JP2006084460A - Indicating device, indicating method, installation information calculating device, and installation information calculation method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an indicating device and an indicating method for reducing errors and costs in marking work, or the like, and to provide an installation information calculating device and an installation information calculation method for reducing costs, and calculating the three-dimensional coordinates of the installation posture and position of the device. <P>SOLUTION: The indicating device 31 comprises a laser beam irradiation section 5; an operation section 8; an angle detection section 7; an installation posture calculation means for calculating the installation posture of the indicating device 31; an inputting section 9; an installation position calculation means for calculating the three-dimensional coordinates of an installation position A in the indicating device 31; an angle calculation means for calculating a pan angle P and a tilt angle T from an initial position I in the laser beam irradiation section 5; and an indication means for controlling a rotation drive section 6 and indicating a target point B by irradiating the target point B with cross-shaped laser beams, based on the calculated pan angle P and tilt angle T. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an indicating device and an indicating method for indicating a target point or a target line by irradiating a surface to be irradiated such as a ceiling surface or a wall surface for inking at a building site, and an installation posture of the device and The present invention relates to an installation information calculation apparatus and an installation information calculation method for calculating three-dimensional coordinates of an installation position.

As this kind of conventional technology,
(1) An inking device that irradiates a surface to be irradiated such as a wall surface with a linear laser beam to indicate a target line in a horizontal direction or a vertical direction (for example, see Patent Document 1).
(2) Laser light irradiation means that can be rotated in the horizontal and vertical directions, distance measurement means that receives the reflected light of the laser light and measures the distance to the reflection position of the laser light, and the laser light And a control means for controlling the irradiation direction of the ink, wherein the control means hangs down from the inking position on the virtual horizontal plane including the apparatus coordinates of the position where the inking apparatus is installed and the apparatus coordinates. The geometric relationship between the coordinates of the vertical projection point, the elevation angle when the irradiation direction of the laser beam is moved in the vertical direction, and the distance from the device position to the reflection position of the laser beam at this elevation angle In accordance with the present invention, the laser beam irradiation direction is horizontally rotated from a reference direction to the mark position, and then rotated vertically from the virtual horizontal plane toward the mark position. For example, See Patent Document 2.),
It has been known.
JP 2000-088573 A (Page 2-5, FIG. 1 etc.) JP 2001-105356 A (page 2-7, FIG. 1 etc.)

  In the above conventional example (1), the ink marking device is installed at an appropriate position, and the target line is marked with the target line by irradiating the irradiated surface such as the wall surface with a linear laser beam. After going to the reference line, the ink is further drawn manually from the reference line using a scale, etc., but the error increases as the distance from the reference line increases due to manual work. There is. In addition, there are problems that 2 to 3 workers are required for the inking operation, and it is time-consuming to install the inking device every time a plurality of reference lines are inked.

  In the conventional example (2), since a relatively expensive distance measuring means for measuring the distance to the reflection position of the laser beam is provided, there is a problem that the cost is high. In addition, although the apparatus coordinates can be calculated, the installation posture of the apparatus cannot be calculated, and there is a problem that it takes time and effort for an operator to measure and input the height of the virtual horizontal plane from the floor surface.

  The present invention has been made in view of the above circumstances and problems, and is directed to an indicating device and an indicating method capable of reducing errors and costs during inking work, and cost reduction. Another object of the present invention is to provide an installation information calculation apparatus and an installation information calculation method capable of calculating the installation orientation of the apparatus and the three-dimensional coordinates of the installation position.

