EP2936053A1 - Procédé et dispositif de détermination des coordonnées locales d'un objet cible - Google Patents

Procédé et dispositif de détermination des coordonnées locales d'un objet cible

Info

Publication number
EP2936053A1
EP2936053A1 EP13802658.8A EP13802658A EP2936053A1 EP 2936053 A1 EP2936053 A1 EP 2936053A1 EP 13802658 A EP13802658 A EP 13802658A EP 2936053 A1 EP2936053 A1 EP 2936053A1
Authority
EP
European Patent Office
Prior art keywords
laser
distance measuring
laser distance
target object
measuring device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP13802658.8A
Other languages
German (de)
English (en)
Inventor
Christoph Wuersch
Andreas Winter
Torsten Gogolla
Till Cramer
Herwig Habenbacher
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hilti AG
Original Assignee
Hilti AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hilti AG filed Critical Hilti AG
Publication of EP2936053A1 publication Critical patent/EP2936053A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves

Definitions

  • the present invention relates to a method for determining the location coordinates of a target object according to the preamble of claim 1 and to an apparatus for determining the location coordinates of a target object according to the preamble of claim 6.
  • PRIOR ART DE 10 2010 023 461 A1 discloses an apparatus for determining two-dimensional spatial coordinates of a target object consisting of a target device, a first measuring device designed as a rotary laser which emits a first rotating laser beam, a second measuring device designed as a rotary laser and a second rotating laser beam emits, and a control device with a control and an evaluation.
  • the two rotating lasers and the target device are connected to the control device via suitable communication links.
  • the aiming device comprises a reflector element which is attached to the target object and which marks the location coordinates of the target object, and two reception elements which are attached to the rotary lasers and detect the laser beams reflected on the reflector element.
  • the first rotating laser beam is reflected at the reflector element and impinges on the first receiving element of the target device, which sends a first information signal to the control device upon receipt of the first laser beam.
  • the second rotating laser beam is reflected at the reflector element and impinges on the second receiving element, which transmits a second information signal to the control device upon receipt of the second laser beam.
  • the control device receives information about the times at which the first and second laser beam were detected by the receiving elements.
  • the two rotating lasers are each equipped with an angle measuring device. At the time at which the receiving elements receive the respective laser beam, the current angle of the rotation laser is detected by the angle measuring device and transmitted to the control device.
  • the evaluation element calculates the Control device, the spatial coordinates of the target object by triangulation.
  • Triangulation is based on the basic idea that a triangle has three sides and three interior angles and that the three unknown sizes of the triangle can be calculated for three known quantities.
  • the known device for determining the location coordinates of a target object has the disadvantage that the first and second measuring device each require an angle measuring device which increases the complexity and cost of the measuring devices.
  • the known device is only suitable for determining two-dimensional location coordinates within a measurement plane, three-dimensional location coordinates in a measurement space can not be determined. Due to the rotating laser beams of the two measuring devices a simultaneous measurement is not possible.
  • the time-shifted measurement results in measurement errors in the location coordinates of the target object, especially for target objects that move quickly within the measurement plane.
  • the determination of the spatial coordinates by triangulation via harmonic measurements also has the disadvantage that the measurement error is proportional to the distance. Especially at long distances, for example, greater than 30 m, a high accuracy of the angle measuring devices is required, which further increases the costs of the Wnkel- measuring devices and thus the known device for determining the location coordinates.
  • EP 0 717 261 B1 discloses an apparatus for determining three-dimensional spatial coordinates of a target object in a three-dimensional measuring space by means of triangulation.
  • the three-dimensional measuring space is subdivided into a two-dimensional measuring plane and a direction perpendicular to the measuring plane.
  • the device consists of a target device which marks the target object, a horizontal device for determining the two-dimensional spatial coordinates of the target object in the measurement plane and a vertical device for determining the spatial coordinate of the target object in the vertical direction and a control device with a control element and an evaluation element ,
  • the horizontal device comprises a first measuring device designed as a rotary laser, which emits a first laser beam rotating in the measuring plane, and a second measuring device designed as a rotary laser, which emits a second laser beam rotating in the measuring plane;
  • the vertical device comprises a third measuring device designed as a rotary laser which emits a rotating third laser beam perpendicular to the measuring plane.
