EP3894785A1 - Dispositif de mesure, système de mesure et instruments d'aide à la mesure - Google Patents

Dispositif de mesure, système de mesure et instruments d'aide à la mesure

Info

Publication number
EP3894785A1
EP3894785A1 EP18825948.5A EP18825948A EP3894785A1 EP 3894785 A1 EP3894785 A1 EP 3894785A1 EP 18825948 A EP18825948 A EP 18825948A EP 3894785 A1 EP3894785 A1 EP 3894785A1
Authority
EP
European Patent Office
Prior art keywords
target
measuring
image
measurement
point
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.)
Pending
Application number
EP18825948.5A
Other languages
German (de)
English (en)
Inventor
Josef Mueller
Oliver Faix
Jochen Scheja
Stefan Petkov
Josef Lais
Tim Mayer
Bernhard Metzler
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.)
Leica Geosystems AG
Original Assignee
Leica Geosystems 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 Leica Geosystems AG filed Critical Leica Geosystems AG
Publication of EP3894785A1 publication Critical patent/EP3894785A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/003—Seismic data acquisition in general, e.g. survey design
    • 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
    • G01W—METEOROLOGY
    • G01W1/00—Meteorology
    • G01W1/10—Devices for predicting weather conditions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/10—Office automation; Time management
    • G06Q10/103—Workflow collaboration or project management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/08—Construction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/006—Mixed reality

Definitions

  • the invention relates to measurement methods according to claim 1, 27, 29, 57, 72, 80 and 95 and measuring systems or
  • Construction areas are widely known. Examples of this are systems from a stationary surveying device with a direction and distance meter, e.g. a
  • Total station or a laser tracker and a measuring aid instrument marking a point to be measured or marked, e.g. a pole.
  • Systems are also known from a stationary laser emitter, which generates a position reference by means of a laser beam. This is done by the interplay of a stationary, known location device and thus providing a position reference with a receiving or marking or targetable measuring aid
  • the object of the present invention is to provide an improved measuring system or improved system device and improved measuring method.
  • the invention in a first aspect, relates to a method for displaying target positions in a live image of a construction site.
  • the method includes recording at least one position-referenced image of the construction site, linking at least one target position to the position-referenced image and storing the position-referenced image together with the target position link in an electronic memory.
  • Position reference means that the construction site image and / or at least one element of the construction site depicted therein is clearly assigned a position or at least can be assigned.
  • a live image of the construction site is recorded, in particular in the form of a video, the live image and the position-referenced image at least partially representing an identical section of the construction site, the stored position-referenced image being called up from the memory, the position-referenced image being fitted with the live image, so that the target position linked to the position-referenced image can be superimposed on the live image in a positionally correct manner and a positionally accurate display of the target position as a graphic marking in the live image.
  • the position referencing at least one known and in or by means of the live Provided recognizable "placemark" or an “anchor point", which enables the live image or the live image to be located.
  • a planned position for example a borehole to be executed, can be visualized exactly where it should actually be, which means a very simple and clear transfer or "translation" of a construction plan into the enables (virtual) reality on site.
  • the linking of the at least one target position in the form of an image layer superimposed on the position-referenced image with graphic markings of the target position and the position-accurate display of the at least one target position in the live image are carried out by superimposing the image layer in the live image.
  • Image In the live image, therefore, the target position is recorded in an image layer, which is displayed in the live image in the correct position.
  • the at least one position-referenced image is recorded by means of a measuring device which has a distance and direction measurement functionality and / or the recording and display of the live image of the construction site by means of a handheld mobile device, in particular a smartphone.
  • the images are fitted by means of template matching, preferably using marking objects attached for this purpose in the construction site and depicted in the position-referenced image as well as in the live image.
  • areas that are not matched are marked graphically in the live image can, so that the user is made aware of such areas.
  • the target position is used to carry out a construction activity, an actual status image of the construction site being recorded after the construction activity has been carried out, the actual status image being position-referenced on the basis of the position-referenced image and the position-referenced actual status image being stored in the memory is, the position-referenced actual state image then optionally serves as a position-referenced image for a possible renewed or future implementation of the method, and for example the original or "old" position referenced replaced.
  • the accuracy of the position reference of the actual state image can also be estimated, in particular on the basis of striking construction site elements depicted therein, and an automatic warning, e.g. if there is an accuracy below a defined threshold. a hint in the live image to be given to a user. E.g. a tedious dog-like measuring / setting of target positions can be omitted.
  • the position-referenced image and the live image are three-dimensional images (which, for example, also mean point clouds), in particular the live image using a range image camera or photogrammetry camera, e.g. according to the time-of-flight principle, using Wafeform Digitizing (WFD) or stereophotogrammetry.
  • WFD Wafeform Digitizing
  • additional data relating to the target position are optional, in particular a construction drawing and / or a link to a database with which the position-referenced image is linked, stored in the memory and can be displayed in the live image, so that a user can call up additional information about the desired position in the live image.
  • the live image is compared with the position-referenced image in such a way that construction site elements are recognized in the live image that are not shown in the position-referenced image or are depicted in the wrong place in the live image, such recognized construction site elements graphically in the live image be marked.
  • the method is specifically designed for flat structures, so that the position-referenced image and the live image essentially represent an area of the construction site, in particular a building area.
  • this aspect of the invention relates to a computer program product with program code, which is stored on a machine-readable carrier, for executing this method, in particular by means of a mobile computer terminal.
  • the invention in a second aspect, relates to a measuring system with measurement functionality.
  • the measuring system here has, for example by means of GPS or measuring position reference points, an absolutely locatable, space-based, in particular stationary, measuring device which is space-based, for example ground-based or fastened to a wall or ceiling.
  • the measuring system includes a hand-held measuring aid, the measuring aid having a hand-held carrier and a mobile computer terminal carried by the carrier and having a screen and a camera, in particular a smartphone and / or tablet.
  • auxiliary measuring instrument and measuring functionality are designed in such a way that a position (position and orientation, 6-DoF) of the auxiliary measuring instrument and thus of the computer terminal relative to the measuring device can be clearly determined when the measuring functionality is carried out.
  • the position of the measuring aid instrument and thus the computer terminal relative to the measuring device is clearly determined, with at least one position-dependent degree of freedom (i.e. a degree of freedom that depends on the position of the measuring aid instrument relative to the measuring device), in particular the distance between the measuring aid instrument and the measuring device, is determined by the surveying device.
  • a measurement environment image is recorded by means of the camera of the computer terminal and the measurement environment image is displayed on its screen, at least one measurement point being displayed in a positionally overlapping manner using the determined position of the computer terminal.
  • the auxiliary measuring instrument preferably has a body, in particular a spherical or polyhedral shape, with an optical element distributed on the body surface a unique code, with image processing of an image of the body taken by a second camera arranged on the measuring device decoding such that the orientation and distance of the carrier relative to the measuring device are uniquely determined, the direction of the target axis aligned with the measuring aid is determined, and the position of the measuring aid is determined based on the orientation, distance and direction of the target axis.
  • the measurement functionality is designed such that the position of at least one environmental measuring point is measured relative to the computer terminal by means of the computer terminal and the absolute position of the surrounding point is determined on the basis of this position of the measuring point and the determined position of the auxiliary measuring instrument.
  • the auxiliary measuring instrument thus serves as an "extended" arm of the absolutely located measuring device, the auxiliary device being mobile, so that e.g. from the measuring device, non-measurable points in the room can be measured precisely and simply and conveniently thanks to the screen support.
  • the measurement functionality is designed such that in a (live) image of the measurement environment recorded by the camera and displayed on the screen, the selection of the environment point to be measured is carried out manually by a user, and / or additional information relating to a measurement point (e.g. Measurement accuracy) and / or data link is displayed.
  • a measurement point e.g. Measurement accuracy
  • the measurement functionality can also be designed such that a scanning position determination of a large number from surrounding points, for example by pivoting the computer terminal during continuous point measurement.
  • a 3D point cloud can be generated with this, for example.
  • a measurement of the surrounding point position by the computer terminal is preferably carried out on the basis of the measuring beam, in particular by means of an electronic laser distance meter, and / or photogrammetrically, in particular by means of a camera of the computer terminal designed as a double camera or by means of photogrammetric image recording using a camera in two positions / perspectives.
  • the auxiliary measurement instrument has at least one marker for directional marking and the measurement functionality is designed such that, based on the absolute location of the measurement device and the determined relative position of the auxiliary measurement instrument, at least one measuring point to be staked is marked by the marker using the marker, for example in that the marker is designed as a light source, in particular as part of the computer terminal, for the directed emission of visible light and the measuring point is marked on the measurement environment surface by means of light projection.
  • the marker is designed, for example, as a point and / or line laser, so that, for example, a target position can be made visible on a wall as a laser light spot or line.
  • the marker can be designed as a printer or a spraying device and a target position is determined by applying its physical marking, in particular a color marking, marked on the measurement environment surface.
  • the carrier preferably has a gimbal for stabilizing the position.
  • This is preferably active, i.e. can be moved in an automated manner, this being used to selectively set an orientation of the computer terminal.
  • the computer terminal can optionally be automatically aligned to a measuring point to be staked out or measured, e.g. to mark or measure it as described above.
  • a measurement point to be measured is optionally selected by the user on the screen in the measurement environment image (e.g. tapped) and the computer terminal automatically aligns its target axis using the active gimbal and measures the selected measurement point.
  • the position stabilization is optionally e.g. used for targeted alignment to the earth or otherwise a locally known point vector.
  • the measuring auxiliary instrument has an inertial measuring unit (IMU) and the measuring functionality is designed in such a way that the measuring data of the inertial measuring unit are used in determining the relative position of the measuring auxiliary instrument.
  • IMU inertial measuring unit
  • the IMU can be used, in particular, to bridge times in which no orientation and / or distance of the measuring auxiliary instrument can be determined using the measuring device, e.g. by interrupting the line of sight between the measuring device and the code body.
  • the carrier has a locking device, in particular a stand and / or clamp, with the aid of which the auxiliary measuring instrument can be used without tools in the measuring environment fixable and removable, for example on a wall.
  • the carrier has a joint, so that the arrangement of the computer terminal, and in particular also of the body, can be adjusted relative to the carrier by means of the joint. In some situations, this can make it easier, for example, to aim at an environmental point for the measurement or even make it possible in the first place.
  • this aspect of the invention relates to a method for the measuring system described.
  • the method comprises an absolute positioning of the measuring device, an alignment of the measuring device with the auxiliary measuring instrument, a determination of the alignment, a determination of the position of the auxiliary measuring instrument relative to the measuring device based on the means for determining and / or determining the position, and a position-accurate display of at least one measuring point in superimposition of a measurement environment image recorded by the computer terminal on the screen.
