JP2001296124A - Method and apparatus for measurement of three- dimensional coordinates - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a three-dimensional coordinate measuring method, in which three-dimensional coordinates can be measured automatically in a short time with high accuracy and, even with respect to a large structure and hardly requiring human work. SOLUTION: In the three-dimensional coordinate measuring method, an electronic distance meter 1a which measure straight distances up to a plurality of target points 8a installed on the surface of an object 7 to be measured is used, an angle meter 1b which measures the angle of inclination of the optical axis of the distance meter 1a is used, and the three-dimensional coordinates of the target points 8a are measured, on the basis of measured distances and measured angles, when the optical axis of the distance meter 1a is aligned with the center of a target point 8. Each target point 8 is observed from two directions by two TV cameras 5a, 5b for automatic macrocollimation, obtained images are processed, and approximate three-dimensional coordinates with reference to the respective target points 8a are recognized. The optical axis of the distance meter 1a is aligned approximately, in such a way that one point of the recognized target points 8a is situated within microcollimation range, and the optical axis of the distance meter 1a is aligned, so as to coincide with the center of one target 8.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional coordinate measuring method and a three-dimensional coordinate measuring method for measuring three-dimensional coordinates of large structures such as ships, bridges, civil engineering works, buildings, etc., as well as manufacturing members constituting these structures. It relates to a measuring device.

[0002]

2. Description of the Related Art In order to measure the three-dimensional shape of large structures such as ships, bridges, civil engineering, buildings, etc., transit, tape measure,
A two-dimensional measuring device using a down swing or the like is mainly used. On the other hand, in recent years, three-dimensional measurement of large structures has been performed using triangulation, which has been developed in the field of surveying, distance measurement using an optical distance meter, and a surveying instrument using an angle measurement method. ing.

As an example, a three-dimensional coordinate measuring system capable of measuring the three-dimensional coordinate value of an arbitrary point on a measurement object (measurement object) with one measuring instrument is known as “MONMO”.
S "is commercially available from Sokia Corporation. This apparatus measures two arbitrary points in advance, sets a three-dimensional coordinate system, collimates a reflection target (target point) provided at each measurement point, and determines three elements of a horizontal angle, a vertical angle, and a distance measurement. Are measured simultaneously. Then, the coordinate conversion is analyzed and calculated to obtain a three-dimensional coordinate value, and ± 1 mm at a distance of 100 m.
The following high accuracy can be obtained.

However, the conventional measuring instruments including the above-mentioned "MONMOS" have been required to focus on the telescope or to align the center of the reflection target with the center of the crosshair of the telescope in the collimation work by human eyes. Complicated and time-consuming collimation work is required, and human error of the measurer is likely to occur. That is, the necessity of artificial work has caused a reduction in efficiency and a reduction in measurement accuracy.

[0005] In order to solve such a drawback, those having a function of automating collimation work by visual observation are known as "TCA1100" series of Leica Geosystem Co., Ltd. and "CYBER" of Sokia Corporation. MON
MOS "is commercially available. These are provided with imaging means such as a CCD camera or the like coaxially with the optical axis of the optical distance meter, detect the center position of the reflection target from the image captured by the imaging means, and deviate the center position of the imaging device from the center position of the reflection target. The amounts are calculated, and if they do not match, the goniometer is driven by a motor by an amount corresponding to the amount of displacement to make them coincide.

In this type of system, after initially setting the position of the reflection target and conditions for the measurement order, the reflection target captured by the imaging device is extracted by the image processing device, and the center of the reflection target and the optical axis of the imaging device are extracted. The horizontal angle and the vertical angle of the image pickup device are driven by a servomotor so that they coincide with each other, and are automatically collimated and measured. In order to perform automatic collimation, it is necessary to put the reflection target within the field of view of the imaging device, and when the coordinate value of the position of the reflection target is known, the operator can use the measurement data from the measuring device based on the design data. Directly input the coordinates of the position of the reflective target, and if unknown, aim the imaging device at the reflective target manually or by controller,
Teaching is performed by repeating the operation of putting the image pickup device into the field of view of the imaging device.

In JP-A-8-136218 and JP-A-9-14921, the position of a reflection target is measured by an analysis computer based on a design dimension value or a three-dimensional design coordinate value of an object to be measured. There has been proposed a method of determining a collimating direction by converting the coordinates into coordinates from a machine and performing automatic measurement.

[0008]

However, this type of apparatus has the following problems. That is, when the three-dimensional coordinates of the reflection target are unknown,
It is necessary to repeat the work of pointing the CD camera on the monitor screen and perform teaching, which involves complicated manual work and cannot expect the merit of automation.

Further, even when the three-dimensional coordinates are known from the design dimension values and the three-dimensional coordinate values, the work of matching the design coordinate system and the measurement coordinate system can be performed even if the coordinate conversion is performed by an analysis computer. In the initial setting, it is necessary to measure at least two reflection targets serving as references, which requires manual labor.

Further, when the measuring point is used for positioning of members in an assembling process or the like, the position of the measuring point is often out of the field of view of the imaging device with respect to the design dimension value. Even if calculated from the values, there is no reflective target in the collimated visual field, and there is a problem that it takes a long time to search for the reflective target outside the visual field.

The present invention has been made in consideration of the above circumstances, and has as its object to require little human work even when the coordinates of the position of the reflection target are unknown. It is an object of the present invention to provide a three-dimensional coordinate measuring method and a three-dimensional coordinate measuring device capable of substantially automatically measuring three-dimensional coordinates of a large structure in a short time and with high accuracy.

[0012]

(Structure) In order to solve the above problem, the present invention employs the following structure.