  • the rotary laser and the target device are connected to the control device via suitable communication links.
  • Each rotating laser includes a transmitting element that emits the laser beam, a transmitter that emits an information signal, and a reference mark that defines a reference angle.
  • the transmitter sends an information signal which is transmitted to the target device and detected by a detector of the target device.
  • the aiming device comprises a first detector for receiving the laser beams and a second detector for receiving the information signals.
  • the first detector has a plurality of receiving elements which emit an electrical pulse when a laser beam strikes; the electrical pulse is transmitted via the communication link to the control device.
  • the control device determines the angles of the target object from the times at which the laser beams and the information signals are detected by the target device.
  • the known device for determining the location coordinates of a target object has the disadvantage that a high accuracy in the angle measurements increases the requirements on the rotational angular velocities. Especially at long distances, for example, greater than 30 m, the angular velocity must be very uniform. The high constancy of the angular velocity requires a complex mechanism with high accuracy, which makes the mechanics on the one hand very costly and on the other hand very prone to error. Due to the rotating laser beams a simultaneous measurement is not possible. The time-shifted measurement leads to measurement errors in the location coordinates of the target object, especially for target objects that move quickly within the measurement area.
  • the object of the present invention is to develop a method for determining the spatial coordinates of a target object in two or three dimensions, which is suitable for indoor use and provides accurate location coordinates for the target object.
  • an apparatus suitable for the method according to the invention for determining the location coordinates of a target object is to be developed, wherein the location coordinates can be determined with high accuracy with limited apparatus complexity.
  • the method for determining the location coordinates of a target object in a measurement area in at least two dimensions is characterized in that: ⁇ in a first step, the target comprises a target device with a reflector member is positioned and a first fundamental spacing between a first and second laser distance measuring device is dance determined,
  • a first distance from the first laser distance measuring device to the target object and a second distance from the second laser distance measuring device to the target object by means of laser distance measurement Laserdistanzmesseinnchtitch be determined
  • the location coordinates of the target object are calculated from the distances by means of a control device. Determining the location coordinates of a target object with the help of laser distance measuring devices has the advantage that no expensive angle measuring device is required and the location coordinates can nevertheless be determined with a high degree of accuracy. Laser distance measurement is an established technology, and laser distance measuring systems have a cost advantage over total stations, which have an angle measuring device in addition to a laser distance measuring device.
  • the two sub-steps of the first step, positioning the target device on the target object and determining the first basic distance can be performed in any order or simultaneously.
  • a second basic distance between the first and a third laser distance measuring device and / or a third basic distance between the second and the third laser distance measuring device is additionally determined in the first step, in the second step a third distance from the third laser distance measuring device to the target object is additionally performed Determined laser distance measurement by means of the third laser distance measuring device and in the third step, the location coordinates of the target object are additionally calculated from the third distance and the second and / or third base distance.
  • the third laser distance measuring device also makes it possible to determine three-dimensional spatial coordinates of a target object in a measuring space.
  • the geometry of the target device, the arrangement of the Laserdistanzmesseinnchtitch in the measurement area and the expansion and / or movement of the laser beams, whether the device for determining two- or three-dimensional spatial coordinates can be used decides.
  • an aiming device in the form of a circular cylinder or a circular cylinder section is used and for determining three-dimensional location coordinates, a spherical or spherical section-shaped aiming device is used.
  • the three laser distance measuring devices form a right-angled triangle
  • only one further basic distance is required in addition to the first basic distance between the first and second laser distance measuring devices, either the second basic distance between the first and the third laser distance measuring device or the third basic distance between the first and third laser distance measuring devices second and third laser distance measuring device.
  • the second and third basic distances are required for the determination of the location coordinates and are determined in the first step of the method according to the invention.