  • this aspect of the invention relates to a computer program product with program code, which is stored on a machine-readable carrier, for executing this method, in particular by means of a measuring system described above.
  • this aspect of the invention relates to a hand-held measuring instrument preparation with a carrier, preferably with a position-stabilizing gimbal suspension, a hand-held one-hand grip, the carrier being designed for position-specific recording of an electronic, mobile display device having a screen and a camera, for example a smartphone and / or tablet .
  • the carrier also has means for Determining and / or determinable by making a position of the auxiliary measuring tool Preparation on.
  • the auxiliary measuring instrument preparation is intended to form a measuring system by means of the computer terminal and with an absolutely locatable and ground-based measuring device, the position of the auxiliary measuring preparation relative to the measuring device being able to be determined using the means.
  • a third aspect of the invention relates to a method for measuring a target located in a measurement environment with a position or location at a location in the measurement environment and a distance and direction measurement functionality and a target axis pointing measuring device, in particular a total station.
  • the method has the following steps: taking an overview image of the measurement environment, in particular a 360 ° panoramic image, from the location of the measuring device, displaying the overview image on a screen, manually selecting a target area containing the target using the overview image and automatically aligning the target axis in the direction of the target area.
  • an image of the target area which corresponds to an enlarged section of the overview image, is taken by means of a camera of the measuring device oriented in the direction of the target axis (for example by means of an on-axis camera), a manual selection of the target on the basis of the Target area image, an automatic alignment of the target axis in the direction of the selected target and a measurement of the target by the measuring device thus aligned with the target by means of the distance and direction measuring functionality.
  • a "global" large-scale overview image - which is preferably taken by means of the camera aligned in the direction of the target axis itself - is therefore first used to manually define a target area (for example by opening a window with two fingers in a touch screen), followed by a first , rough alignment of the measuring device to the target.
  • a second, more targeted image is then taken, in that the user again manually selects the target (for example by pressing it selectively by means of a touch screen) so that the target axis can be fine / precisely based on this manual target selection is aligned so that it can be measured.
  • this can be designed to manipulate measurement data by means of gesture control.
  • the user is automatically supported by automatically defining an area around the point of contact in the overview image when the target area is selected manually by touching the screen, the size of the area being automatically determined as a function of measurement data, in particular a distance to the target area is and / or by repeated touching, eg 2-finger zoom, the point of contact the area can be varied in steps; and / or by activating a zone around the point of contact in the target area image and automatically recognizing and selecting the target within this zone, and thus the target selection is thus automatically supported.
  • a zoom function in particular a screen magnifier, is automatically activated to define the target area and / or to select the target.
  • this aspect of the invention relates to a computer program product with program code, which is stored on a machine-readable carrier, for executing this method, in particular by means of a measuring device with a distance and direction measuring functionality.
  • this aspect of the invention relates to a measurement system that is space-based, i.e. ground-based or stationed on a wall or ceiling.
  • the measurement system has, in particular a stationary, measurement device, in particular a total station, with a distance and direction measurement functionality, as a result of which a distance and direction to a target to be measured can be determined in a measurement environment of the measurement device in the direction of a target axis of the measurement device.
  • the measuring device has at least one drive for automatically pivoting the target axis, and at least one camera oriented in the direction of the target axis, in particular an on-axis camera, by means of which an image of a section of the measurement environment can be recorded.
  • the measurement system also has a screen and a control with evaluation functionality.
  • the control system has a target acquisition function, the execution of which records an overview image of the measurement environment, in particular a 360 ° panoramic image, from the location of the measuring device, in particular by means of the camera aligned in the direction of the target axis, and displays the overview image on the Screen. Furthermore, as part of the target acquisition function, a user manually selects a target area containing the target based on the displayed overview image, an automatic alignment of the target axis in the direction of the target area by means of the drive using the registered manual definition as a rough alignment to the target and then a Image of the target area recorded, which corresponds to an enlarged section of the overview image, by means of the camera oriented in the direction of the target axis.
  • This (second) image is used to register a manual selection of the target, an automatic (fine) alignment of the target axis in the direction of the selected target (i.e. towards the target) by means of the drive based on the registered manual target selection, so that the target is measured using the distance - and directional measurement functionality is measurable.
  • the measuring device has a range finder, a range finder which defines the target axis and can be pivoted relative to the base about at least one axis, in particular two mutually orthogonal axes, in particular a telescopic sight, at least one protractor and an angle measurement functionality for measuring the alignment of the target axis Measurement of a distance to the target along the target axis, and a controller with single point determination functionality, the control of which determines a spatial position of the target based on the measured alignment of the target axis and the distance between the target and the measuring device.
  • the target unit has a beam source for generating a measuring radiation and an optical system for emitting the measuring radiation as a free beam in the direction of the target axis, and an electro-optical detector for detecting measuring radiation reflected from the target, from which the distance to the target can be determined.
  • the screen is optionally designed to operate the measurement device and to display and manipulate measurement data, the screen and the measurement device being separate units or the screen being designed to be separable from the measurement device.
  • the measuring system can include a measuring aid for physically marking the target, in particular a measuring rod with a retroreflector.
  • a fourth aspect of the invention relates to a construction laser, e.g. a line laser with a laser source and a transmission optics, e.g. by means of a cardanic suspension or a ball joint self-leveling laser module, the transmission optics being designed for the point-like or line-shaped emission of laser radiation from the laser source, e.g. as a line by widening / widening the laser beam or swiveling / rotating it rapidly (in one plane).
  • the construction laser has a housing with a locking device (fixation), which is provided for detachable fixing of the housing at a height above a reference surface, e.g. the floor of a room.
  • the construction laser has a distance and / or position meter which is designed for the automated measurement of the height above the reference surface.
  • the distance and / or position meter is optionally designed as a laser distance meter, the laser source preferably also being used to provide laser radiation for the laser distance meter.
  • the distance and / or position meter is designed as a reading head, provided for reading an, in particular absolute, position code. This means that the height is measured as a distance from the ground, for example by means of laser transit time or phase measurement, and / or the height is read from a material measure encoding the height by a reading head.
  • the orientation of the housing in the horizontal plane can also be measured by means of the distance and / or position meter or an additional alignment knife of the construction laser, so that a rotational position about the height axis can also be measured.
  • the housing preferably has a drive and the locking device is designed as an automated locking device, so that the height can be adjusted in an automated manner, wherein the drive is optionally also designed to automatically change the horizontal orientation.
  • the height and, if necessary, also the change in orientation are carried out automatically by means of a drive in that the construction laser has a control which is designed for automatic adjustment of the height and for automatic fixing of the housing at a target height, if necessary with a target orientation.
  • a remote control receiver can also be provided and configured in such a way that the height, and in particular also the orientation of the housing in the horizontal plane, can be adjusted by remote control.
  • the construction laser has a communication module, so that the height measured in each case can be transmitted to an external device, in particular a remote control.
  • the present aspect of the invention also relates to a construction laser system with a construction laser and a, in particular rod-shaped, holder, the construction laser having a self-leveling laser module having a laser source and a transmission optics, in particular by means of a cardanic suspension or a ball joint, the transmission optics being designed for the punctiform or linear emission of laser radiation.
  • the construction laser comprises a housing with a locking device, which is provided for releasably fixing the housing to the holder, so that the housing can be flexibly fixed to the holder at different heights above a reference surface.
  • the system has an, in particular absolute, position encoder for the automated measurement of the respective height of the housing above the reference surface.
  • the holder has an active part of the position encoder and the construction laser one complementary passive part, for example a magnet as a position-indicating target.
  • the position value is determined or read out on the holder side.
  • the construction laser can be kept simple, has no or hardly any additional weight and no or hardly any additional energy requirement.
  • the holder is passive and has, for example, an optical position code provided for the height measurement.
  • the position encoder is designed such that, in addition to the height, an orientation of the housing relative to the holder can also be measured, in particular for which purpose the holder has an optical area code for this purpose, which codes a further axis in addition to the height axis.
  • the system has a drive and the locking device is designed as an automated locking device, so that the housing can be automatically adjusted and fixed in height, in particular wherein the drive is designed such that, in addition to the height, an orientation of the housing relative to the holder can also be adjusted automatically.
  • the drive is, for example, such that the holder is active with respect to the drive and the construction laser is passive, the drive being designed, for example, as a magnetic linear drive. In the case of such a passive construction laser, its energy requirement could thus advantageously be kept comparatively small.
  • the system also preferably has an electronic control which is designed such that by means of the drive and the locking device and on the basis of the respective measured height, the housing can be fixed automatically at a predetermined target height.
  • the control is then preferably also designed for the automatic adjustment of the second axis.
  • the system has a remote control receiver and is designed such that the height, and in particular also an orientation of the housing, can be adjusted by remote control.
  • the present aspect of the invention also relates to a method for setting a target height of a construction laser system according to the above description, the target height being set automatically by the system and / or by a user using a remote control, based on the respective height measured by the position encoder.
  • the construction laser is additionally aligned within the scope of the method in such a way that, knowing a distance to a vertical wall of the construction laser environment, the outside direction of the laser fan is set in such a way that a reference line formed by the laser fan on the vertical wall is both horizontal as well as placed in the vertical direction.
  • This aspect of the invention also relates to a computer program product with program code, which is stored on a machine-readable carrier, for executing the method according to one of the claims, in particular by means of a construction laser system.
  • the invention relates to a portable or handheld geodetic Auxiliary measuring instrument designed to form a measuring system for measuring and / or setting out a terrain point with a geodetic measuring device, in particular a stationary, distance and direction measuring functionality, in particular a total station.
  • the auxiliary measuring instrument has a hand-held rod with a bottom contact end.
  • the instrument has a tripod.
  • the measuring aid instrument can be positioned or set up at the terrain point by means of the rod and / or the tripod.
  • the measuring aid has a target that can be targeted by the measuring device, e.g. a retroreflector, the target having a position reference point located along a longitudinal axis.
  • the instrument has a sighting unit with a sighting axis for sighting the terrain point, wherein the sighting axis corresponds to or is perpendicular to the longitudinal axis of the sighting, and wherein the aiming and sighting unit are arranged in an assembly carried by the rod and / or the tripod .
  • the assembly is mounted in a motor-driven and actively controlled gimbal suspension with two gimbal axes, whereby the gimbal suspension enables the vertical axis of the target and the target axis of the target unit to be automatically or automatically aligned vertically or horizontally when positioned at the terrain point.