  In order to achieve the above object, the pointing device according to claim 1 irradiates a surface of the irradiation surface with a linear laser beam to indicate a straight line on the surface of irradiation, or forms a cross on the surface of irradiation. A laser beam irradiating unit for irradiating the laser beam to indicate a point on the irradiated surface, a rotation driving unit for performing pan driving, tilt driving and rotation driving of the laser beam irradiating unit, and the laser beam irradiating unit And the operating means for operating the rotation driving means, and by operating the operating means, the first straight line parallel to the first coordinate axis of the space is irradiated with a linear laser beam, and the first straight line is designated. A first angle detection unit that detects a pan angle, a tilt angle, and a rotation angle from the initial position of the laser beam irradiation unit, and a second straight line that is parallel to the first coordinate axis by the operation of the operation unit. Irradiated with a linear laser beam When the second straight line is instructed, a second angle detecting means for detecting a pan angle, a tilt angle, and a rotation angle from the initial position of the laser beam irradiation means, and the space by the operation of the operating means. When the third straight line is irradiated onto a third straight line parallel to the second coordinate axis and the third straight line is designated, the pan angle, tilt angle from the initial position of the laser light irradiation means, and Third angle detection means for detecting the rotation angle, each pan angle, each tilt angle, and each rotation angle detected by each of the first angle detection means, the second angle detection means, and the third angle detection means The installation attitude calculation means for calculating the installation attitude of the pointing device on the basis of the above, and the operation of the operation means causes the first known point where the three-dimensional coordinates are known to be irradiated with a cross-shaped laser beam and the first known Point is finger In this case, a fourth angle detection unit that detects a pan angle and a tilt angle from an initial position of the laser beam irradiation unit, and a second cross point at a second known point whose three-dimensional coordinates are known by operation of the operation unit. A fifth angle detecting means for detecting a pan angle and a tilt angle from an initial position of the laser light irradiating means when the second known point is instructed by irradiating the laser beam, and the first known point The known point input means for inputting the three-dimensional coordinates of the second known point and the three-dimensional coordinates of the second known point, and the pan angle and the tilt angle respectively detected by the fourth angle detecting means and the fifth angle detecting means, Based on the installation posture calculated by the installation posture calculation means and the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point input by the known point input means, Next Installation position calculation means for calculating original coordinates, target point input means for inputting the three-dimensional coordinates of the target point on the irradiated surface to be instructed, and three-dimensional of the installation position calculated by the installation position calculation means An angle calculation unit that calculates a pan angle and a tilt angle from an initial position of the laser beam irradiation unit based on the coordinates and the three-dimensional coordinates of the target point input by the target point input unit, and controls the rotation driving unit. And an instruction unit for irradiating the target point with a cross-shaped laser beam based on the pan angle and the tilt angle calculated by the angle calculation unit and instructing the target point.

  The indicating device according to claim 2 irradiates the irradiated surface in the space with a linear laser beam to indicate a straight line on the irradiated surface, or irradiates the irradiated surface with a cross-shaped laser beam. A laser beam irradiating unit for indicating a point on the irradiated surface, a rotation driving unit for performing pan driving, tilt driving, and rotation driving of the laser beam irradiating unit, and operating the laser beam irradiating unit and the rotation driving unit. Operating means, acceleration detecting means for detecting the acceleration in the first coordinate axis direction, the acceleration in the second coordinate axis direction, and the acceleration in the third coordinate axis direction of the pointing device, and the coordinate axis of the space by the operation of the operating means A first angle detection that detects a pan angle, a tilt angle, and a rotation angle from the initial position of the laser light irradiation means when a straight laser beam is irradiated onto a straight line parallel to the laser beam and the straight line is designated. means An installation posture calculation unit that calculates an installation posture of the pointing device based on each acceleration detected by the acceleration detection unit and a pan angle, a tilt angle, and a rotation angle detected by the first angle detection unit; When the first known point whose three-dimensional coordinates are known is irradiated with the cross-shaped laser beam and the first known point is indicated by the operation of the operating unit, panning from the initial position of the laser beam irradiating unit is performed. A second angle detecting means for detecting an angle and a tilt angle, and an operation of the operating means irradiates a second known point having a known three-dimensional coordinate with a cross-shaped laser beam to indicate the second known point. The third angle detecting means for detecting the pan angle and the tilt angle from the initial position of the laser beam irradiating means, and the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point are inputted. You Known point input means, each pan angle and each tilt angle detected by the second angle detection means and the third angle detection means, the installation posture calculated by the installation posture calculation means, and the known point input Installation position calculation means for calculating the three-dimensional coordinates of the installation position of the pointing device based on the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point input by the means; Target point input means for inputting the three-dimensional coordinates of the target point on the irradiation surface, the three-dimensional coordinates of the installation position calculated by the installation position calculation means, and the three-dimensional coordinates of the target point input by the target point input means The angle calculation means for calculating the pan angle and the tilt angle from the initial position of the laser light irradiation means based on the rotation control means, and the angle calculation means And an instruction means for instructing the target point by irradiating the target point with a cross-shaped laser beam based on the pan angle and the tilt angle.

