown in FIG.

FIG. 4 is a diagram for explaining the content of processing of the flowchart shown in FIG. 7.

5 is a diagram for explaining the content of the process of the flowchart shown in FIG. 7, and FIG. 5 (b) is a view taken along the line AA in FIG.

FIG. 6 is a flowchart showing a procedure for synthesizing results measured from two measurement positions.

FIG. 7 is a flowchart showing a procedure for synthesizing results measured from two measurement positions.

FIG. 8 is a perspective view of a pole to which a target used in the position measurement drawing device according to the present invention is fixed.

FIG. 9 is a schematic diagram for explaining the structure of an apparatus for aiming at a target of the position detecting means.

FIG. 10 is a diagram showing a schematic configuration of a target, (a)
Is a front view and (b) is a side view.

FIG. 11 is a schematic perspective view illustrating the structure of a capture light receiving unit.

FIG. 12 is an explanatory diagram of a site used for creating a site sketch.

FIG. 13 is a schematic configuration diagram related to a control unit of the position measurement drawing device.

FIG. 14 is a block diagram showing a part of the configuration of the target and the position measurement drawing device, and part of the structure is shown redundantly with FIG.

FIG. 15 is a block diagram showing a part of the configuration of a target and a position measurement drawing device, and part of the structure overlaps with FIG.

FIG. 16 is a schematic perspective view for explaining calculation of an instructed predetermined measurement position.

FIG. 17 is a site sketch of a site created by the position measurement drawing device according to the present invention.

[Explanation of symbols]

 1 pole 2 targets 3a, 3b stone protrusion 4 position detecting means 4a distance measuring light emitting element 4b distance measuring light receiving element 5 capture light receiving section 11 measuring head 11a vertical rotation means 11b horizontal rotation means 13 control section 14 image display means 15 Computer 16 Mouse 17 X-Y plotter 18 Backup power supply 21 Light source (capture light emitting part) 22 Reflector

Claims (1)

[Claims] 1. A spatial coordinate of the target is detected by measuring the distance and the direction to the target by projecting light from a light emitting unit to a target arranged at an appropriate position and capturing the reflected light by a light receiving unit. In a position measurement drawing device that includes position detection means and creates a plan view from a large number of spatial coordinates detected by the position detection means with respect to a large number of target positions, measures the position of a predetermined object to create a plan view. The position of the object is measured by a plurality of position measurement drawing devices, and the second
By superimposing the second coordinate calculated by measuring the positions of two or more points serving as a reference by the position measurement plotting device of No. 1 on the first coordinate measured by the first position measurement plotting unit, The coordinate of the position set by the position measurement plotting device is calculated in the coordinate system measured by the first position measurement plotting device, and the coordinates of the object measured by the second position measurement plotting device are calculated as the first position measurement plotting. A position measurement plotting device characterized in that the above plan view is created by synthesizing the coordinate system measured by the device.