That is, the present invention uses a lightwave distance meter for measuring a linear distance to a target point on the surface of a measurement object and a goniometer for measuring an inclination angle of an optical axis of the lightwave distance meter.
A three-dimensional coordinate measuring method for measuring three-dimensional coordinates of the target point from a measurement distance and a measurement angle after aligning an optical axis of the lightwave distance meter with a target point on the surface of the measurement target object, A coordinate recognition step of observing a plurality of targets on the entire surface of the object by imaging means, processing the obtained image, and recognizing rough three-dimensional coordinates for a plurality of target points on the surface of the measurement target object; A macro collimating step of roughly adjusting an optical axis of the optical distance meter so that one of the target points recognized in the step falls within the collimating range; and the light wave distance roughly adjusted by the macro collimating step. And a micro-collimating step of adjusting the optical axis of the meter so as to coincide with one of the target points.

Further, the present invention provides a distance measuring means for measuring a linear distance to a target point on the surface of an object to be measured by using a light wave distance meter, and the direction of the optical axis of the light wave distance meter in a horizontal direction and a vertical direction. Variable optical axis driving means, optical axis angle measuring means for measuring the horizontal angle and vertical angle of the optical axis of the optical distance meter, and measuring the optical axis of the optical distance meter using the optical axis driving means Micro automatic collimating means for adjusting the target point from the vicinity of one target point on the surface of the target object, imaging means for observing a plurality of targets on the entire surface of the measurement object from one direction or at least two directions, A macro position recognizing unit that processes an image obtained by the imaging unit and calculates approximate three-dimensional coordinates of a plurality of target points on the surface of the measurement target object; Macro automatic collimating means for approximately adjusting the optical axis of the optical distance meter so that one of the recognized target points falls within the collimation range of the micro automatic collimating means. Means for substantially aligning the optical axis of the lightwave distance meter near a certain target point on the object to be measured, and then using the micro-automatic collimating means to adjust the optical axis of the lightwave distance meter to the target point. Then, three-dimensional coordinates of the target point are measured and calculated using the distance measuring means and the optical axis angle measuring means.

Further, in the above three-dimensional coordinate measuring method, the light of the optical distance meter is sequentially used for a plurality of target points on the surface of the object to be measured by using the macro automatic collimating means and the micro automatic collimating means. After aligning the axes,
It is preferable that the distance measuring unit and the optical axis angle measuring unit measure and calculate three-dimensional coordinates to automatically measure the entire shape of the measurement target object.

Further, the present invention provides a distance measuring means for measuring a linear distance to a target point on the surface of an object to be measured by using a light wave distance meter, and the optical axis direction of the light wave distance meter in a horizontal direction and a vertical direction. Variable optical axis driving means, optical axis angle measuring means for measuring the horizontal angle and vertical angle of the optical axis of the optical distance meter, and measuring the optical axis of the optical distance meter using the optical axis driving means Micro automatic collimating means for adjusting the target point from the vicinity of one target point on the surface of the target object, imaging means for observing a plurality of targets on the entire surface of the measurement object from one direction or at least two directions, A macro position recognizing unit that processes an image obtained by the imaging unit and calculates approximate three-dimensional coordinates of a plurality of target points on the surface of the measurement target object; A macro automatic collimating means for roughly adjusting the optical axis of the optical distance meter so that one of the recognized target points falls within the collimating range of the micro automatic collimating means, and the macro automatic collimating means. Collimation control means for adjusting the optical axis of the lightwave distance meter roughly adjusted to the vicinity of a certain target point on the measurement target object by the micro-automatic collimation means,
The three-dimensional coordinates of the target point are measured and calculated using the distance measuring means and the optical axis angle measuring means for the target point adjusted by the collimation control means.
Dimensional coordinate measuring means.

Here, preferred embodiments of the present invention include the following.

(1) The plurality of target points on the surface of the object to be measured are sequentially aligned with the optical axis of the optical distance meter by the collimation control means, and the three-dimensional coordinates of the target points are determined by the three-dimensional coordinate measuring means. The whole shape of the object to be measured is automatically measured by measuring and calculating coordinates.

(2) The imaging means is fixedly installed at the same height in the vertical direction with respect to the center of the rotation axis of the optical axis driving means, and a plurality of targets on the entire surface of the object to be measured are moved in one direction. It is characterized by observing from.

(3) The macro position recognizing means calculates rough three-dimensional coordinates based on a method of stereoscopic vision.

(4) The macro collimating means observes the approximate three-dimensional coordinates of the target measured by the macro position recognizing means based on a method of stereoscopic vision and the target on the surface of the object to be measured. From the positional relationship between the optical axis of the imaging means and the optical axis of the lightwave distance meter, the general direction of the target is converted into a direction from the lightwave distance meter, and the optical axis of the lightwave distance meter is set to the target axis. It is characterized by pointing in the direction.

(5) The imaging means is separated from the center of the rotation axis of the optical axis driving means by an equal distance in the horizontal direction,
In the vertical direction, they are fixedly installed one by one at the same height,
The method is characterized in that a plurality of targets on the entire surface of the object to be measured are observed from two directions.

(6) The imaging means is mounted on the optical axis driving means and observes a target point on the entire surface of the object to be measured.

(7) In the coordinate recognizing step, using two or more images obtained by using two or more imaging means,
The method is characterized by recognizing approximate three-dimensional coordinates for a plurality of target points on the surface of the measurement object based on a triangulation method.

(8) The method of triangulation in the coordinate recognition step is characterized in that stereoscopic vision is used.

(Operation) According to the present invention, a plurality of targets on the surface of the object to be measured are imaged in one direction or at least two directions, and the images obtained by processing the images are processed, so that the targets on the surface of the object to be measured are processed. The macro coordinates of a plurality of targets can be recognized. Then, based on the recognition result, the optical axis of the optical distance meter is directed to one or more of the respective targets, and macro automatic collimation is performed to roughly match the collimation range of the micro automatic collimation, Subsequently, micro-collimation is performed so that the optical axis of the lightwave distance meter is aligned with the center of the target, so even if the position of the target point is unknown, automatic collimation is almost unnecessary. It can be performed. Therefore, it is possible to measure the coordinates of the positions of a plurality of target points installed on the object to be measured and the entire shape of the object to be measured at high speed with almost no human beings, and for a large structure with almost no need for human work. On the other hand, the three-dimensional coordinates can be substantially automatically measured in a short time and with high accuracy.