  According to a third aspect of the present invention, the operating means irradiates the irradiated surface in space with a linear laser beam to indicate a straight line on the irradiated surface, or a cross-shaped laser beam on the irradiated surface. Operating a laser beam irradiating means for indicating a point on the irradiated surface and a rotation driving means for performing pan driving, tilt driving and rotation driving of the laser light irradiating means, When the first straight line parallel to the coordinate axis is irradiated with a linear laser beam and the first straight line is indicated, the first angle detecting unit pans and tilts from the initial position of the laser beam irradiating unit. And a step of detecting a rotation angle, and the operation means operates the laser light irradiation means and the rotation driving means to irradiate a second straight line parallel to the first coordinate axis with a linear laser light. When the second straight line is indicated, the second corner A step of detecting a pan angle, a tilt angle, and a rotation angle from an initial position of the laser beam irradiation unit; and the operation unit operating the laser beam irradiation unit and the rotation driving unit to detect the first position of the space. When the third straight line is irradiated to a third straight line parallel to the two coordinate axes and the third straight line is indicated, the third angle detecting means pans and tilts from the initial position of the laser light irradiating means. A step of detecting an angle and a rotation angle; and an installation posture calculation unit, wherein each pan angle and each tilt angle detected by the first angle detection unit, the second angle detection unit, and the third angle detection unit, respectively. And a step of calculating an installation posture of the apparatus based on each rotation angle, and the operation means operates the laser light irradiation means and the rotation drive means, and the first three-dimensional coordinates are known. A fourth angle detection unit detecting a pan angle and a tilt angle from an initial position of the laser beam irradiation unit when the first known point is indicated by irradiating a known point with a cross-shaped laser beam; and A step in which the known point input means inputs the three-dimensional coordinates of the first known point; and the operation means operates the laser light irradiation means and the rotation driving means to obtain a second known point whose three-dimensional coordinates are known. A step in which a fifth angle detecting means detects a pan angle and a tilt angle from an initial position of the laser light irradiating means when the second known point is indicated by irradiating a cross-shaped laser light; A step in which the input means inputs the three-dimensional coordinates of the second known point; and an installation position calculation means in which each pan angle and each tilt angle detected by the fourth angle detection means and the fifth angle detection means, in front 3D of the installation position of the apparatus based on the installation attitude calculated by the installation attitude calculation means and the three-dimensional coordinates of the first known point and the second known point input by the known point input means A step of calculating coordinates; a step of inputting a three-dimensional coordinate of a target point on the irradiated surface to be instructed by a target point input unit; and an installation of the angle calculating unit calculated by the installation position calculating unit A step of calculating a pan angle and a tilt angle from an initial position of the laser light irradiation means based on the three-dimensional coordinates of the position and the three-dimensional coordinates of the target point input by the target point input means; Controlling the driving means, and irradiating the target point with a cross-shaped laser beam based on the pan angle and tilt angle calculated by the angle calculating means to indicate the target point; , It is those with a.