  • the assembly is attached to or in a two-axis gimbal suspension which has a drive, for example a direct drive, for active movement of the suspension about the two axes and thus again movement of the assembly.
  • the auxiliary measuring instrument is designed in such a way that the active gimbal can be controlled in such a way that the target vertical axis and the target axis are automatically aligned vertically or horizontally when the instrument is at the desired terrain point by moving in / approaching a corresponding position of the assembly.
  • the active gimbal can be used to raise or lower.
  • Target axis can be specifically set to further desired or specified orientations, for example in order to provide specific alignment specifications with the target unit.
  • the active gimbal preferably has adaptive damping.
  • the damping provided by the suspension can thus be actively and preferably automatically adapted to measurement conditions. This means, for example, that a movement of the assembly, for example depending on the strength or frequency, can be optimally compensated for.
  • the damping can also be adapted to the weight of the target, for example, which is particularly advantageous in the case of auxiliary measuring instruments which can accommodate different heavy target bodies.
  • the target is optionally arranged such that the position reference point is located at the intersection of the two axes of the gimbal.
  • the assembly is arranged with an offset to the rod and / or the center of the tripod, so that the perpendicularly aligned target axis of the rod or tripod aims unobstructed at a ground point on the ground.
  • the suspension has at least one inclination sensor. Thanks to the active two-axis cardanic suspension, such an inclination sensor can be approached and leveled with high accuracy and a small measuring range.
  • the aiming unit is preferably designed to mark the sighted terrain point and / or measure the distance between the position reference point and the sighted terrain point. That is, the aiming unit serves to display a target point in the terrain (stakeout) and / or to measure the position of a point in the terrain.
  • the aiming unit optionally has a laser for emitting a laser beam in the direction of the target axis, the laser beam being used to mark the terrain point and / or to measure the distance to the terrain point.
  • the targeting unit optionally has an electronic distance meter, for example a triangulation scanner or a time-of-flight camera.
  • the aiming unit can be designed to emit a second laser beam, e.g. by means of a second laser or by splitting off a partial beam of the first laser beam.
  • the direction of emission of the second laser beam is optionally perpendicular to the target axis.
  • the aiming unit has optics by means of which the first and / or second laser beam can be emitted in a point or line shape (i.e. as a line laser, for example).
  • the aiming unit is designed to use the first and / or second laser beam or an additional light source to project two-dimensional images onto a surface of the surroundings.
  • the aiming unit has a camera aligned in the direction of the target axis, so that an image of the terrain point can thus be recorded.
  • the camera is optionally used to record an image of the terrain point (or an image of the measurement environment that contains the terrain point) as part of a visualization functionality
  • To generate an augmented reality image by superimposing a graphic that accurately marks the terrain point on the recorded image and to display the augmented reality image on a display, in particular an external display, for example augmented reality glasses.
  • the assembly has a target tracking unit, designed to continuously track a target device moving relative to the measuring aid instrument, e.g. a conventional pole.
  • the tracking unit can e.g. ATR-based (Automated Target Recognition; see also description of FIG. 14) for tracking retroreflective target devices, as is known in principle from the prior art, and / or camera-based for other devices.
  • This fifth aspect of the invention also relates to a surveying system with a geodetic surveying device, in particular a stationary, distance and directional measuring functionality, in particular a total station, and a measuring aid instrument described above, the system preferably having means for determining the orientation of the cardanic suspension of the measuring aid instrument relative to the surveying device.
  • orientation determining means are e.g. designed as optical markings / patterns / codes on the measuring instrument, e.g. LED arrays or a 3D body such as a ball with optical code on the surface, which can be detected and evaluated by a camera on the measuring device (see also description of the second aspect of the invention).
  • This aspect further relates to a method for checking the alignment of a hand-held tool, which a Working axis and on a back a laser detector lying on the working axis or a focusing screen, with the help of such a measuring instrument, which has a laser for laser beam emission in the direction of the target axis.
  • the auxiliary measuring instrument is positioned at a site point so that the laser beam hits the site point and the tool, for example a drilling machine, is placed at the site point. Then the alignment of the tool is checked by aligning the working axis of the tool so that the laser beam hits the detector or the focusing screen of the tool within a defined central zone.
  • This aspect of the invention also relates to a computer program product with program code, which is stored on a machine-readable carrier, in particular a hand-held tool or a construction laser system, for executing the method according to one of the claims.
  • a sixth aspect of the invention relates to a measuring device, in particular designed as a total station or laser tracker, for coordinating position determination of a target, in particular a retroreflector.
  • the measuring device has a distance measuring module with a beam source for generating measuring radiation, a detector for detecting measuring radiation reflected from the target, in order to determine the distance to the target based on detected measuring radiation.
  • the measuring device has a direction measuring module with a light-sensitive position-sensitive sensor and a receiving optics for receiving optical radiation and their guidance on the sensor.
  • the sensor is sensitive in a certain infrared wavelength range in order to detect infrared radiation emanating from the target from this wavelength range, wherein a point of incidence of the detected infrared radiation on the sensor can be determined and a direction to the target can be determined on the basis of the point of impact.
  • the target infrared radiation emanating from the target is either emitted by the target itself or infrared radiation emanating from the target from the measuring device is reflected, for example by means of a retroreflector.
  • the receiving optics and the sensor are designed such that visible radiation with a spectral distribution sufficient to generate a color image can also be received and detected by means of the sensor at the same time for detecting the infrared radiation.
  • the measuring device is preferably designed in such a way that an image, in particular an RGB image, of the target can be generated in parallel with the determination of the direction to the target (using infrared radiation) using the detected visible radiation.
  • the sensor is optionally designed as a hybrid RGB-IR sensor.
  • the receiving optics have at least one correction lens, by means of which the focus length of the receiving optics in the infrared range and the focus length in the visible range are matched to one another, so that a (at least largely) sharp image can be present on the sensor for both wavelength ranges at the same time.
  • the measuring device has a partially automated or Automated control of the focus of the receiving optics, which is designed such that the focus for the infrared radiation is set based on an evaluation of detected visible radiation.
  • the measuring device has a base and a beam steering unit which can be pivoted about at least one axis relative to the base and which has the distance measuring module and the direction measuring module and furthermore an angle measurement functionality for determining an orientation of the beam steering unit relative to the base.
  • the beam steering unit has an infrared beam source for illuminating the target with the infrared radiation and / or a pointer beam source for emitting a visible (and thus recognizable in an image generated by the sensor) pointer light beam coaxial with the measuring radiation.
  • the measuring device has a fine target and / or target tracking functionality, the execution of which is automatically regulated based on the direction to the target determined by means of the point of impact, so that the orientation of the measuring device to the target is automatically regulated, so that the target can be fine-tuned and / or tracked (so-called . Tracking).
  • This sixth aspect of the invention also relates to a method with a surveying device presented above, wherein in the course of the method in an alignment of the receiving optics to the target in one operation using target infrared radiation received by the receiving optics and detected by the sensor (i.e. infrared radiation emanating from the target) a direction to the target is determined (so-called ATR measurement).
  • a direction to the target is determined (so-called ATR measurement).
  • an image, in particular an RGB image of the target is generated on the basis of visible radiation received by the receiving optics and detected by the sensor.
  • the detection of the infrared radiation and the detection of the visible radiation take place in separate, successive sensor exposure processes.
  • the exposure processes take place alternately as part of a video stream and / or the exposure is adapted to the respective radiation, so that e.g. Due to the different exposure times, the sensor is optimally used for each radiation.
  • the specific direction to the target is shown in the image of the target, the image being part of a live video stream, for example.
  • target measurement and / or target tracking is carried out by the measuring device based on the determined direction to the target.
  • the image sharpness of the image is evaluated as part of the method and based on the Evaluation result the focus is set for a subsequent detection of the infrared position.
  • This aspect of the invention also relates to a computer program product with program code, which is stored on a machine-readable carrier, for executing the method according to one of the claims, in particular by means of a measuring device with directional and distance measuring functionality.
  • the invention relates to a platform for the sale and purchase of geodetic data via an open computer network, preferably via the Internet.
  • the platform has means for receiving geodetic data sent from an external device, in particular a geodetic surveying system, via the computer network, the data including geodetically measured, absolute coordinates of at least one terrain point.
  • the platform then has means for storing the received geodesy data in association with the coordinates, i.e. the data are arranged / filed according to their coordinates.
  • the platform has means for providing at least a part of the stored geodesy data in the case of coordinate-related querying by an external geodetic surveying system connected via a computer network.
  • This data part comprises at least the coordinates themselves and the provision is based on the coordinate assignment of the stored data.
  • the platform also has means for sending the provided geodetic data to the querying geodetic surveying system via the computer network.
  • the platform is optionally designed in such a way that the geodesy data can contain, in addition to the absolute coordinates of the terrain point, at least one of the following metadata on the coordinates (or the terrain point or the underlying measurement): measurement accuracy, measurement time, measurement technology and / or type of surveying device, author / source , Point and / or object coding (eg marking as path boundary or hydrant) or coordinate history.
  • the geodesy data can contain, in addition to the absolute coordinates of the terrain point, at least one of the following metadata on the coordinates (or the terrain point or the underlying measurement): measurement accuracy, measurement time, measurement technology and / or type of surveying device, author / source , Point and / or object coding (eg marking as path boundary or hydrant) or coordinate history.
  • the means for providing data are designed such that when queried as part of the provision, a preselection from the stored geodesy data and / or an adaptation of the stored geodesy data takes place depending on the type of device and / or location of the first measurement system transmitted to the platform for this purpose.
  • the platform is optionally designed to link several surveying devices as a surveying network in such a way that geodesy data received from one of the surveying systems can be distributed in real time, in particular automatically, in a network.
  • the platform is designed to process these two data in the presence of first geodesy data of a site point and at least second geodesy data of the same site point, in particular originating from different data sources, in order to obtain statistics on the course of the site point coordinates to generate and / or to calculate an average value from the at least two terrain point coordinates and to save this coordinate average value as retrievable coordinates and / or to provide a comparative assessment of the reliability and / or quality of the first and second geodesy data, in particular wherein the assessment is automatic and / or by Platform user is generated.
  • the platform is designed to automatically generate an update notification in the event of an update of stored geodesy data and to send it via the computer network to a measurement system which has already downloaded this data.
  • the platform is connected to a meteorological and / or seismological data provider via the Internet and is designed in such a way that a warning message is linked to the geodesy data of the terrain point, which is based on a possible deviation of the stored coordinates from the data due to meteorological and / or seismological events real coordinates of the terrain point. I.e. If, based on the received meteorological and / or seismological data, it can be assumed that the terrain point "has" or could have moved and the related coordinates could therefore be out of date, this is automatically communicated to the user.