[0027]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The details of the present invention will be described below with reference to the illustrated embodiments.

(First Embodiment) FIG. 1 shows a first embodiment of the present invention.
3D coordinate measuring device 1 for large structures according to the embodiment
FIG. 2 is a block diagram illustrating a schematic configuration of the three-dimensional coordinate measuring apparatus of FIG. 1.

In FIG. 1, 1 is a distance measuring goniometer, 2 is a horizontal rotation driving motor as an optical axis driving means, 3 is a vertical rotation driving motor as an optical axis driving means, and 4 is a coaxial with an optical wave distance meter described later. TV camera for automatic micro-collimation installed above,
Reference numeral 5 denotes a macro camera for recognizing a macro position as an image pickup device for taking the whole of the object 7 to be measured as a field of view. A personal computer for image processing and control as a measuring means, 7 is an object to be measured, 8 is a target installed at a measurement point on the surface of the object 7 to be measured,
Reference numeral 14 denotes a three-dimensional coordinate measuring device.

As shown in FIG. 2, the distance measuring goniometer 1 includes a light wave distance meter 1a capable of measuring a linear distance to a target point 8a installed on the surface of the object 7 to be measured, and a light wave distance meter 1a. Goniometer 1b for measuring the horizontal angle and vertical angle of the optical axis
It is composed of The optical axis of the lightwave distance meter 1a can be displaced in any direction of two axes, horizontal and vertical, by the horizontal rotation drive motor 2 and the vertical rotation drive motor 3, and the angle setting from the image processing / control personal computer 6 is performed. Driven by The target 8 placed at a measurement point on the surface of the measurement object 7 is a reflection prism or a reflection sheet,
Light waves emitted from an illumination light source (not shown) installed in the dimensional coordinate measuring device are reflected to the measuring device.

The diameter of the reflecting prism or the reflecting sheet is 25 to 100 mm (often about 50 mm). In this specification, the target point 8a is the center point of the reflecting prism or the reflecting sheet (about 0.5 to 1.0 mm). ). The reflection prism and the reflection sheet are referred to as a target 8.

The micro-automatic collimating TV camera 4 has a single target point 8a within the field of view, for example, 1.5 mm.
It outputs a captured image signal of the target point 8a to the image processing / control personal computer 6 having a viewing angle of °. In the image processing / control personal computer 6, the center position of the target 8 is calculated by image processing so that the center of the field of view of the micro-automatic TV camera 4 coaxial with the optical distance meter 1a and the center of the target 8 are eliminated. Next, the amount of driving the motors 2 and 3 is calculated. Then, the calculated values are set in the motors 2 and 3 and the micro-automatic collimation is performed so that the center of the target 8 matches the optical axis of the optical distance meter 1a.

The macro position recognition TV camera 5 has a view angle set so that a plurality of targets 8 on the entire surface of the measurement object 7 can be observed, and performs image processing on an image captured by one TV camera 5. -Output to the control personal computer 6.

The image processing / control personal computer 6 performs image processing based on the input image, calculates the position of the target point 8a in the image captured by the macro position recognition TV camera 5, and performs macro position recognition. I do.
Macro Position Recognition TV with Field of View of Measurement Object 7
The relative position between the camera 5 and the optical axis of the lightwave distance meter 1a is determined in advance at the time of manufacture, so that the macro position recognition TV
Based on the position of the target point 8a detected by the camera 5,
The horizontal angle and the vertical angle from the lightwave distance meter 1a can be calculated. In the image processing / control personal computer 6, the horizontal angle and the vertical angle calculated for each target point 8a are set in the drive motors 2 and 3, and the lightwave distance meter 1 is set.
a to the direction of the target point 8a, the TV for micro collimation
One target point 8a can be put in the field of view of the camera 4.

In the field of view of the TV camera 4 for micro automatic collimation,
After inserting the target points 8a, the micro-auto collimation is performed, and the center of the target 8 is aligned with the optical axis of the optical distance meter 1a by the micro-auto collimation. The horizontal distance and the vertical angle of the lightwave distance meter 1a are measured with the goniometer 1b using the linear distance to the point 8a,
The three-dimensional position of the target point 8a is automatically measured.

A method of calculating the horizontal angle and the vertical angle from the lightwave distance meter 1a to the target point 8a based on the position of the target 8 recognized by the macro position recognition TV camera 5 having the entire measurement object 7 as a field of view. This will be described with reference to FIG. Here, the optical axis of the TV camera 5 is installed horizontally at the same height with respect to the rotation axis center of the lightwave distance meter 1a in the vertical direction, and with respect to the rotation axis center of the lightwave distance meter 1a in the horizontal direction. It is installed at a position separated by a distance d in parallel with the horizontal rotation reference axis. Further, the TV camera 5 is fixedly installed without being able to change the angle by a rotary drive motor.

The vertical angle from the optical distance meter 1a to the target point 8a has the same vertical height.
The vertical angle of the target point 8a in the field of view may be used as it is, and only the horizontal angle is detected from the TV camera 5, and a process of converting the horizontal angle is required.

As shown in FIG. 3, the target point 8a is
When the distance is L from the lightwave distance meter 1a and the position is w in the horizontal direction, the horizontal angle α from the lightwave distance meter 1a and the horizontal angle β in the visual field of the TV camera 5 are expressed by the following equations (1) and (2). expressed.

Tan α = w / L (1) tan β = (wd) / L (2) Accordingly, α is calculated by Expression (3) from Expressions (1) and (2).