  • the first, second and / or third basic distance is determined by laser distance measurement by means of the first, second and / or third laser distance measuring device. Since the distances to the target object from the laser distance measuring devices are determined by laser distance measurement, it is advantageous to also determine the base distances between the laser distance measuring devices by laser distance measurement. Compared to mechanical spacers with a measuring scale, laser distance measurement offers the advantage of a longer range. In addition, the laser distance measurement of the basic distances can be more easily integrated into an automated sequence of the method steps.
  • a laser distance measurement to the other laser distance measuring devices is carried out by each laser distance measuring device, and the base distances between the laser distance measuring devices are averaged from a plurality of distance values.
  • the accuracy of the base distances and thus the accuracy of the location coordinates of the target object are increased.
  • the laser distance measurement from the first, second and / or third laser distance measuring device to the target object is preferably triggered by the control device at the same time.
  • the simultaneous triggering of the laser distance measurements has the advantage that measuring errors are reduced, especially in the case of fast moving target objects.
  • the device for determining the location coordinates of a target object in a measurement area comprises at least two dimensions:
  • a first laser distance measuring device having a first transmitting element which emits a first laser beam, a first receiving element which receives a first laser beam at least partially reflected by the reflector element as the first receiving beam, and a first control element; ⁇ a second laser distance measuring device with a second transmitting element which emits a second laser beam, a second receiving element which receives a second laser beam at least partially reflected by the reflector element as a second receiving beam, and a second control element, and
  • ⁇ a control device with a control element for controlling the laser distance measuring devices and an evaluation element for calculating the location coordinates of the target object.
  • the device according to the invention makes it possible to determine the location coordinates of a target object without angle measuring device with high accuracy.
  • a cost-effective device can be realized, which can measure the location coordinates of the target object with high accuracy.
  • Laser dispensing measuring devices have a cost advantage over total stations with a Wnkelmess worn.
  • a third laser distance measuring device is provided with a third transmitting element which emits a third laser beam, a third receiving element which receives a third laser beam at least partially reflected by the reflector element as a third receiving beam, and a third control element.
  • the third laser distance measuring device when determining two-dimensional location coordinates in a measurement plane, increases the accuracy with which the location coordinates can be determined and makes it possible to determine three-dimensional location coordinates.
  • the geometry of the target device, the arrangement of the laser distance measuring devices and the widening and / or movement of the laser beams decide whether the device can be used to determine two- or three-dimensional position coordinates.
  • the three laser beams propagate parallel to the measurement plane.
  • at least one laser beam must propagate non-parallel to a plane.
  • the first, second and / or third laser distance measuring means preferably has a reflection surface for reflecting the first, second and / or third laser beam. The basic distances between the laser distance measuring devices can be determined with the help of the reflection surfaces.
  • a reflection surface is provided at each laser distance measuring device and the base distances between the laser distance measuring devices can be averaged from a plurality of distance values, whereby the accuracy of the base distances is increased.
  • the first, second and / or third laser distance measuring device has a beam-shaping optical system which expands the first, second and / or third laser beam with an opening angle greater than 80 °. In this case, the widening of the laser beams can take place in one or two directions perpendicular to the direction of propagation of the laser beams.
  • the unidirectional expansion produces a line beam suitable for the determination of two-dimensional spatial coordinates
  • the bi-directional expansion produces a spherical segmented laser beam for the determination of three-dimensional spatial coordinates.
  • the expansion of the laser beams by beam shaping optics offers the possibility of using stationary laser distance measuring devices. With stationary laser distance measuring devices, the laser distance measurements can be triggered at the same time, which is advantageous in the case of fast-moving target objects and reduces measurement errors.
  • the laser distance measuring devices are arranged outside the measuring area or at the edge of the measuring area and aligned so that the expanded laser beams can cover the entire measuring area. The widening of the laser beams with an opening angle greater than 80 ° is particularly suitable for the determination of two-dimensional spatial coordinates.