  • This aspect of the invention also relates to a system comprising such a data platform and a geodetic surveying system, in particular a total station, the system being designed such that geodetic data is uploaded and / or downloaded to and from the platform a single measurement system user input can be carried out, in particular by a single push of a button or button on the measurement device.
  • this seventh aspect of the invention relates to a method for the sale and purchase of geodesy data via a computer network platform.
  • the method comprises the steps: geodetic measurement of terrain points so that geodesy data are generated which have at least the absolute coordinates of the terrain points, uploading the geodesy data to a publicly accessible computer network geodesy data trading platform via the computer network as a sale of the geodesy data, storing the geodesy data in the Platform so that the geodesy data can be queried depending on the coordinates. Furthermore, the method includes providing stored geodesy data when the geodesy data is queried in a coordinate-related manner via the computer network and downloading at least a selected portion of the provided geodesy data via the computer network as a purchase of the geodesy data, in particular with the downloading to / by a geodetic measurement system.
  • the coordinate reference of the query is established automatically by determining the location of the querying buyer, in particular using a global navigation system, and providing / offering the stored geodesy data of those terrain points for query that are located at the location.
  • coordinator-related queries also mean that a designation or a name of a measurement environment / location is given, for example in the form of an address (e.g. city, street). That is, the geodesy data can also be stored in such a way as a function of or assignment to the coordinates that they can be found or queried on the basis of an entry of the place name.
  • a proposal for a suitable or optimal surveying location that is suitable for the quantity of terrain points is made based on the geodetic data.
  • the query involves the transmission of a device type of a querying measurement system to the platform and the provision of geodesy data adapted to the device type.
  • possible further terrain points adjoining the terrain point are proposed as part of the provision of geodesy data for a terrain point.
  • a message is automatically sent to a buyer as soon as an update of already downloaded geodetic data is available and / or as an indication that geodetic data which has already been downloaded is now out of date or are likely to be out of date, particularly due to environmental influences on the terrain point.
  • this aspect of the invention relates to a computer program product with program code, which is stored on a machine-readable medium, for performing this method.
  • Measurement functionality which is a
  • FIG. 5 shows a modification of the system according to FIG. 4,
  • FIG. 8 shows a first embodiment of a construction laser system according to the invention
  • Fig. 9 shows a second example of an inventive
  • Measuring system with a measuring instrument and a measuring device with a gimbal
  • Fig. 12 shows an alternative embodiment of a
  • Fig.l3a-c an example of a method for
  • FIG. 14 shows an example of a measuring device with parallel provision of a direction to a target to be measured and an image of the target
  • 15 schematically shows the sequence of parallel detection of infrared radiation and visible radiation
  • 16 shows a further development of the embodiment of a
  • Fig. 18 shows an embodiment for a hybrid
  • Fig. 20 an example of geodesy data
  • FIG. 1 schematically shows the sequence of the method according to the invention for representing target positions in a live image of a construction site.
  • a position-referenced image of the construction site is recorded, for example the photograph of one or more building surfaces.
  • a position-referenced 3D image of the construction site is created, for example a 3D point cloud is generated.
  • a 2D or 3D image is created, for example, by a site surveyor or by means of a surveying device such as a total station or laser scanner.
  • target positions or stake-out points are linked to the position-referenced image. For example, these positions are retrieved from a blueprint and superimposed on the position-referenced image in a second image layer.
  • the target positions are thus linked to the image of the construction site in such a way that any desired or planned position, for example the positions of boreholes in walls, can be called up in the image in the correct position.
  • step 20c the position-referenced image is stored in an electronic memory together with the link between the target positions or stake-out points, e.g. a data cloud.
  • a live image of the construction site is recorded later.
  • a construction worker who wants to work at the construction site based on a target position or a stake-out point takes a photograph or a video image of the construction site on site using a mobile device such as a smartphone or tablet.
  • the live image can be a 2D image or 3D image (e.g. a 3D point cloud).
  • a 3D image is e.g. recorded using a range image camera of the mobile hand-held device.
  • step 21c The position-referenced image stored in step 20c is then called up from the memory in step 21b.
  • step 21c the live image and the referenced image are fitted, which is done, for example, using template matching. Especially in construction site areas with a very small structure, matching is optionally supported by attaching and depicting on the construction site, for example a wall, targets or markings.
  • the target positions linked to the referenced image can then be displayed in the live image using graphic markings, which is done in step 21d. For example, the image layer with the stake-out points is superimposed on the live image in the correct position.
  • the method thus allows target positions stored in a position-referenced manner to be displayed in a positionally accurate image of the construction site.
  • a user can e.g. recognize at which points on a wall construction work has to be carried out, which allows him to do so very easily, e.g. Drilling a hole exactly where it is planned without having to laboriously measure a target position.
  • FIG. 2 shows an example of a live image 22 of a construction site 25 with positional display of target positions 24, 24a.
  • the live image 22 is recorded, for example, with the camera of a tablet and shown on the display 23 of the tablet. Due to the fit with a position-referenced image of the construction site 25 retrieved from the tablet, the target positions 24, 24a are superimposed as graphic markings on the live image, for example in the form of an additional image layer, so that the user can immediately see where on the live image the desired positions 24, 24a are on the construction site 25.
  • the graphic markings follow positionally, for example, a change in position of the tablet, ie a change in the orientation and / or the distance to the construction site or wall 25, so that the markings at the desired position can be seen continuously on the screen 23.
  • a marking 26 of an area in the live image 22 which the system could not fit with the stored reference image. This image area is hidden by the marking 26.
  • a graphic marking 28 for example in the form of a coloring, a construction site element which is present in the live image 22 but not in the position-referenced image.
  • stored data relating to the target positions 24a are also displayed. In FIG. 2, this is symbolized by the text field 27, which indicates an identification number of the target position 24a.
  • Other such additional data such as the tool to be used for the construction activity at the desired position or a link to the construction plan of the construction site 25 are optionally displayed.
  • FIG. 3a schematically represents a further development of the method.
  • a step 29a an image of the actual state of the construction site is recorded, as it is after the execution of construction activities carried out on the basis of the target positions.
  • the current status picture documents the construction progress, for example at the end of each working day, and forms it through the construction work newly added construction site elements, such as new lines or other installations.
  • This actual status image is then position-referenced in a step 29b, the position-referenced image already stored (cf. step 20c in FIG. 1) serving as the basis.
  • the position reference of the current image is carried out by means of (image) features which are present both in the current image and in the original position-referenced image. In other words, elements that are present in both images are recognized and matched.
  • step 29c the now position-referenced actual state image is stored in the memory, replacing the “old” position-referenced image that no longer corresponds to the actual condition of the construction site.
  • the position-referenced actual state image is retrieved from the memory (corresponds to step 21b) and the live image of the construction site is fitted with the position-referenced actual state image (corresponds to step 21c).
  • the “new” position-referenced image replaces the “old” "for displaying target positions in a live image not completely, but both are used for these procedural steps, for example, the original position-referenced image for unchanged image or construction sites and the current position-referenced image for newly built areas.
  • FIG. 3b schematically shows a further development of the method according to FIG. 3a.
  • FIG. 3b shows steps 29a and 29b at the top corresponding to FIG. 3a.
  • the precision of the position reference of the actual state image created in step 29b is now automatically estimated. This estimate is made, for example, on the basis of feature quality and depicted changes in the image.
  • step 29c is continued and the actual state image is stored. If, on the other hand, insufficient accuracy is found, the system issues a message to the user in a step 29e. Due to this warning, the user can react and e.g. a re-referencing of the position by a construction site surveyor or by means of a surveying device, as described for step 20a (see FIG. 1). This automatic control of the position reference precision ensures that even with many successive actual state images, which e.g.
  • the position reference does not lose quality due to the successive referencing based on the previous position-referenced image, and a minimum quality measure is not undershot or countermeasures can be counteracted by “refreshing” the position reference if the accuracy falls below a threshold value.
  • FIG. 4 shows an example of a measuring system 30 with measuring functionality, which has a measuring device 31 and a hand-held measuring aid instrument 32.
  • the measuring device 31 has a base 31b and a base relative to the base 31b by means of a structure 31a two-axis pivotable camera 31c (hereinafter also referred to as the second camera).
  • the auxiliary measuring instrument 32 has a carrier 37 which is held by a user 40 by means of a handle 38.
  • the carrier 37 (exaggeratedly large in the figure) is such that the measuring auxiliary instrument 32 can be carried with one hand, so that the other hand of the user 40 is free to hold a computer terminal 35, for example a smartphone, held by the carrier 37. to use.
  • the computer terminal 35 has a screen 36 and a camera (not shown). Using this terminal camera (first camera), an image of the measurement environment 41 can be recorded and displayed on the screen 36.
  • the carrier 37 has a cardan suspension, so that the computer terminal 35 is stabilized.
  • the cardan suspension e.g. wobbling of the user's hand or vibrations caused by the user 40 walking around in the room 41 can be effectively compensated for.
  • the gimbal is actively controlled so that an orientation of the computer terminal 35 can be set automatically, whereby e.g. a target axis of the terminal device 35 can be automatically aligned with an environmental point to be staked out or measured.
  • the user 40 taps on the screen 35 in the measurement environment image a location of the construction site 41 which he would like to measure and the smartphone 35 or his measurement beam 39 (see below) is automatically aligned to the desired measurement point.
  • the computer terminal 35 is either inserted or inserted in the carrier 37 in a predetermined and thus known defined position, or the carrier 37 has a joint, so that the position of the terminal 35 relative to the carrier 37 can be changed in a defined manner.
  • the relative position is determined, for example, by the user of the system
  • a spherical body 33 Arranged on the carrier 37 as a means for determining the position is a spherical body 33, which in the example is also stabilized in the example by means of the cardan suspension and, optionally, can also be varied in position by means of the optional joint.
  • the body 33 is designed as a regular polyhedron.
  • the body 33 can also be arranged at another exposed location on the carrier 37.
  • the body 33 has an optical code 34 on its surface, the code being distributed such that code 34 is visible from as many angles as possible or relative positions of an external observer.
  • the body 33 or the code 34 is designed in such a way that one of the second camera 31c of the measuring device
  • the orientation and distance of the auxiliary measuring instrument 32 relative to the measuring device 31 can be determined unambiguously.
  • the code 34 thus encodes the orientation or rotational position of the ball 33.
  • the distance to the body 33 from the measuring device 31 can be determined on the basis of the camera image of the measuring device 31, which, together with the measured target direction 31d of the camera 31 (pivoted position), the position of the Instruments 32 is determined relative to the measuring device 31.