Α = tan ⁻¹ (tan β + d / L) (3) However, L in equation (3) is a value that cannot be measured by the TV camera 5 and is an unknown number. 4, the distance L between the object 7 to be measured and the target point 8a closest to the lightwave distance meter 1a.
1. The intermediate value L0 of the distance L2 to the farthest target point 8a is substituted into Expression (3), and α is calculated as in Expression (4).

However, since the actual distance to the target point 8a changes from the minimum distance L1 to the measurement object 7 to the maximum distance L2, as shown in FIG. Angle error 1 about the same as the range 1
3 occurs, and the error Δα from the angle calculated by the intermediate value L0 of the target point 8a is expressed by the following equations (7) and (8) obtained from the equations (5) and (6).

Α = tan ⁻¹ (tanβ + d / L0) (4) α1 = tan ⁻¹ (tanβ + d / L1) (5) α2 = tan ⁻¹ (tanβ + d / L2) (6) ) tanα-tanα2 = tan (α2 + Δα2) -tanα2 = d (1 / L0-1 / L2) ... (7) tanα1-tanα = tanα1-tan (α1 + Δα1) = d (1 / Ll-1 / L0 ) (8) From the size of the measuring object 7, L1 = 10 m, L2 = 3
When the distance is 0 m, the lightwave distance meter 1a and the macro position recognition TV
If the distance d from the camera 5 is 150 mm, α, α1, α2
Is the maximum value of the error amount when all angles are Δα1
= 0.43 °, Δα2 = 0.15 °, and when the viewing angle of the micro-automatic collimating TV camera 4 is, for example, 1.5 ° or less, the error range can be set within the range. Enables collimation.

As in the present embodiment, by selecting L1, L2, and d, the horizontal distance from the lightwave distance meter 1a to the target point 8a is determined from the horizontal angle of the target point 8a detected by the macro position recognition TV camera 5. The angle can be determined, the target point 8a can be put in the field of view of the micro-automated TV camera 4, and the center of the target 8 and the optical axis of the optical distance meter 1a can be matched.

FIG. 5 is a flowchart for explaining a procedure for measuring three-dimensional coordinates in this embodiment. First, the object 7 to be measured is placed in the field of view of the TV camera 5 for macro position recognition.
The three-dimensional coordinate measuring device is installed so that all the target points 8a installed on the surface of the device can be entered.

Next, for all the target points 8a captured by the macro position recognition TV camera 5, the horizontal angle and the vertical angle of the target points 8a are calculated from the image of the TV camera 5, and then the horizontal angles from the lightwave distance meter 1a are calculated. And macro position conversion to convert to vertical angle. The plurality of target points 8a for which the macro position has been recognized are sequentially transmitted from the image processing / control personal computer 6 in order from the upper left to the lower right of the image captured by the macro position recognition TV camera 5, for example. The vertical angle is set to the drive motors 2 and 3, and the motor is driven so that the lightwave distance meter 1 a is directed toward the target 8, and the micro automatic collimation TV camera 4
Macro collimation is performed so that the target point 8a falls within the field of view. Then, for the target 8 within the field of view of the micro-automatic collimating TV camera 4, the optical axis of the optical distance meter 1a is aligned with the center of the target 8.

After the optical axis of the optical distance meter 1a and the center of the target 8 match, the linear distance to the target point 8a by the optical distance meter 1a and the horizontal angle of the optical axis of the optical distance meter 1a by the goniometer 1b. The vertical angle is measured, and the three-dimensional coordinates of the target point 8a are calculated and obtained. After the measurement is completed for one target point 8a, the same operation is performed for the next target point 8a, and the measurement is performed for all the target points 8a.
Measure the overall shape.

As described above, according to the present embodiment, a plurality of target points 8a on the entire surface of the measurement object 7 are observed from one direction by the macro position recognizing TV camera 5, so that the macro of the target point 8a is obtained. Recognize location,
The horizontal rotation drive motor 2 and the vertical rotation drive motor 3 are driven so that the optical axis of the electro-optical distance meter 1a is directed to one or more target points 8a, and is approximately adjusted within the collimation range of the micro automatic collimation. Macro auto-collimation can be performed.

Since the macro automatic collimation can be performed, the optical axis of the optical distance meter 1a can be aligned with the center of the target 8 by the micro automatic collimation with almost no need for any manual operation. In this state, the lightwave distance meter 1
a, the horizontal angle and the vertical angle to the target point 8a are measured by the goniometer 1b, and the three-dimensional coordinates of the target point 8a are calculated, whereby the plurality of target points 8a installed on the measurement target object 7 are measured. The coordinates and the entire shape of the measurement target object 7 can be measured at a substantially high speed by an unmanned person.

(Second Embodiment) FIG. 7 shows a second embodiment of the present invention.
3D coordinate measuring device 2 for large structures according to the first embodiment
FIG. 8 is a block diagram illustrating a basic configuration of the three-dimensional coordinate measuring device 21 of FIG. 7.
1 and 2 are denoted by the same reference numerals, and detailed description thereof will be omitted.

The present embodiment is different from the first embodiment described above in that two macro position recognition TV cameras 5
a, 5b. In other words, two macro automatic collimation TV cameras 5a and 5b are installed with the micro automatic collimation TV camera 4 interposed therebetween. T for each macro automatic collimation
The viewing angles of the V cameras 5a and 5b are set so that a plurality of targets 8 on the entire surface of the measurement target object 7 can be observed, and images captured by the respective TV cameras 5a and 5b are image processing / control personal computers. Output to the computer 6. The image processing / paving personal computer 6 performs image processing based on the two input images, and similarly to the first embodiment, the macro position recognition TV cameras 5a and 5a.
The position of the target point 8a in the image captured in 5b is calculated, and macro position recognition is performed.