  • the laser beam is widened in a spherical segment in two perpendicular directions by an opening angle greater than 80 °, there is a risk in the case of a limited power of the laser beam that the power density of the receiving beam is too low for the evaluation. If sufficient power is available for the laser beam, a spherical segmented laser beam with aperture angles greater than 80 ° can be used to determine three-dimensional location coordinates.
  • beam-shaping optical system encompasses all beam-shaping optical elements which expand, collimate or focus a laser beam.
  • the beam shaping optics can consist of an optical element, in which one or more optical functions are integrated, or of a plurality of successively arranged optical elements. Cylindrical lenses, cone mirrors and similar optical elements are suitable as beam shaping optics for expanding a laser beam.
  • the beam-shaping optical system expands the first, second and / or third laser beam in a direction substantially parallel to the measurement plane.
  • the beam-shaping optical system collimates or focuses the first, second and / or third laser beam particularly preferably in a direction substantially perpendicular to the measurement plane.
  • This beam-shaping optical system is particularly suitable for the determination of two-dimensional spatial coordinates and has the advantage that the available power of the laser beam is used optimally. In the determination of two-dimensional spatial coordinates in the measurement plane, no widening of the laser beams is required in the direction perpendicular to the measurement plane. The limited power of the laser beam is distributed in the measuring plane.
  • laser sources of laser class 2 may have a maximum power of 5 mW. If the laser beam is widened too much, there is a risk that the power density of the receiving beam is too low to be reliably detected and evaluated by the receiving element.
  • the first, second and / or third laser distance measuring device has a motor unit, wherein the motor unit moves the first, second and / or third laser beam about an axis of rotation perpendicular to the measuring plane or about a pivot point. The rotation of the laser beams is useful if the power density of the laser beams after the expansion is too small to obtain a sufficiently strong reception beam for the laser distance measurement.
  • the rotation of the laser beams about the axis of rotation perpendicular to the measuring plane can be carried out as a rotating, scanning or tracking movement.
  • the laser beams are continuously rotated about the rotation axis during the rotating movement, periodically reciprocated during the scanning movement about the rotation axis, and in the tracking motion, the laser beams follow the target device.
  • the rotation of the laser beams about a pivot point is provided for the determination of three-dimensional location coordinates and is preferably used with a tracking device that tracks the moving target device.
  • the motor unit of the second variant can be combined with beam shaping optics that collimate or focus the laser beams.
  • the first, second and / or third laser distance measuring device to a beam shaping optics and a motor unit, wherein the beam shaping optics expands the first, second and / or third laser beam with an opening angle of up to 10 ° and the motor unit, the first, second and / or third expanded laser beam is moved about an axis of rotation perpendicular to the measurement plane or about a pivot point.
  • the expansion of the laser beams and the rotation about a rotation axis (two-dimensional) or a fulcrum (three-dimensional) can be combined.
  • the laser beams are expanded by a beam shaping optics up to 10 ° and the expanded laser beams are moved by a motor unit about an axis of rotation or about a pivot point.
  • the combination of beam expansion and rotation enables the detection of receive beams with a sufficiently high power density for the receive beam.
  • the widening of the laser beams can take place in one or two directions perpendicular to the propagation direction of the laser beams.
  • the rotation of the laser beams can be performed as a rotating, scanning or tracking movement.
  • the reflector element is formed in a preferred embodiment as a rotationally symmetrical body or as a section of a rotationally symmetrical body.
  • a rotationally symmetrical body has the advantage that the distance from the surface to the center is identical from all directions.
  • the location coordinates of the target object lie on the cylinder axis of the circular cylinder or in the center of the sphere.
  • the radius of the circular cylinder or the ball is stored in the control device or is entered by the operator into the control device. For the calculation of the spatial coordinates, the radius of the target device is added to the measured distance between the laser distance measurement device and the target device.
  • the target device of the device according to the invention is attached to a hand-held tool device.
  • the current location coordinates of the tool device can be determined with the device according to the invention.