  • the target direction 31d is determined, for example, by means of an angle encoder for a respective swivel axis.
  • the measurement device camera 31c takes an image of the body 33 with code 34 and the image is evaluated using stored decoding information in such a way that both the distance to the body 33 and its orientation are determined, so that together with the measured one Camera position (sighting direction 31d) a total of all six degrees of freedom of the ball 33 and thus of the carrier 37 and the smartphone 35 relative to the measuring device 31 are determined.
  • the position of the measuring auxiliary instrument 32 relative to the measuring device 31 is determined with the aid of the body 33.
  • the carrier 37 together with the body 33 thus represents a hand-held measurement aid preparation which is used to hold a computer terminal 35, e.g. a smartphone or tablet and can be determined by an external measuring device 31, so that a measuring system 30 can be composed.
  • the measuring device 31 itself, in turn, is located absolutely, e.g. by measuring by means of absolutely known markings in the measuring environment 41, so that finally the absolute position of the instrument 32 can be determined.
  • the computer terminal 35 has an inertial measuring unit (IMU).
  • IMU inertial measuring unit
  • the measurement data of the IMU are taken into account in this training when determining the position of the measuring aid.
  • the data are used in a measurement with movement of the instrument 32 to bridge times or spatial areas by means of dead-reckoning, in which it is not possible to determine the position by means of the body 33, for example because the line of sight between the first camera 31c and body 33 through an object of the measurement environment 41 is interrupted.
  • the position determined by means of dead reckoning navigation is continuously transmitted to the measuring device 31, which continuously pivots / tracks the camera 31c on the basis of the data, so that the position determination on the basis of the body 33 can be resumed without delay as soon as the auxiliary instrument 32 leaves the shaded area and the line of sight is no longer broken.
  • the means of the measuring auxiliary instrument 32 for determining or determining the position in cooperation with the measuring device are designed in a manner known per se as IMU and gyro with determination of the yaw angle, as IMU with tracking functionality for tracking a movement trajectory, as a visual, previously known marking / pattern on one of the parts of the measuring aid, e.g. Barcode or as a defined illuminant (e.g. LED).
  • a position determination can also be carried out by means of a RIM camera of the measuring device 31 using SLAM algorithms (simultaneous localization and mapping).
  • the position of the measuring aid instrument 32 which can be determined absolutely and stabilized in the example by means of a gimbal, is now used in the example in order to measure the position of at least one measuring environment point 42 absolutely.
  • the computer terminal 35 has a distance measurement functionality.
  • the terminal device 35 has a laser distance meter that sends a measuring beam 39 in a directed manner to the point 42 and determines the position of the point 42 relative to the terminal device 32 from reflected measuring radiation and a known emission direction.
  • the measuring system 30 determines the absolute point position on the basis of the absolute position of the measuring device 30, the relative position of the auxiliary measuring instrument 32 and the relative position of the point 42.
  • the measuring system 30 is designed such that a position scan can be carried out by means of the computer terminal 35, that is to say a large number of measuring environment points 42 can be measured very quickly in succession or a 3D point cloud can be generated.
  • this is done with a rigid measuring beam 39 e.g. by manually pivoting the measuring aid 37 and / or moving the user 40 around in the room 41 during the measurement.
  • the measured position of the point 42 is marked in a live image of the measurement environment 41 for the user 40 on the screen 36 true to position. Further information or data links relating to the surrounding point 42 can also be displayed or offered.
  • a live image optionally also serves to enable the user 40 to select an environmental point 42 to be measured.
  • the screen 36 is touch-sensitive and the user 40 taps the point in the image corresponding to the point 42, whereby a measurement of the corresponding point in the room 41 is triggered as part of the measurement functionality.
  • a photogrammetric position is determined.
  • the smartphone 35 has, for example, a camera designed with a double lens or at least two images of two different locations of the user 40 are taken.
  • FIG. 5 shows a modification or alternative or additional use of the measuring system 30 from FIG. 4.
  • the relative position determined within the scope of the measuring functionality and the absolute position of the measuring aid instrument determined or determinable on the basis of the absolute location of the measuring device 31 are used 32 for the position-accurate display of at least one target position (stake-out point). This point to be staked out is stored in a memory of the system, for example as part of a building plan.
  • the absolute position of the computer terminal 35 inserted in the carrier 37 is determined and the desired position is retrieved from the memory.
  • the computer terminal 35 also has a marker (not shown), in the example a laser pointer, which can emit a visible laser beam 39s in a defined direction.
  • the laser beam 39s is then by automatically setting the emission direction, e.g. by means of an above-mentioned active gimbal (gimbal) specifically emitted in one direction in such a way that it marks the target position in the measurement environment in the correct position - in the example on the room wall 44 - as a visible laser point 43s.
  • the emission direction of the marker is rigid and the user receives instructions on the screen 36 by means of which he changes the position of the measuring aid instrument 32 until the marker targets the location 43s.
  • Such user guidance is of course also possible in the case of a marker with a variable marking direction, for example around To instruct the user 40 to pivot the instrument 32 at least until the point 43s reaches the (maximum) marking area of the marker if the position of the instrument 32 is very unfavorable.
  • a laser line or laser surface for marking one or more target positions is generated using the laser pointer. Any user-related wobbling of the auxiliary measuring instrument 37 can be compensated for by the gimbal mounting, so that there is no blurring of the marking point 43s.
  • the measuring system 30 or the measuring method advantageously serves, for example, to mark a target position exactly on a construction site, for example, where construction work is to take place, for example drilling a hole according to the construction plan.
  • the user can then, for example, approach the marked point 43s and either immediately carry out the required construction work with the free hand or, for example, apply a permanent marking to the surface 44 with a pen.
  • the carrier 37 has a locking device, with the aid of which the carrier 37 can be fixed in the space 41 without tools.
  • a stand is provided so that the user 40 can place the instrument 32 on the floor, roughly aligned with the wall 44, so that the laser pointer marks the location 43s.
  • a locking device is a clamp with which the carrier 37 can be detachably fastened, for example on a wall.
  • An advantage of using an auxiliary measuring instrument 32 is that it can be used to work close to the wall 44 and easily one large measuring environment 41 can be completely measured or staked out without having to change the measuring device 31 (that is, without the need for complex station changes). It is also possible to achieve 31 measuring points 43s from a stationing of the measuring device, which are beyond direct access from this stationing, for example due to obstacles in the direct air line.
  • the measuring auxiliary instrument 32 has a marker with which physical marking of target positions is made possible. With the help of a printer or a spraying device is then directed e.g. a color marking 43s is applied to the wall 44.
  • FIG. 5 symbolizes a position-accurate display of the stake-out point in a live image of the construction site 41 recorded by the smartphone 35 as a further option.
  • a graphic marking 43 is superimposed on the live image (video image) recorded by the smartphone camera, so that the user 40 can see the wall 44 on the screen 36 and at the same time the target position in a positionally correct manner, that is there is an augmented reality view.
  • further information relating to the target position is displayed on the screen, e.g. the type of tool to be used at the site or a virtual view of the construction site as it should look at the target site after the construction work has been carried out.
  • FIGS. 6a-e show, purely schematically, the method according to the invention for measuring a target using a measuring device with target delivery function.
  • FIG. 6a shows a measuring environment 17, for example a building room as shown, in which a measuring device 10 with direction and distance measuring functionality is set up by the user 16 at one location, for example a total station.
  • the user 16 himself marks a position to be measured in the room in a manner known per se with a plumb or measuring rod with a target 3, for example a retroreflective prism, and holds a display device 6 in his hand which is wirelessly connected to the measuring device 10, so that data can be transmitted between the two devices 6, 10.
  • the measuring device 10 and / or the mobile device 6 has a control with evaluation functionality.
  • the user can preferably control the measuring device 10 by means of the control and input on the screen 6.
  • the screen 6 can also be a fixed or removable part of the measuring device 10.
  • the measuring device 10 and the screen 6 form a measuring system 18.
  • the measuring device 10 has a base 13, relative to which a structure 14 is arranged so that it can rotate about two axes.
  • the structure 14 defines a target axis 12, which is thus also pivotable about two axes.
  • the structure 14 has a beam source and a measurement radiation detector, for example a range finder 15 in the form of a laser distance meter, so that within the scope of a single-point determination functionality, knowledge of the distance measured therewith to a target lying in the target axis 12 and the direction measured, for example by means of an angle encoder Target or alignment of the target axis 12, the position of the target relative to the surveying device 10 and on the basis thereof Known location, the position in the room can be determined.
  • the measuring device 10 has a camera 11, which is aligned in the direction of the target axis 12. In a departure from the illustration, this camera 11 can be designed, for example, as an on-axis camera.
  • the measurement system 18 has a target preparation or target acquisition function, in the framework of which a wide-ranging image of the measurement environment 17 is recorded in a first step, e.g. a full dome picture. In the example, this is done by pivoting the camera 11 (symbolized by arrow 11a) by rotating the structure 14 while the image is being recorded continuously.
  • the overview image is recorded by means of a second camera, which has the measuring device 10.
  • This additional camera can e.g. has such a wide field of view that the measurement environment 17 is motionless e.g. can be imaged over a horizontal angle of 200 ° or more.
  • Such a camera is e.g. a so-called overview camera, which is additionally arranged on the structure 14.
  • a second camera e.g. a camera of the display device 6 is also used, in that the user 16 takes a picture of the space 17 from or near the location of the measurement device 10, so that the image essentially corresponds to the view of the measurement device.
  • FIG. 6b shows how the recorded overview image 1 is subsequently displayed on the screen 6, for example after it has been transmitted from the measuring device to the mobile screen via Bluetooth or Wi-Fi.
  • the user now selects a target area 4, for example in the case of a touch screen by hand as symbolized by the hand 5, in which the target 3 to be measured is located.
  • the selection 5 is made For example, by defining or automatically supporting a rectangular frame of a certain size in image 1 by tapping on a point in the image (or on the screen) and automatically defining a predefined frame around the point of contact as the target area.
  • the predefined size of the target area 4 can be changed by tapping several times, for example in three stages.
  • the size of the target area 4 is automatically set as a function of existing measurement data, for example by determining a (rough) distance to the target area 4, for example by image evaluation. For example, the farther the targeted area 4 is in the room from the measuring device, the smaller the target area 4 is automatically set, so that regardless of the distance, an at least approximately equal measuring area is always selected as the target area 4.
  • the width of the field of view of the camera 11 is also optionally taken into account when determining the target area size. In any case, there is therefore a manual definition of a target area 4, which is optionally supported automatically by the measurement system 18, so that a rough selection or determination of the direction with respect to the target 3 to be measured takes place.