The relative positions of the two TV cameras 5a and 5b, which have the field of view of the object 7 as a field of view, and the optical axis of the optical distance meter 1a are determined in advance at the time of manufacture.
The horizontal angle and the vertical angle from the lightwave distance meter 1a can be calculated based on the position of the target point 8a detected by the V cameras 5a, 5b.

In the field of view of the TV camera 4 for micro automatic collimation,
After the target points 8a are inserted, the micro-auto collimation is executed, the center of the target 8 is aligned with the optical axis of the optical distance meter by the micro-auto collimation, and after the coincidence, the target point is set by the optical distance meter 1a. The linear distance up to 8a is measured by the goniometer 1b.
To measure the horizontal angle and vertical angle of the lightwave distance meter, and automatically measure the three-dimensional position of the target point 8a.

The horizontal angle and the vertical angle from the position of the target 8 recognized by the two TV cameras 5a and 5b for macro position recognition with the field of view of the whole object 7 to the field of view from the lightwave distance meter 1a to the target point 8a are determined. The calculation method is shown in FIG.
This will be described with reference to FIG. Here, FIG. 9 shows the positional relationship between the lightwave distance meter 1a, the two TV cameras 5a and 5b, and the target point 8a in the horizontal plane. FIG. 10 shows a lightwave distance meter 1a in the vertical direction and two TV cameras 5a, 5
b, the positional relationship between the targets 8 (target points 8a). The optical axes of the two TV cameras 5a and 5b are each horizontal with respect to the optical axis of the lightwave distance meter 1a.
1, d2 apart. In the vertical direction, h
Located away. Here, two TV cameras 5a,
5b is fixedly installed without being able to change the angle by the rotary drive motors 2 and 3. Two TV cameras 5
The positions a and 5b measure the position from the macro position recognition TV cameras 5a and 5b to the target point 8a based on the stereoscopic vision, and calculate the distance to the target point 8a as L.

Therefore, since the distance L has been calculated, the relationship between the horizontal angle α from the lightwave distance meter 1a and the horizontal angles β and γ in the field of view from the two TV cameras 5a and 5b is given by the following equation (9). ) (10).

L (tanα−tanβ) = d ₁ (9) L (tanγ−tanα) = d ₂ (10) From Expressions (9) and (10), α is calculated by Expression (11).

Α = tan ⁻¹ {(d ₁ tan α + d ₂ tan β) / (d ₁ + d ₂ )} (11) Further, the target angle θ from the lightwave distance meter 1 a in the vertical direction is expressed by the following equation (12). Is calculated.

Θ = tan ⁻¹ (tan φ + h / L) (12) Here, the obtained horizontal angle α and vertical angle θ are set from the image processing / control personal computer 6 to the rotary drive motors 2 and 3. Thus, the lightwave distance meter 1a can be directed toward the target point 8a, and one target point 8a can be put in the field of view of the micro collimation TV camera 4.

Also, the macro position recognition TV camera 5a,
The optical axis 5b is horizontally installed at the same height in the vertical direction at the same height as the center of the rotation axis of the lightwave distance meter 1a, and is horizontally separated from the center of the rotation axis of the lightwave distance meter 1a by a distance d. The case where the camera is installed at a position parallel to the horizontal rotation reference axis will be described with reference to FIG. Further, the two TV cameras 5a and 5b are fixedly installed without being able to change the angle by the rotary drive motors 2 and 3.

The vertical angle from the optical distance meter 1a to the target point 8a has the same vertical height, so that the vertical angle of the target point 8a in the field of view of the two TV cameras 5a and 5b may be the same, and Two TVs with only angle
After detection from the cameras 5a and 5b, a conversion process is required.

As shown in FIG. 11, the target point 8a
Is located at a distance L from the lightwave distance meter 1a and at a position w in the horizontal direction, the horizontal angle α from the lightwave distance meter 1a and the field of view of each of the two TV cameras (imaging devices) 5a and 5b. Are represented by equations (13), (14), and (15).

Tan α = w / L (13) tan β = (wd) / L (14) tan γ = (w + d) / L (15) From equations (13), (14) and (15), α is It is calculated from Eq. (16) from β and γ.

The vertical direction θ is expressed by the following equation (17).

Α = tan ^-1 {(tan α + tan β) / 2} (16) θ = φ (17) Similarly to the above, the horizontal angle α obtained here and the macro position recognition TV cameras 5a and 5b are used. Target point 8 detected
By setting the vertical angle θ = a from the image processing / control personal computer 6 to the rotary drive motors 2 and 3, the lightwave distance meter 1a is directed toward the target point 8a,
One target point 8a can be put in the field of view of the micro collimating TV camera 4.

In this case, unlike the above, there is no need for distance information from the macro position recognition TV cameras 5a, 5b to the target point 8a.
It is determined from the angle from the cameras 5a and 5b toward the target point 8a.

In order to put the target point 8a in the field of view of the micro-automatic collimating TV camera 4, the detection angular resolution of the two macro-position recognizing TV cameras 5a and 5b is determined by the micro-automatic collimating TV camera 4. Must be higher than the viewing angle. For example, the size of the measurement target object 7 is 30 m
When measuring from a distance of 10 m, the macro collimation T
The number of pixels of the V cameras 5a and 5b is 512 horizontal pixels × 480 vertical pixels.
If it is a pixel, the angular resolution is 0.14 °, and if the viewing angle of the micro collimating TV camera 4 is, for example, 1.5 °, it is sufficiently small and there is no problem in detection performance.

As described above, by using two or more macro position recognizing TV cameras 5a and 5b, the size of the object 7 to be measured becomes large, and even if the distance range in which each target point 8a is installed becomes long. Thus, it is possible to accurately and reliably enter the visual field of the micro collimating TV camera 4.