  According to a fourth aspect of the present invention, there is provided a method in which the acceleration detection means detects the acceleration in the first coordinate axis direction, the acceleration in the second coordinate axis direction, and the acceleration in the third coordinate axis direction of the apparatus, and the operation means A laser beam that irradiates the irradiated surface with a linear laser beam to indicate a straight line on the irradiated surface, or irradiates the irradiated surface with a cross-shaped laser beam to indicate a point on the irradiated surface. The irradiation means and the rotation driving means for performing pan driving, tilt driving, and rotation driving of the laser light irradiation means are operated to irradiate a linear laser beam on a straight line parallel to the coordinate axis of the space. When the straight line is instructed, the first angle detection means detects the pan angle, tilt angle, and rotation angle from the initial position of the laser light irradiation means, and the installation posture calculation means is detected by the acceleration detection means. The Calculating the installation posture of the apparatus based on each acceleration and the pan angle, tilt angle, and rotation angle detected by the first angle detection means; and the operation means is the laser light irradiation means and the rotation drive means. When the first known point whose three-dimensional coordinates are known is irradiated with a cross-shaped laser beam and the first known point is indicated, the second angle detecting unit indicates the initial position of the laser beam irradiating unit. Detecting a pan angle and a tilt angle from the first position, a step where the known point input means inputs the three-dimensional coordinates of the first known point, and the operation means operates the laser light irradiation means and the rotation driving means. When the second known point whose three-dimensional coordinates are known is irradiated with a cross-shaped laser beam and the second known point is indicated, the third angle detecting unit pans from the initial position of the laser beam irradiating unit. A step of detecting a degree and a tilt angle, a step of inputting the three-dimensional coordinates of the second known point by the known point input unit, and an installation position calculating unit of the second angle detecting unit and the third angle detecting unit. The pan angle and tilt angle detected by each of the above, the installation posture calculated by the installation posture calculation means, the three-dimensional coordinates of the first known point and the second known point input by the known point input means, respectively. A step of calculating the three-dimensional coordinates of the installation position of the apparatus based on the three-dimensional coordinates; a step of inputting the three-dimensional coordinates of the target point on the irradiated surface to be indicated by the target point input means; and an angle calculation The means of the laser light irradiation means is based on the three-dimensional coordinates of the installation position calculated by the installation position calculation means and the three-dimensional coordinates of the target point input by the target point input means. A step of calculating a pan angle and a tilt angle from an initial position; and an instruction unit controlling the rotation driving unit, and a cross-shaped laser beam at the target point based on the pan angle and the tilt angle calculated by the angle calculation unit And irradiating light to indicate the target point.

  The installation information calculation apparatus according to claim 5 irradiates the irradiated surface in the space with a linear laser beam to indicate a straight line on the irradiated surface, or irradiates the irradiated surface with a cross-shaped laser beam. Then, a laser beam irradiating unit that indicates a point on the irradiated surface, a rotation driving unit that performs pan driving, tilt driving, and rotation driving of the laser beam irradiating unit, the laser beam irradiating unit, and the rotation driving unit And when the first straight line is directed to the first straight line parallel to the first coordinate axis of the space by the operation of the operating means and the first straight line is indicated, the laser A first angle detecting means for detecting a pan angle, a tilt angle, and a rotation angle from the initial position of the light irradiating means; and a laser linear to a second straight line parallel to the first coordinate axis by the operation of the operating means. The second straight line is irradiated with light Is directed to the second coordinate axis of the space by the operation of the operation means, the second angle detection means for detecting the pan angle, the tilt angle, and the rotation angle from the initial position of the laser light irradiation means. When a linear laser beam is irradiated onto a third parallel line and the third straight line is designated, a pan angle, a tilt angle, and a rotation angle from the initial position of the laser beam irradiation means are detected. The installation information based on the three angle detection means, the pan angle, the tilt angle, and the rotation angle respectively detected by the first angle detection means, the second angle detection means, and the third angle detection means. An installation attitude calculation means for calculating an installation attitude of the calculation device, and an operation of the operation means irradiates a first known point with a known three-dimensional coordinate with a cross-shaped laser beam to indicate the first known point. The In addition, a fourth angle detection unit that detects a pan angle and a tilt angle from the initial position of the laser beam irradiation unit, and a second cross-point at a second known point whose three-dimensional coordinates are known by the operation of the operation unit. A fifth angle detecting means for detecting a pan angle and a tilt angle from an initial position of the laser light irradiating means when the laser beam is irradiated and the second known point is designated; and 3 of the first known point. Known point input means for inputting three-dimensional coordinates and the three-dimensional coordinates of the second known point, pan angles and tilt angles detected by the fourth angle detecting means and the fifth angle detecting means, respectively, and the installation posture Based on the installation posture calculated by the calculation means, and the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point input by the known point input means, Next And an installation position calculation means for calculating original coordinates.