  • FIG. 6c shows how, based on the manually defined target area registered by the control, a first, rough alignment of the measuring device 10 with the target 3 takes place.
  • the controller uses the target area selection to ensure that the body 14 is pivoted in such a way that the target axis 12 comes to lie in the direction of the target area.
  • the pivoting ensures that the target is in the field of view of the camera 11 aligned in the direction of the target axis 12.
  • the measuring device 10 is aligned such that a second image can be recorded by the camera 11, which represents a section of the overview image or the measurement environment 17 containing the target 3.
  • FIG. 6d shows an example of such an image 2 of the camera 11.
  • image 2 the target 3 is shown comparatively large. This enables the user to manually, e.g. by touching the screen 6, can precisely mark the target 3 (represented by the hand 7), whereby the controller is "informed” about the exact direction to the target 3.
  • the target axis 12 is then pivoted by the control on the basis of the target selection previously made in such a way that it is aligned with the target 3.
  • target 3 can be measured coordinatively using the direction and distance measuring functionality.
  • the proposed method therefore aligns the measuring device 10 to the target 3 in two stages by the user 16, by first defining an approximate direction to the target 3 in an overview image 1 by means of the target area 4, which is based on the further, in this rough direction captured image is refined by a second manual selection in such a way that target 3 can be targeted and thus measured.
  • FIGS. 7a and 7b show further developments of the target provision process.
  • FIG. 7a which, analogously to FIG. 6b, shows the overview image 1 shown on the display 6, shows that known and ascertained potential targets 19a, 19b and 19c are shown by means of graphic markings.
  • the target 19a is a target stored in an electronic memory, which is known, for example, from a previous measurement in the measuring environment or was determined on the basis of a construction plan with target positions with which the image 2 was compared.
  • the potential targets 19b and 19c are those which were automatically recognized as striking surrounding points by means of image processing in the overview image 1.
  • an automatic suggestion of a target area 4 is also made depending on the potential targets 19a-19c.
  • a target area 4 is defined by the controller in such a way that it encompasses the three targets 19a-c lying close to one another. The user can then select this target area 4 simply by touching the screen 6 as the target area 4 to be used or, if necessary, change the size of the target area 4 manually or mark or select another target area 4.
  • FIG. 7b which is analogous to FIG. 6d, shows the target area image 2 recorded on the basis of the target area 4 of FIG. 7a.
  • the potential targets 19a-19c can now be seen very clearly by the user. This means that he can easily mark and ultimately select a target that is ultimately to be measured.
  • the user selects the target 19b for the measurement, the selection 7 being automatically supported by touching around the touch point 7a within a zone 7b the target 19b is automatically set as the target to be selected.
  • the system automatically determines the target in the vicinity of the touch point 7a, so that the user does not have to hit the displayed target 19b exactly on the screen 6.
  • Zone 7b can be defined in a fixed manner or, if necessary, be variable and - within certain limits - expanded until a target is located therein.
  • the user not only marks a target 19b in Figure 2, but e.g. also the other two targets 19a and 19c, so that the measuring device measures all three targets 19a-19c.
  • FIG. 8 shows a first embodiment of a construction laser system 50.
  • the construction laser system 50 has a self-leveling laser module with a construction laser 53 with a laser source integrated in a housing 54, such as the laser diode 55.
  • the radiation 56 from the laser source is in the example by means of optics 57 of the laser module expanded and thus emitted as laser fans 56a in the room, where, for example serves as a linear position reference for building activities inside or outside.
  • Self-leveling is e.g. achieved by means of a gimbal or a ball joint.
  • the construction laser system 50 which is designed as a line laser system 50 in the example, also has a holder 51, which is rod-shaped in the example, which is placed on a reference floor 52, for example a storey floor. On this holder 51 is a by means of a lock 58 Line laser 53 releasably fixed again.
  • the holder 51 thus serves to flexibly fix the line laser 53 above the floor at a height h desired for the position reference by means of the fixation 58.
  • the height h disadvantageously has to be measured manually.
  • the present line laser has an integrated optoelectronic distance meter 59a, with which the present height h is measured automatically. It is therefore measured using radiation in a manner known per se, e.g. based on triangulation, phase and / or transit time evaluation, the distance of the housing 54 to the floor 52 or the distance of the laser light 56b forming the position reference to the floor 52 is measured. This eliminates the need for a purely manual measurement of the height h of the position reference as in devices of the State of the art necessary.
  • the laser source 55 is advantageously used dual, ie the laser radiation 56 serves both to provide the reference line 56a and as measuring radiation 56b for height measurement.
  • the radiation emanating from the diode 55 is split by a beam splitter 53a, so that a part 56b of the radiation is directed in the direction of a second optic 57a on the underside of the housing 54 or in the direction of the base 52.
  • Radiation reflected from the ground is directed onto a detector 53c of the distance meter 59a by means of the second optics 57a and an optical deflection element 53b.
  • the sought height h is then determined from the detector signal.
  • the line laser 53 has an additional radiation source for height measurement.
  • the automated measurement of the height h by means of a height measuring unit such as that of the distance meter 59a shown is either triggered manually — for example by pressing a trigger button attached to the housing 54 or by remote control; or it takes place automatically continuously, for example at certain measuring intervals.
  • an automatic height measurement takes place, for example after locking, which is determined by means of appropriate sensors and / or after a specific time in which no movement of the housing 54 (for example by means of acceleration sensors) has been detected.
  • FIG. 9 shows a second example of a line laser system according to the invention.
  • the line laser 53 and the holder 51 are shown enlarged in comparison to FIG. 8, the holder 51 is only partially shown and the reference floor is omitted.
  • further components of the line laser 53 or the housing 54 are not shown, apart from the transmission optics 57.
  • the height h is determined automatically by the holder 51 having an optically readable position code 51a along the height axis h, for example a light-dark coding or a color coding.
  • the position code 51a absolutely codes the position along the height axis h.
  • the present height h can be measured with an opto-electronic reading head 59 of a position encoder 60, which in the example is integrated in the locking device 58, and can be displayed, for example, as shown on a display 59d attached to the housing 54.
  • An alternative to the illustrated optical position encoder 60 is a capacitive or magnetic position encoder.
  • the holder 51 does not have the passive part of the position encoder 60, but the line laser 53.
  • a target is integrated into the catch 58, which target can be detected along the height h by the holder 51 designed for this purpose, and thus the position of the line laser 53 relative to the holder 51 is indicated.
  • the evaluation of the measurement signal generated on the holder side can also be carried out completely on the holder side and the height value can be shown, for example, on a display of the holder 51.
  • the position encoder 60 or the coding 51a is also designed such that, in addition to the height h, the horizontal alignment or the alignment relative to the holder 51 of the housing 54 (or the line laser 53) can also be measured.
  • the coding 51a not only codes the position along the height axis h, but also perpendicularly to it, so that the rotation R around the height axis h is read out by means of the reading head 59 and e.g. can be shown on a display 59d.
  • Such optical surface or 2D coding are known in principle from the prior art.
  • the system 50 has a separate distance and / or position meter and a separate alignment meter.
  • Figure 10 shows a training of the previous embodiments.
  • the line laser system 50 has a drive 61 in addition to an altimeter, for example the position encoder 60.
  • the height h of the line laser 53 can be adjusted automatically by means of the drive 61.
  • the drive 61 is designed as a toothed wheel 61a, which is driven by a motor 61b, in order to be able to move the housing 54 up or down along a guide rail 62 of the holder 51.
  • An alternative to this exemplary drive 61 is, for example, a magnetic linear drive, which is integrated in the holder 51 and pulls the catch 58 upwards or allows it to sag downwards in a defined manner.
  • the active element of the drive 61 is integrated in the holder and the line laser 53 is passive.
  • a targeted distribution of the drive components can offer advantages, for example, with an active holder 51, a battery of the drive can be placed in the holder foot, the weight of which increases the stability on the one hand and on the other hand does not avoid additional weight in the line laser 53 .
  • the system 50 has a control 62 with corresponding control software, which controls the drive 61 in such a way that a target height h is automatically set on the basis of the height continuously measured by the altimeter 59.
  • the housing 54 is controlled by the control 62 by means of the drive 61 until the desired height h is reached, then the position is automatically fixed by the control 62 by means of the locking device 58.
  • the system 50 also has a remote control receiver or, more generally, a communication module 63, which in the example is integrated in the housing 54.
  • This receiver 63 is used on the one hand for remote control operation of the drive 61 and / or for communicating a desired height h to the control 62 from a remote user, so that the Controller 62 then automatically adjusts height h as described.
  • holder 51 or line laser 53 are equipped with a two-axis drive, so that in addition to the height h, the horizontal alignment of the laser can also be changed automatically — and optionally also automatically by means of the control 62.
  • a target height, but also a target orientation can be set automatically or automatically in such embodiments.
  • FIG. 11 a shows a first embodiment of a measuring system 77 according to the invention with a measuring auxiliary instrument 70 and a measuring device 71 with an active gimbal 76.
  • the measuring device 71 is e.g. formed as a total station with a structure 71a pivotable about a base 71b in two axes with a laser source for emitting a measuring beam M, so that e.g. a distance to a reflecting target 74, which provides a reference point 74r, can be measured based on a transit time measurement of the measuring beam M and the position or the coordinates of the target 74 or more precisely of the reference point 74r can thus be measured on the basis of the measured orientation of the measuring beam M. .
  • the measuring aid instrument 70 providing the target 74 has a hand-held rod 72, which the user 40 places on the ground 52 at a terrain point 78 to be measured.
  • the terrain point 78 is located in a hole where it is difficult to contact with conventional plumbing poles and can therefore be measured.
  • An assembly 73 is attached to the rod 72, which is equipped with an angled end for this purpose, and is therefore arranged with an offset to the rod 72 due to the angle.
  • the attachment to the rod 72 is carried out by means of a gimbal 76 with two axes of rotation al and a2.
  • the gimbal 76 is or more precisely the gimbal axes a1 and a2 are actively driven by means of motorization (not shown separately), so that the assembly 73 or. more precisely, their vertical axis A- can be aligned automatically or automatically - that is, without separate user intervention by regulating axes al and a2.
  • the assembly 73 has, on the one hand, the target 74 at the upper end, which is therefore automatically aligned perpendicularly due to the actively controlled gimbal arrangement 76.
  • the assembly 73 has a targeting unit 75, which is designed as a laser in the example, at the lower end.
  • the aiming unit 75 is used for aiming the terrain point 78 to be measured and for this purpose has a target axis A, which coincides with the vertical axis A in the example.
  • a laser beam L is emitted along the target axis A by the laser.