Also, here, two TV cameras 5a and 5b for macro position recognition are installed at the same height as the center of the rotation axis of the optical axis of the lightwave distance meter 1a, but are installed at the same height. If this is not possible, another azimuth in the vertical direction can be determined by installing another one in the vertical direction with the optical axis of the lightwave distance meter 1a as the center.

FIG. 12 is a flowchart for explaining the means for measuring three-dimensional coordinates in the present embodiment. First,
Within the field of view of the TV cameras 5a and 5b for macro position recognition,
The three-dimensional coordinate measuring device is installed so that all the target points 8a installed on the surface of the measuring object 7 are included.

Next, for all the target points 8a captured by the two TV cameras 5a and 5b for macro position recognition, the horizontal angle and the vertical angle of the target points 8a were calculated from the images of the TV cameras 5a and 5b. After that, macro position recognition for converting the horizontal angle and the vertical angle from the lightwave distance meter 1a is performed. Then, the plurality of target points 8a whose macro positions have been recognized are subjected to image processing, for example, in order from the upper left to the lower right of the two TV cameras (imaging devices) 5a and 5b.
The horizontal angle and the vertical angle are sequentially set to the drive motors 2 and 3 from the control personal computer 6.
3 is driven, the lightwave distance meter 1a is directed toward the target point 8a, and macro automatic collimation is performed so that the target point 8a is within the field of view of the micro automatic collimation TV camera 4. Then, for the target point 8a within the field of view of the micro-automatic collimating TV camera 4, the optical axis of the optical distance meter 1a is aligned with the center of the target 8.

After the optical axis of the lightwave distance meter 1a matches the center of the target 8, the lightwave distance meter 1a uses the target point 8a.
The horizontal angle and the vertical angle of the optical axis of the lightwave distance meter 1a are measured with the goniometer 1b, and the three points of the target point 8a are measured.
Calculate and obtain dimensional coordinates. After the measurement is completed for one target point 8a, the same operation is performed for the next target point 8a, measurement is performed for all target points 8a, and the overall shape is measured.

As described above, according to the present embodiment, a plurality of target points 8a on the entire surface of the measurement object 7 are
By observing the macro position of the target point 8a by observing the macro position recognition TV cameras 5a and 5b from two directions, the horizontal rotation drive motor 2 and the vertical rotation drive motor 3 are driven, and the lightwave distance meter 1a A macro-collimation can be performed in which the optical axis is pointed at one or more target points 8a, and is approximately adjusted within the collimation range of the micro-auto collimation TV camera 4.

Therefore, as in the first embodiment, the TV for micro-automatic collimation can be used with almost no manual operation.
The optical axis of the lightwave distance meter 1a can be aligned with the center of the target 8 by the camera 4. In this state, the target point 8a is measured by the distance measuring goniometer 1 and its three-dimensional coordinates are calculated. The coordinates of the plurality of target points 8a installed on the measurement target object 7 and the entire shape of the measurement target object 7 can be measured at substantially high speed by an unmanned person.

Further, a TV camera 5 for macro position recognition
By using two or more a and 5b, the size of the object 7 to be measured increases, and the distance range in which each target point 8a is installed is, for example, 5 to 5 for 10 to 30 m.
Even if the target point 8a extends to 0 m, the macro position of each target point 8a can be accurately and reliably entered within the field of view of the micro collimating TV camera 4. Further, it is needless to say that even when the field of view of the micro collimating TV camera 4 is narrowed in order to increase the precision of micro collimation, it is possible to cope with the problem without any problem.

(Modification) The present invention is not limited to the above embodiments. In the above embodiments,
For automatic micro collimation, TV cameras 5, 5a, 5b for macro position recognition are installed coaxially with the optical axis of the light wave distance meter 1a, and images captured by the TV cameras 5, 5a, 5b for macro position recognition. The image processing is performed to detect the position of the center of each target 8, but the PSD of a two-dimensional position detection device capable of detecting the position of the center of gravity of each target 8 is used, and the center position of each target 8 is detected. You may make it detect.

The macro position recognition TV cameras 5, 5
In the case where the visual field range of a and 5b is narrow with respect to the entire measurement target object 7 and the measurement target object 7 cannot be seen at one time, the macro position recognition TV cameras 5, 5a and 5b are connected to the optical axis driving means 2. , 3 to move the visual field range by the rotation of the optical axis driving means 2, 3, and to use the macro position recognition TV.
By widening the horizontal or vertical field of view of the cameras 5, 5a, 5b, it is possible to measure each target point 8a on the entire surface of the measurement object 7.

In each of the above embodiments, the image processing / control personal computer 6 converts the image signals of the macro position recognition TV cameras (imaging devices) 5, 5a, 5b coaxially installed with the optical distance meter 1a. Although image processing and motor driving were performed, as shown in FIGS. 6 and 13, a personal computer for image processing and control using a surveying instrument (total station) 10 having an image processing unit and capable of automatic collimation was used. From 6, the control CPU mounted on the surveying instrument 10
By giving a command to the control unit 12 by a command or the like, the micro-automatic collimation and the control of the drive motor may be realized.

In addition, various modifications can be made without departing from the scope of the present invention.

[0078]

As described above in detail, according to the present invention, a light wave distance meter for measuring a linear distance to a target point on the surface of a measurement object and a tilt angle of an optical axis of the light wave distance meter are measured. A three-dimensional coordinate measuring method and a three-dimensional coordinate measuring method for measuring three-dimensional coordinates of a target point from a measurement distance and a measurement angle when an optical axis of an optical distance meter is aligned with a target point on the surface of a measurement target object using a goniometer. In a three-dimensional coordinate measuring apparatus, a macro position of a target point is recognized by imaging means for observing a plurality of targets on the entire surface of a measurement target object in one direction or at least two directions, and the optical axis of the optical distance meter is set to one or more of the target points. Aiming at a plurality of points, performing macro auto-collimation to roughly match the collimation range of the micro-auto collimation, and then performing micro-collimation to align the optical axis of the optical distance meter to the center of the target point Therefore, even if the position of the target point is unknown, automatic collimation can be performed, and thus, even for a large structure, its three-dimensional coordinates can be measured automatically in a short time and with high accuracy. It is possible to do.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a schematic configuration of a three-dimensional coordinate measuring apparatus for a large structure according to a first embodiment.