  • FIGS. 1A, B show a first embodiment of a device according to the invention for determining two-dimensional spatial coordinates of a target object comprising a target device, a first and second laser distance measuring device and a handpiece (FIG. 1A) and a schematic representation of the geometric relationships for determining the position coordinates
  • FIG. 2 shows the device of FIG. 1 with the aiming device, the Laserdistanzmessein- directions and the handpiece in the form of a block diagram;
  • FIG. 3 shows a second embodiment of a device according to the invention for determining spatial coordinates of a target object in three dimensions in a schematic representation consisting of a target device and three laser distance measuring devices.
  • FIGS. 1 A, B show a first embodiment of a device 10 according to the invention for determining the location coordinates X M , YM of a target object 1 1 in a measurement area 12.
  • the measurement area 12 is designed as area and the location coordinates X M , YM of the target object 11 are two-dimensional.
  • FIG. 1A shows the essential components of the device 10 in a schematic representation.
  • the apparatus 10 comprises a sighting device 13, a first laser distance measuring device 14, a second laser distance measuring device 15 and a handpiece 16 with a control device 17.
  • the target device may be integrated into the handle.
  • the position of the target object 1 1 in the measurement plane 12 is marked by means of the target device 13.
  • the aiming device 13 has a reflector element 18 for reflecting laser beams of the first and second laser distance measuring devices 14, 15.
  • the reflector element 18 is in the manner shown in FIG. 1A embodiment designed as a circular cylinder and the
  • Location coordinates of the target object 11 lie on the cylinder axis 19 of the reflector element 18.
  • the spatial coordinates of the target object 1 1, which are arranged in the center have the same distance to each point on the surface. This condition is fulfilled in the plane by a circle or a circle section.
  • the distance from the surface of the reflector element 18 to the target object 1 1 is stored in the control device 17 or is input to the control device 17 by the operator.
  • the reflector element 18 may be attached to a yardstick 20 and is positioned by the operator on the target object 1 1.
  • a leveling device may be used.
  • the target device 13 may be attached to a wall or a ceiling, placed on a floor, or attached to, for example, a vehicle or a power tool. The operation of the device 10 via the handle 16, the operator in the
  • the first and second laser distance measuring devices 14, 15 perform one or more distance measurements and transmit the calculated distance values to the control device 17 in the handpiece 16.
  • the laser distance measuring devices 14, 15 are connected to the control device 17 via communication links 21, 22.
  • the handpiece 16 has, in addition to the control device 17, a display device 23 with a display 24 and an operating device 25.
  • the control device 17 of the device 10 is arranged in the handpiece 16 and connected to the laser distance measuring devices 14, 15 via the communication links 21, 22.
  • the control device 17 may be arranged in the first or second laser distance measuring device 14, 15.
  • FIG. 1B shows the geometric dimensions between the target device 13 and the laser distance measuring devices 14, 15, which are used to determine the two-dimensional spatial coordinates of the target object 1 1.
  • the first and second laser distance measuring devices 14, 15 are spaced from each other so arranged to the target object 1 1 that the target object 1 1 is not on the connecting line between the laser distance measuring devices 14, 15; otherwise, a third laser distance measuring device is added, which increases the accuracy when the target object 1 1 is positioned near the connecting line.
  • the two-dimensional spatial coordinates X M , Y M of the target object 1 1 are determined from a basic distance Li between the first and second laser distance measuring devices 14, 15, a first distance Di from the first laser distance measuring device 14 to the target object 1 1 and a second distance D 2 from the second Laser distance measuring device 15 to the target object 1 1 determined.
  • the basic distance L can be determined by laser distance measurement of the first and / or the second laser distance measuring device 14, 15. In order to increase the accuracy of the laser distance measurement, both laser distance measuring devices 14, 15 can perform a laser distance measurement and the measured distances are averaged.
  • a reflection surface is mounted, which reflects the laser beam of the other laser distance measuring device 15, 14.
  • FIG. 1 A shows an embodiment with a first reflection surface 26 at the first laser distance measuring device 14 and a second reflection surface 27 at the second laser distance measuring device 15.