  • the laser point L is used to mark the terrain point 78 visually for the user 40, so that the user 40 can thus verify the orientation of the target axis A, that is to say can recognize whether he is actually targeting the point 78.
  • the laser in the example is part of a laser distance meter, on the basis of which the distance from the target 74 or from the reference point 74r to the terrain point 78 is measured becomes.
  • the coordinates of the terrain point 78 can be clearly determined.
  • the target 74 is arranged such that the reference point 74r is located at the intersection of the two gimbal axes a1 and a2.
  • the arrangement of target 74 and target unit 75 is interchanged, so that the target unit aims vertically upwards, which means e.g. Points of a ceiling can be measured.
  • the targeting unit 75 or the entire assembly 73 can also be arranged such that the targeting axis targeting unit 75 or the targeting axis is horizontal.
  • the laser distance meter working according to the phase principle can be used for the electronic distance meter of the target unit e.g.
  • Suspension 76 may include one or more tilt sensors. By means of the active regulation of the suspension 76 presented, inclination sensors can be approached and leveled with high precision and with a small measuring range.
  • an active suspension 76 for example, a targeted alignment is automatically and / or remotely controlled not only in the vertical and / or horizontal direction, for example for the automatic targeting of a terrain point 78 feasible.
  • the active cardanic suspension 76 thus advantageously enables not only a vertical or horizontal alignment of the target 74 and / or the target axis A to be achieved automatically, but also, due to the motorization, the assembly 73 to be adjusted automatically or automatically to any other angle.
  • the gimbal 76 therefore not only enables the assembly 73 to be automatically, highly precisely and quickly aligned vertically or horizontally, but also, if required, to a different arrangement of the assembly 73 without the user 40 fixing the rod 72 in a specific position or posture or should align. In this way, angles can be approached in a targeted manner and marked by means of the pointer laser beam L, for example to indicate alignment specifications.
  • the active suspension 76 can also be used to adaptively dampen movements of the measuring aid instrument 70 or the assembly 73, so that e.g. 70 accurate measurements are possible even if the instrument is not positioned correctly.
  • By controlling the damping e.g. significantly simplify tracking of the target 74 by the measuring device 71 when the instrument 70 is carried around by the user 40, since the rocking by the user 40 can be optimally compensated for by the damping adapted to the rocking.
  • remote control can be carried out from the surveying device 71, so that one or more surveying points 78 can be approached automatically or by a user there from the location there, including surveying points that differ from the representation in FIG. 11a from the point of view of the measuring aid instrument 70 seen are not in the vertical or horizontal.
  • stored points to be staked out or layout points can be retrieved from an electronic memory and as soon as the instrument 70 is in a suitable vicinity of the point or points, these are automatically marked / displayed on the floor or on a wall, for example by means of a laser beam L. by adjusting the orientation of the laser beam L accordingly by means of the active gimbal 76.
  • the measuring system 77 can also have means with which the orientation of the gimbal 76 relative to the measuring device 71 can be determined, e.g. an optical ball code at the target 74 or other optical markings on the assembly 73, which is recorded and read out by means of a camera of the measuring device 71.
  • the measuring instrument has active means for determining orientation, e.g. an IMU and / or inclination sensors.
  • a 6-DoF measurement of the measuring aid instrument 70 is made possible by the measuring device 71, which can be used, for example, to use the measuring aid instrument 70 as a 3D distance meter, in particular for short measuring distances to a terrain point 78 .
  • the assembly 73 with an active gimbal 76 has a tracking unit, with which, for example, camera-based or a nearby moving device or vehicle can be tracked using a position-sensitive detector.
  • a tracking unit with which, for example, camera-based or a nearby moving device or vehicle can be tracked using a position-sensitive detector.
  • Such tracking units are known in industrial laser trackers, for example under the Keyword "ATR" (automated target recogniction) and described in more detail with reference to the sixth aspect of the invention, for example to FIG. 14.
  • FIG. 11b shows an alternative embodiment of an auxiliary measuring instrument 70.
  • the assembly 73 with the target 74 and targeting unit 75 is attached to a stand 72 'by means of an active gimbal 76 with the two gimbal axes a1 and a2.
  • the assembly 73 can be positioned at a terrain point 78, as shown, in order to measure or stake out this point 78 as described above.
  • FIG. 11c shows a part of the auxiliary measuring instrument 70 of a further embodiment, specifically the gimbal 76 with the two axes a1 and a2 and with an assembly 73 'suspended therewith.
  • the assembly 73 ' has, in addition to the targeting unit 75, a further targeting unit 75a, the target axis of which is perpendicular to the target axis of the first targeting unit 75 and is thus oriented horizontally in the example.
  • the second aiming unit 75a likewise has a laser, so that points in the horizontal or at an angle perpendicular to the axis A can also be measured or marked by means of the second laser beam L '.
  • the second laser light L ' can also be emitted in a fan shape, so that, for example, contour lines can be recorded or marked on a wall from a defined point of view, which is maintained and / or measured by means of the first laser beam L.
  • Vertical and horizontal aiming and distance measurement can therefore be advantageously combined in order to precisely mark contour lines.
  • FIG. 12 shows an alternative embodiment of an auxiliary measuring instrument 70.
  • the gimbal-mounted assembly 73 has a targeting unit 75 ', which has a camera aligned along the target axis A.
  • the camera thus takes a picture of the part of the floor 52 lying vertically below it.
  • This picture is e.g. wirelessly transferred to an external user display, e.g. a tablet 6 as shown or also augmented reality glasses or an AR helmet.
  • an external user display e.g. a tablet 6 as shown or also augmented reality glasses or an AR helmet.
  • the image which shows the terrain point 78, the (virtual) intersection Pa of the target axis A with the ground 52 is shown as a superimposed graphic.
  • the user 40 can now change the position and / or posture of the measuring aid 70 such that the intersection point Pa shown overlaps with the representation of the terrain point 78, that is to say the target axis A is aligned with the terrain point 78.
  • the distance from the position reference point 74r to the terrain point 78 is measured, as described above, either camera-based using the aiming camera or using an additional electronic distance meter.
  • FIGS. 13a-13c show an example of a method using an auxiliary measuring instrument 70 as described above.
  • the auxiliary measuring instrument 70 with the assembly 73 arranged on the gimbal device 76 is positioned at a terrain point 78.
  • work is to be carried out using a tool 79, in the example a drilling machine.
  • the hand-held tool 79 has a working axis 79a, which is to be aligned for optimal work in a certain direction, in the example perpendicular (to the floor).
  • the laser light L of the aiming unit 75 aimed at the terrain point 78 is used.
  • the tool 79 has a laser detector or a focusing screen 79b on its rear side, mounted centrally around the working axis 79a. If the tool 79 is now aligned such that the laser beam L strikes a central zone of the focusing screen / detector 79b, the user recognizes that the alignment is optimal.
  • the central zone can encompass the entire focusing screen / detector area, a larger area of the light-sensitive area can be advantageous in order to find / detect the laser beam before the optimal alignment.
  • the accuracy of the alignment can optionally be carried out by means of several zones which represent different tolerance ranges, e.g. a tolerance of 1 °, 2 ° and 3 °. If there is a detector, checking the alignment e.g. by means of optical and / or acoustic signals.
  • FIG. 14 shows an example of a measuring device 80 with parallel provision of a direction to a target 82 to be measured and an image of the target 82
  • Measuring device 80 for example a total station or a laser tracker, has, as part of a direction measuring module 84, an infrared radiation source 85 which generates illuminating radiation 86 which, among other things, illuminates target 82 by means of beam splitters 89, in the example designed as a retroreflector.
  • Infrared radiation 86 reflected by the target 82 is received by an optical receiving system 83 and guided to a sensor 90 (the sensor 90 is shown in an oblique view, in contrast to the rest of the illustration).
  • the two-dimensional image sensor 90 is sensitive and position-sensitive to the wavelength of the infrared radiation 86, so that the position of the point of incidence 88 of the received radiation 86 on the sensor 90 can be determined, for example in a manner known per se, by determining the center of gravity. Based on the location of the point of impact 88, a direction to the target 82 can be inferred. For example, a deviation of the position from a defined center, which corresponds to a highly precise central alignment with the target 82, is used to infer a deviation of a target axis of the measuring device 80 from a target alignment, which is also referred to as automated target recognition (ATR). is known.
  • ATR automated target recognition
  • a deposit of the received infrared beam 86 from a zero position is determined on the sensor 90.
  • a position difference between the center of the retroreflector 82 and the point of incidence of the infrared beam 86 on the reflector 82 can be determined and the alignment of the measuring device 80 can be corrected or tracked as a function of this deviation in such a way that the deposit on the sensor 84 is reduced , in particular "zero", and thus the beam or a target axis is aligned in the direction of the reflector center also by means of a distance measuring module 81 with a beam source 81a, which sends measuring radiation (not shown) (e.g.
  • a 3D position of the target 82 can also be determined from the storage and thus the direction to the target in conjunction with the distance measurement.
  • the target 82 can also be continuously tracked and the position of the target 82 (direction and distance) can be continuously determined relative to the measuring device 80.
  • the tracking can be realized by changing the orientation of a motorized movable deflection mirror provided for deflecting the light beam and / or by pivoting a aiming or beam deflecting unit relative to a fixed base.
  • a parallel illumination with infrared radiation 86 e.g. by arranging an IR beam source directly on the optics 83, e.g. as a ring of IR LEDs around the optics 83.
  • the spatial direction to target 82 is then e.g. determined with a camera which reflected illumination radiation 86 receives.
  • the receiving optics 83 and the sensor 90 are designed in such a way that for the reception and detection of the infrared radiation 86 emanating from the target 82, visible radiation 87 can also be received by the receiving optics 83 (ie, can be guided to the sensor 90) and the received one visible radiation 87 can be detected by sensor 90 at the same time as infrared radiation 86.
  • the visible light is with one Spectral distribution can be received and recorded so that a color image can be generated from it.
  • a camera or RGB image 91 of the target is thus parallel to the determination of the deposit point 88 or the determination of the direction to the target 82 based on the point 88
  • infrared measurement radiation is also detected in one go, in particular at the same time, and “normal” ambient light, so that on the one hand determination of the target direction and a camera image 91 of target 82 can be provided by means of the same sensor 90 in one operation without the receiving optics for either of the two tasks
  • FIG. 15 shows purely schematically the sequence of parallel detection of infrared radiation and visible radiation with a wide color spectrum as well as direction determination and image generation based thereon.
  • the receiving optics 83 both types of radiation are guided onto the sensor 90 sensitive to both wavelength ranges, with a filter 83a the visible radiation is transmitted as a bandpass and an IR range selected with regard to the IR range of the IR illuminating radiation (86 in previous FIG. 14) or the sensor.