FIG. 2 is a block diagram showing a basic configuration of the three-dimensional coordinate measuring device of FIG.

FIG. 3 is a diagram showing a relationship between a horizontal angle of a target point detected by a macro automatic collimation TV camera and a horizontal angle from a light wave distance meter to the target point.

FIG. 4 is a view for explaining a horizontal angle of a target point detected by a macro collimation TV camera and an error range of a horizontal angle from the optical distance meter to the target point.

FIG. 5 is a flowchart for explaining a procedure for measuring three-dimensional coordinates in the first embodiment.

FIG. 6 is a block diagram showing a configuration when a surveying instrument capable of automatically collimating micros is used in the first embodiment.

FIG. 7 is a diagram illustrating a schematic configuration of a three-dimensional coordinate measuring apparatus for a large structure according to a second embodiment.

FIG. 8 is a block diagram showing a basic configuration of the three-dimensional coordinate measuring device of FIG. 7;

FIG. 9 is a diagram showing the relationship between the position of a target point recognized by two macro cameras for automatic macro collimation and the horizontal angle from the optical distance meter to the target point.

FIG. 10 is a diagram showing a relationship between a position of a target point recognized by two macro cameras for automatic collimation of a macro and a vertical angle from the optical distance meter to the target point.

FIG. 11 is a diagram illustrating a relationship between the position of a target point recognized by two TV cameras for automatic macro collimation and the horizontal angle from the optical distance meter to the target point.

FIG. 12 is a flowchart illustrating a measurement procedure of three-dimensional coordinates according to the second embodiment.

FIG. 13 is a block diagram showing a configuration when a surveying instrument capable of automatically performing micro-collimation is used in the second embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Distance measuring goniometer 1a ... Lightwave distance meter (distance measuring means) 1b ... Goniometer (optical axis angle measuring means) 2 ... Horizontal angle rotation drive motor (optical axis drive means) 3 ... Vertical angle rotation drive motor ( Optical axis driving means) 4 ... Micro automatic collimation TV camera 5, 5a, 5b ... Macro automatic collimation TV camera (imaging means) 6 ... Personal computer for image processing / control (micro automatic collimation means, macro position recognition means, Macro automatic collimation means, collimation control means, three-dimensional coordinate measurement means) 7: object to be measured 8: target 8a: target point 10: surveying instrument capable of micro automatic collimation (total station, micro automatic collimation means, collimation) Control means, three-dimensional coordinate measuring means) 12: control CPU mounted on surveying instrument 13: visual field range (angle error) of micro-automatic collimating TV camera 14, 21, three-dimensional coordinate measuring device

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) // G01C 3/06 G01B 11/24 K

Claims (14)