  • the first and second reflection surface 26, 27 are circular cylindrical or formed as a section of a circular cylinder, for devices for determining dreidimensio - In the case of spatial coordinates, spheres or sphere sections are suitable as reflection surfaces for determining the base distances.
  • the first and second Laserdistanzmessein- direction 14, 15 may be mounted on a mechanical spacer with measuring scale. The operator reads the distance on the measuring scale and inputs it via an operating device 25.
  • the first and second laser distance measuring devices 14, 15 each perform a laser distance measurement to the target object 1 1.
  • the laser distance measurements to the target object 1 1 can be performed simultaneously or offset in time.
  • the simultaneous triggering of the laser distance measurements has the advantage that measuring errors are reduced, especially in the case of fast-moving target objects.
  • the determined distances Li, D ⁇ D 2 are transmitted to the control device 17, which calculates the two-dimensional position coordinates X M , YM of the target object 1 1.
  • the location coordinates X M , YM of the target object 1 1 can be transmitted to the display device 23, which represents the location coordinates for the operator on the display 24.
  • the distance measurements of the first and second laser distance measuring devices 14, 15 take place in the internal coordinate system of the device 10 and must be linked for an absolute determination of the location coordinates of the target object 1 1 with an external coordinate system.
  • the device 10 can also be used for finding location coordinates.
  • the user guides a reflector element equipped with a measuring tip or the like, which can also be integrated in the handpiece, over a measuring surface and searches for predetermined location coordinates.
  • the location coordinates can be entered manually in the handset or they are transmitted via a communication link from another device to the device.
  • FIG. 2 shows the first and second laser distance measuring devices 14, 15, the target device 13 and the handle 16 of the device 10 in the form of a block diagram.
  • the first and second laser distance measuring devices 14, 15 have a coaxial construction and comprise a transmitting element 31 configured as a laser diode, a receiving element 32 designed as a photodetector, a beam splitting optics 33, a beam shaping optics 34 and a control element 35.
  • An index ".1" denotes the components of the first laser distance measuring device 14 and an index ".2" the components of the second laser distance measuring device 15.
  • the laser diode 31 emits a laser beam 36 which is directed to the target object 1 1.
  • a laser beam at least partially reflected at the reflector element 18 of the target device 13 is detected as a receive beam 37 by the photodetector 32.
  • the control element 35 is connected to the laser diode 31 and the photodetector 32 and determines from the receiving beam 37, the distance of the laser distance measuring devices 14, 1 5 to the target device 13th In the case of FIG. 2, the laser beam 36 emitted by the laser diode 31 is spatially separated from the receiving beam 37 with the aid of the beam splitting optical system 33.
  • the beam splitting optical system 33 is arranged in the beam path of the laser beam 36 between the laser diode 31 and the beam shaping optical system 34 and in the beam path of the receiving beam 37 between the beam shaping optical system 34 and the photodetector 32.
  • the beam shaping optics 34 may be formed as a single optical element or as a system of multiple optical elements, and form both the laser beam 36 and the receive beam 37.
  • FIG. 1 shows laser distance measuring devices 14, 15 in which the laser beams 36 are widened by means of a suitable beam-shaping optical unit 34. Cylindrical lenses and cone optics are suitable, inter alia, as beam shaping optics.
  • the communication between the control device 17 and the laser distance measuring device 14, 15 takes place via the communication connection 21, 22 which connects a first transmitting and receiving element 38 in the laser distance measuring device 14, 15 to a second transmitting and receiving element 39 in the handset 16.
  • the calculations of the base distance Li and the distances D ⁇ D 2 are carried out in the control elements 35.1, 35.2 of the laser distance measuring devices 14, 15.
  • the distances Li, D ⁇ D 2 are transmitted to the control device 17 via the communication connections 21, 22.
  • the control device 17 includes a control element 1 7.1 for controlling the laser distance measuring devices 14, 15 and an evaluation element 1 7.2 for calculating the location coordinates of the target object 1 1.
  • FIG. FIG. 3 shows a second embodiment of a device 50 according to the invention for determining the location coordinates X M , YM, Z of a target object 51 in a measurement area 52.