  • the different radiation components are processed (block 92), so that two sensor output signals or sensor signal components are generated.
  • the first output signal 93 the optical Illus. 91 of the target (or the target environment) created.
  • the direction to the destination is determined in parallel with the second output signal 94 (symbolized by the storage point 88). It is therefore measured with the same optical system and in one procedure using IR radiation on the one hand and a color image 91 is also generated.
  • the specific direction to the target is shown in image 91 of the target, whereby image 91 can be part of a live video stream.
  • FIG. 16 shows a further development of the embodiment of a measuring device 80.
  • the receiving optics 83 have a correction lens 95. This serves to match the focus of the receiving optics 83 for the visible light 87 and the focus for the IR radiation 86 to one another in order to compensate for the wavelength dependence of the focusing. Both radiations 86, 87 or all spectral ranges can thus be sharply imaged on the sensor 90 at the same time.
  • both focused IR radiation 86 and focused ambient light 87 are simultaneously provided, so that the IR point of incidence can be determined and an image can be generated in one exposure process. Simultaneity of the two processes is particularly advantageous with a moving target.
  • An alternative to a unifying focus correction or a simultaneous recording of both radiations 86, 87 is described in FIG. 17 below.
  • FIG. 17 schematically represents a sequence with which a camera image based on the visible wavelengths and an IR measurement are carried out in one operation.
  • the measuring device is set to produce the color image by adjusting the exposure time and the optical focus for the visible wavelength range or by setting it to be optimized (96a).
  • a camera image is then recorded with these parameter values of the receiving optics or the sensor (96b).
  • This image is then evaluated (96c) in order to optimize the acquisition parameters for the detection of the IR radiation.
  • the optical focus is set on the basis of the determined image contrast of the color image (96d). This can take place fully automatically or partially automatically with user intervention and is advantageous in that such a color image generally has a good contrast value or the contrast is much clearer than in the case of IR radiation. The image sharpness can thus be determined with good certainty and used for regulation.
  • the exposure time is then set appropriately for IR detection (96e). This can also be based on an evaluation of the color image. In any case, separate exposure processes are advantageous in that the exposure time can be optimally adjusted for the respective type of radiation. With the recording parameters set in this way, the IR radiation is then detected (96f).
  • Such a detection of visible radiation and IR radiation which takes place directly in succession, thus realizes an adjustment of detection parameters optimized for the respective sub-process.
  • the sequence can in particular be part of a video stream, in which a color recording and an IR recording take place alternately.
  • FIG. 18 shows an exemplary embodiment of a hybrid sensor 90, with which infrared radiation for determining the point of deposit and colored light for color image detection are simultaneously used. riding position is detectable.
  • the sensor 90 is designed as a hybrid RGB-IR sensor 90 with a pixel array 90a, which has the three channels 90b red, green and blue and also an IR channel 90c. These are obtained, for example, by means of appropriate pixel filters, which only let the wavelengths or wavelength range of the desired spectral component R, G, B or IR pass, the IR pixel filter, for example, allowing radiation in the wavelength range from 800-950nm or more specifically at wavelengths of 780nm or 850nm and all the light in the visible spectrum is absorbed.
  • the missing color channels of a pixel are preferably compensated for by correlating the missing color components by the neighboring pixels, which capture the corresponding colors. Such compensation is not necessary for the ATR measurement, since the point of impact can be determined as described, for example, by forming a center of gravity.
  • FIG. 19 shows an example of a method for buying and selling geodesy data via a computer network platform 100.
  • the left part of FIG. 19 shows schematically how terrain points 107 are measured by means of the surveying devices 101a and 101b.
  • This generates geodesy data that contain the absolute coordinates of the terrain points 107, for example based on the WGS84 or ETRS89 reference system.
  • the geodesy data optionally contain additional data. Examples of such metadata are the time or the date of the survey, the type or type of surveying device used, e.g. tachymeter or laser scanner, reflectorless or with reflector etc.
  • the accuracy or uncertainty of the coordinates or the originator / source of the geodetic data can also be used Be part of it (see also Figure 20).
  • the geodesy data generated in this way are transmitted to a data exchange platform 100 in the example by means of the Internet.
  • This upload represents the sale of the geodesy data or their offer for sale.
  • the platform 100 stores the geodesy data of the terrain points 107 as a function of the respective point coordinates, ie the assignment of the geodesy data takes place via the coordinates contained therein.
  • the geodesy data can thus be called up using the coordinates.
  • the platform 100 can add further metadata to the geodesy data, for example a coordinate history, that is to say the course of the coordinates of a terrain point, if there are several measurements of different dates in the stored database at the same point.
  • a (potential) buyer logs on to the platform 100 via network and informs him of the location or terrain point at which he wants data, e.g. by directly specifying its location coordinates or by communicating another location name (e.g. address, property number etc.), which makes its location and thus the coordinates of its location clearly identifiable.
  • the platform 100 provides the corresponding geodesy data, that is to say the data which, based on their coordinates, match the location coordinates or are classified as belonging to them.
  • the user selects the geodesy data that he wants to buy and then loads the purchased data down to his measuring device 106, where, for example, they are shown graphically on a display 106b of the device 106.
  • Data, download or upload can also not be carried out by the actual measuring device 106, for example a total station, but rather by a display and control device such as a smartphone or tablet connected or connectable to it.
  • a geodetic surveying system has, for example, a tachymeter and a smartphone, with both devices communicating with one another and communication with the platform being carried out using the smartphone.
  • the download or purchase 105 is carried out simply by a single user input, e.g. by simply pressing an operating button 106a of the measuring device 106 or a smartphone or tablet connected to it.
  • the upload or sale 102 of geodesy data stored in the surveying device 101a or 101b can be triggered by a single key press.
  • the platform 100 thus serves as a trading market with which geodetic data can be traded in a simple and direct manner.
  • the purchase of geodesy data can be further automated by automatically determining the location of the buyer or the measurement system 106, for example using GPS, and transmitting it to the market platform 100 (represented by symbol 108 in FIG. 19), so that the geodesy data suitable for the location are automatically provided can be downloaded at the push of a button, e.g. data of all terrain points within a radius of 50m, whereby additional, pre-set filters can be taken into account (such that, for example, only coordinates are purchased that meet certain quality criteria / measuring accuracies or are compatible with the type of measuring device).
  • Such transmission and consideration of location 108 or device type / type optionally takes place alternatively or additionally when geodetic data 103a / b is provided, so that only those data are offered that match the location and / or specific surveying device 106.
  • a preselection or adaptation of the geodesy data makes the final selection easier for the user.
  • An adaptation can e.g. relate to the type of presentation of the data, which is then tailored specifically to the querying device.
  • the platform 100 determines or calculates an optimal measurement location for the terrain points 104 queried by the buyer and suggests this measurement location to the user.
  • the system can also optionally suggest site points subsequent to one or more site points queried or purchased.
  • the buyer optionally receives further assistance based on the geodesy data he has acquired, which can facilitate a surveying task based on the downloaded terrain points that have already been measured.
  • the buyer automatically receives a notification as soon as an update of geodesy data already acquired is available, for example newer coordinates for downloaded points are available. For example, stationing measurements based on several known points can be used to update the point information.
  • a warning is optionally also automatically issued to the user, if For example, due to storms or earth movements, it can be assumed that the data already acquired no longer correspond to reality.
  • the platform 100 is connected to a meteorological or seismological data provider, so that serious environmental influences in a particular terrain region are noted, which have or could have an impact on terrain points.
  • a note is then made to the user of the platform 100 that his data is or could be out of date, that is to say the saved and downloaded coordinates (potentially) differ from the real coordinates.
  • FIG. 20 shows an example of geodesy data 113-115 which can be queried via the data trading platform.
  • a display 109 is e.g. a total station can be seen, in which a 3D view or a live camera image 111 of the measurement environment at the location of the measurement device can be seen.
  • superimposed on the image 111 in the example are three graphic markings 110 of terrain points, the coordinates of which have been downloaded from the platform.
  • further geodesy data 113-115 are provided or acquired by means of the platform, which are linked to the terrain points 110 and e.g. can be displayed by clicking on the respective marker.
  • the additional data for a point is displayed in a view window 112.
  • the view window 112 contains, on the one hand, a table 113 which, in addition to the coordinates of the point, contains information about their accuracy, measurement time, source, measurement method and quality.
  • the quality specification is based, for example, on the fact that the terrain point concerned was measured by several surveyors, i.e. that a large number of coordinate details for the same point are stored in the platform.
  • This data table 113 shows a spatial distribution of the large number of coordinate data in the window by the graphic 114.
  • the course of the coordinates over time is illustrated in a diagram 115, that is to say the respective measurement results as a function of the respective measurement date.
  • FIG. 21 shows an example of a measurement network that is made possible by means of the data exchange platform 100.
  • three measurement devices 101a / 106a-101c / 106c are connected in a measurement environment, which function both as device 101a-101c that provides geodetic data and as device 106a-106c that relates geodetic data.
  • the surveying device 101c measures a terrain point 110c and loads its data D (110c) immediately via the Internet to the platform 100.
  • the devices 101a and 101b measure terrain points 110a, 110b and transfer the corresponding geodesy data D (110a), D (110b) ) directly to platform 100.
  • the data D (llOa-llOc) arrived at the platform 100 are then provided in real time for the three which are logged into the platform 100 and registered as a group or buyer-seller association and are forwarded to the other devices.
  • the data D (110a) just uploaded from the measuring device 101a is thus automatically transferred to the other two devices 106b, 106c and the data D (110b) is transferred to the devices 106a, 106c etc.
  • the measurement data D (110a-c) is thus exchanged in real time and on site, so that all of the data D (110a-c) or points 110a-110c generated in the network are immediately available. This enables a synchronized, parallel working of several surveyors, whereby already measured points 110a-c can be used for further referencing.
  • Such a data exchange is also an example of the fact that a buy-sell transaction of item data D (110a-c) can be carried out free of charge or as barter or barter business with geodetic data as the "currency".

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Abstract

La présente invention concerne un système de mesure, par exemple avec une station totale et un instrument d'aide à la mesure conçu comme une canne à plomber, et/ou un instrument d'aide à la mesure, par exemple : une canne à plomber et/ou un procédé pour déterminer des positions dans la zone géodésique ou dans la zone de chantier, par exemple : au moyen d'un laser de construction.
EP18825948.5A 2018-12-13 2018-12-13 Dispositif de mesure, système de mesure et instruments d'aide à la mesure Pending EP3894785A1 (fr)

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