[Claims] 1. A light wave distance meter for measuring a linear distance to a target point on a surface of a measurement object and a goniometer for measuring a tilt angle of an optical axis of the light wave distance meter. From the measurement distance and the measurement angle after the optical axis is aligned with the target point on the surface of the object to be measured, 3
A three-dimensional coordinate measuring method for measuring three-dimensional coordinates, wherein a plurality of targets on the entire surface of the object to be measured are observed by an imaging unit, an obtained image is processed, and a plurality of target points on the surface of the object to be measured are processed. A coordinate recognizing step of recognizing approximate three-dimensional coordinates with respect to the macro collimation, wherein the optical axis of the lightwave distance meter is approximately adjusted such that one of the target points recognized by the coordinate recognizing step falls within the collimation range. And a micro-collimating step of adjusting the optical axis of the lightwave distance meter roughly adjusted by the macro-collimating step to coincide with one of the target points. Coordinate measurement method. 2. A distance measuring means for measuring a linear distance to a target point on a surface of an object to be measured by using a light wave distance meter, and a light for changing a direction of an optical axis of the light wave distance meter in a horizontal direction and a vertical direction. Axis driving means, an optical axis angle measuring means for measuring a horizontal angle and a vertical angle of an optical axis of the optical distance meter, and an optical axis of the optical distance meter, the surface of the object to be measured by using the optical axis driving means. Micro automatic collimating means for adjusting to a target point from the vicinity of the above one target point; imaging means for observing a plurality of targets on the entire surface of the object to be measured from one direction; images obtained by the imaging means And a macro position recognizing means for calculating approximate three-dimensional coordinates of a plurality of target points on the surface of the measurement object, and one of the target points recognized by the macro position recognizing means is Macro automatic collimating means for approximately aligning the optical axis of the optical distance meter so as to fall within the collimation range of the micro automatic collimating means. Approximately aligning the optical axis of the lightwave distance meter near one target point, and then aligning the optical axis of the lightwave distance meter with the target point using the micro-auto collimating means, and then measuring the distance And measuring and calculating three-dimensional coordinates of the target point using the optical axis angle measuring means. 3. A distance measuring means for measuring a linear distance to a target point on the surface of an object to be measured by using a light wave distance meter, and light for changing the direction of an optical axis of the light wave distance meter in a horizontal direction and a vertical direction. Axis driving means, an optical axis angle measuring means for measuring a horizontal angle and a vertical angle of an optical axis of the optical distance meter, and an optical axis of the optical distance meter, the surface of the object to be measured by using the optical axis driving means. Micro-collimating means for adjusting to a target point from the vicinity of the above one target point; imaging means for observing a plurality of targets on the entire surface of the object to be measured from at least two directions; obtained by the imaging means Macro position recognizing means for processing an image to calculate approximate three-dimensional coordinates of a plurality of target points on the surface of the object to be measured; and a target recognized by the macro position recognizing means. Macro-collimating means for approximately aligning the optical axis of the lightwave distance meter so that one point falls within the collimating range of the micro-auto-collimating means. The optical axis of the optical distance meter is roughly aligned with the vicinity of a certain target point on the object, and the optical axis of the optical distance meter is aligned with the target point using the micro-automatic collimating means. A three-dimensional coordinate measuring method comprising: measuring and calculating three-dimensional coordinates of the target point using the distance measuring means and the optical axis angle measuring means. 4. The method according to claim 1, wherein said plurality of target points on the surface of the object to be measured are sequentially aligned with the optical axis of said lightwave distance meter using said macro automatic collimating means and said micro automatic collimating means. The three-dimensional coordinate system according to claim 2, wherein the entire shape of the measurement target object is automatically measured by measuring and calculating three-dimensional coordinates using a measurement unit and the optical axis angle measurement unit. Dimensional coordinate measurement method. 5. A distance measuring means for measuring a linear distance to a target point on the surface of an object to be measured by using a light wave distance meter, and light for changing the direction of an optical axis of the light wave distance meter in a horizontal direction and a vertical direction. Axis driving means, an optical axis angle measuring means for measuring a horizontal angle and a vertical angle of an optical axis of the optical distance meter, and an optical axis of the optical distance meter, the surface of the object to be measured by using the optical axis driving means. Micro automatic collimating means for adjusting to a target point from the vicinity of the above one target point; imaging means for observing a plurality of targets on the entire surface of the object to be measured from one direction; images obtained by the imaging means And a macro position recognizing means for calculating approximate three-dimensional coordinates of a plurality of target points on the surface of the measurement object, and one of the target points recognized by the macro position recognizing means is Macro automatic collimating means for approximately adjusting the optical axis of the optical distance meter so as to fall within the collimating range of the micro automatic collimating means; and a certain point on the object to be measured by the macro automatic collimating means. The optical axis of the lightwave range finder roughly adjusted to the vicinity of the target point, the collimation control means for adjusting the optical axis to the target point by the micro automatic collimation means, and the collimation control means For the target point, three-dimensional coordinates of the target point are measured and calculated using the distance measuring means and the optical axis angle measuring means.
A three-dimensional coordinate measuring device comprising: a three-dimensional coordinate measuring means. 6. A distance measuring means for measuring a linear distance to a target point on the surface of an object to be measured by using a light wave distance meter, and light for changing the direction of an optical axis of the light wave distance meter in a horizontal direction and a vertical direction. Axis driving means, an optical axis angle measuring means for measuring a horizontal angle and a vertical angle of an optical axis of the optical distance meter, and an optical axis of the optical distance meter, the surface of the object to be measured by using the optical axis driving means. Micro-collimating means for adjusting to a target point from the vicinity of the above one target point; imaging means for observing a plurality of targets on the entire surface of the object to be measured from at least two directions; obtained by the imaging means Macro position recognizing means for processing an image to calculate approximate three-dimensional coordinates of a plurality of target points on the surface of the object to be measured; and a target recognized by the macro position recognizing means. Macro automatic collimating means for approximately adjusting the optical axis of the optical distance meter so that one point falls within the collimating range of the micro automatic collimating means; and Collimating control means for adjusting the optical axis of the lightwave distance meter roughly adjusted to the vicinity of a certain target point with the target point by the micro-automatic collimating means; For the entered target point, three-dimensional coordinates of the target point are measured and calculated using the distance measuring means and the optical axis angle measuring means.
A three-dimensional coordinate measuring device comprising: a three-dimensional coordinate measuring means. 7. A plurality of target points on the surface of the object to be measured are sequentially aligned with the optical axis of the optical distance meter by the collimation control means, and the three-dimensional coordinates of the target points are determined by the three-dimensional coordinate measurement means. The three-dimensional coordinate measuring apparatus according to claim 5, wherein the whole shape of the object to be measured is automatically measured by measuring and calculating the three-dimensional coordinate. 8. The image pickup means is installed fixedly at the same height in the vertical direction with respect to the center of the rotation axis of the optical axis drive means, and a plurality of targets on the entire surface of the object to be measured from one direction. 6. The method according to claim 5, wherein the observation is performed.
Dimensional coordinate measuring device. 9. The three-dimensional coordinate measuring apparatus according to claim 6, wherein said macro position recognizing means calculates approximate three-dimensional coordinates based on a method of stereoscopic vision. 10. The macro collimating means for observing the approximate three-dimensional coordinates of the target measured by the macro position recognizing means based on a stereoscopic vision method and the target on the surface of the measurement object. From the positional relationship between the optical axis of the imaging means and the optical axis of the lightwave distance meter, the approximate direction of the target is converted into a direction from the lightwave distance meter,
7. The three-dimensional coordinate measuring apparatus according to claim 6, wherein an optical axis of the lightwave distance meter is directed toward the target. 11. The image pickup means is fixedly installed one by one at the same distance in the horizontal direction and at the same height in the vertical direction with respect to the center of the rotation axis of the optical axis drive means. The three-dimensional coordinate measuring apparatus according to claim 6, wherein a plurality of targets on the entire surface of the measurement target object are observed from two directions. 12. The three-dimensional coordinate measuring apparatus according to claim 5, wherein said imaging means is mounted on said optical axis driving means and observes a target point on the entire surface of said object to be measured. 13. The coordinate recognizing step includes the steps of: using two or more image pickup means, and using two or more obtained images, based on a triangulation method, to obtain a plurality of images on the surface of the object to be measured. The three-dimensional coordinate measuring method according to claim 1, wherein the approximate three-dimensional coordinates with respect to the target point are recognized. 14. The three-dimensional coordinate measuring method according to claim 13, wherein the method of triangulation in the coordinate recognizing step uses stereoscopic vision.