  • the device 50 differs from the device 10 of FIGS. 1A, B in that three laser distance measuring devices are provided.
  • the accuracy with which two-dimensional position coordinates are determined in a measuring plane can be increased.
  • the accuracy decreases the closer the target object is to the connecting line between the first and second laser distance measuring units. direction is arranged.
  • the third laser distance measuring device also makes it possible to determine three-dimensional spatial coordinates of a target object in a measuring space.
  • the apparatus 50 comprises an aiming device 53, a first laser distance measuring device 54, a second laser distance measuring device 55 and a third laser distance measuring device 56 as well as the handpiece 16 with the control device 17.
  • the geometry of the aiming device 53 and the arrangement of the laser distance measuring devices 54, 55, 56 determines whether the Device 50 can be used to determine two- or three-dimensional location coordinates.
  • a spherical or spherical section-shaped target device 53 is used to determine three-dimensional location coordinates.
  • the sphere has a reflector element 57 on the outside and the spatial coordinates of the target object 51 lie in the sphere center of the reflector element 57.
  • the two-dimensional or three-dimensional spatial coordinates X M , Y M , Z m of the target object 51 are determined from the base distances Li, L 2 , L 3 between the laser distance measuring devices 54, 55, 56 and the distances D 2 , D 3 of the laser distance measuring devices 54, 55, 56 destined to the target object 51.
  • FIG. 3 shows an arrangement in which the laser distance measuring devices 54, 55, 56 do not form a right-angled triangle.
  • the three laser distance measuring devices 54, 55, 56 would form a right triangle
  • only the further basic distance L between the first and second laser distance measuring devices 54, 55 would require only a further basic distance, either the second basic distance L 2 between the first and third laser distance measuring device 54, 56 or the third basic distance L 3 between the second and third laser distance measuring device 55, 56.
  • the second and third basic distance L 2 , L 3 are required and are determined in the first step of the method according to the invention.
  • the laser beams must be able to detect the measurement region 52.
  • the broadening of the laser beams may be accomplished by beamforming optical elements that expand a punctiform laser beam in one or two directions perpendicular to the propagation direction.
  • the area detected by a laser beam may be increased by a rotating, scanning or tracking motion of the laser beam.
  • the rotating or scanning movement of the laser beams is particularly suitable for the determination of two-dimensional spatial coordinates in a measuring plane.
  • the laser beams are continuously moved about a rotation axis perpendicular to the measurement plane (rotating movement) or periodically reciprocated (scanning movement).
  • the tracking movement of the laser beam is particularly suitable for determining three-dimensional location coordinates and is used with a tracking device that tracks the moving target device.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

L'invention concerne un procédé de détermination des coordonnées locales (XM, YM, ZM) d'un objet cible (11) dans un domaine de mesure (12) dans au moins deux dimensions. Dans une première étape, on positionne sur l'objet cible (11) un dispositif cible (13) comprenant un élément réfléchissant (18) et on détermine une première distance de base entre un premier et un deuxième système de mesure de distance à laser (14, 15). Dans une deuxième étape, on détermine une première distance entre le premier système de mesure de distance à laser (14) et l'objet cible (11) et une deuxième distance entre le deuxième système de mesure de distance à laser (15) et l'objet cible (11) en effectuant une mesure au moyen des systèmes de mesure de distance à laser (14, 15). Dans une troisième étape, on calcule les coordonnées locales (XM, YM, ZM) de l'objet cible (11) à partir des distances au moyen d'un système de contrôle (17).
EP13802658.8A 2012-12-20 2013-12-11 Procédé et dispositif de détermination des coordonnées locales d'un objet cible Withdrawn EP2936053A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012223924.3A DE102012223924A1 (de) 2012-12-20 2012-12-20 Verfahren und Vorrichtung zum Bestimmen der Ortskoordinaten eines Zielobjektes
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CN104870938A (zh) 2015-08-26
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WO2014095521A1 (fr) 2014-06-26

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