  The installation information calculation apparatus according to claim 6 irradiates the irradiated surface in space with a linear laser beam to indicate a straight line on the irradiated surface, or irradiates the irradiated surface with a cross-shaped laser beam. Then, a laser beam irradiating unit that indicates a point on the irradiated surface, a rotation driving unit that performs pan driving, tilt driving, and rotation driving of the laser beam irradiating unit, the laser beam irradiating unit, and the rotation driving unit Operating means for detecting the acceleration in the first coordinate axis direction, the acceleration in the second coordinate axis direction, and the acceleration in the third coordinate axis direction of the installation information calculating device, When a linear laser beam is irradiated on a straight line parallel to the coordinate axis of the space and the straight line is designated, the pan angle, tilt angle, and rotation angle from the initial position of the laser beam irradiation means are detected. An installation posture of the installation information calculation device is calculated based on one angle detection means, each acceleration detected by the acceleration detection means, and a pan angle, a tilt angle, and a rotation angle detected by the first angle detection means. When the cross-shaped laser beam is irradiated to the first known point whose three-dimensional coordinates are known by the operation of the installation posture calculating unit and the operating unit, and the first known point is indicated, the laser beam irradiation A second angle detecting means for detecting a pan angle and a tilt angle from an initial position of the means; and by operating the operating means, a cross-shaped laser beam is applied to a second known point whose three-dimensional coordinates are known. A third angle detecting means for detecting a pan angle and a tilt angle from an initial position of the laser light irradiation means when a second known point is instructed; a three-dimensional coordinate of the first known point; and the second Calculated by the known point input means for inputting the three-dimensional coordinates of the known point, the pan angle and the tilt angle respectively detected by the second angle detection means and the third angle detection means, and the installation posture calculation means. Installation that calculates the three-dimensional coordinates of the installation position of the installation information calculation device based on the installation posture and the three-dimensional coordinates of the first known point and the second known point input by the known point input means Position calculating means.

  In the installation information calculation method according to claim 7, the operating means irradiates the irradiated surface in the space with a linear laser beam to indicate a straight line on the irradiated surface, or a cross-shaped on the irradiated surface. A laser beam irradiating unit that irradiates a laser beam to indicate a point on the irradiated surface, and a rotation driving unit that performs pan driving, tilt driving, and rotation driving of the laser beam irradiating unit are operated. When the first straight line parallel to the first coordinate axis is irradiated with a linear laser beam and the first straight line is indicated, the first angle detection means is the pan angle from the initial position of the laser light irradiation means, A step of detecting a tilt angle and a rotation angle; and the operating means operates the laser light irradiating means and the rotation driving means to irradiate a linear laser beam on a second straight line parallel to the first coordinate axis. And if you indicate the second straight line A step of detecting a pan angle, a tilt angle, and a rotation angle from an initial position of the laser light irradiation means by the second angle detection means; the operating means operating the laser light irradiation means and the rotation driving means; When the third straight line is irradiated to a third straight line parallel to the second coordinate axis of the space and the third straight line is indicated, the third angle detection means pans from the initial position of the laser light irradiation means. A step of detecting an angle, a tilt angle, and a rotation angle; and an installation posture calculation unit, wherein each pan angle detected by the first angle detection unit, the second angle detection unit, and the third angle detection unit, A step of calculating the installation posture of the apparatus based on each tilt angle and each rotation angle, and the operation means operates the laser light irradiation means and the rotation drive means, and the three-dimensional coordinates are known. When the first known point is irradiated with a cross-shaped laser beam and the first known point is indicated, the fourth angle detecting unit detects the pan angle and the tilt angle from the initial position of the laser beam irradiating unit. A step in which the known point input means inputs the three-dimensional coordinates of the first known point; and the operating means operates the laser light irradiation means and the rotation driving means, and the second one in which the three-dimensional coordinates are known. A fifth angle detection unit detecting a pan angle and a tilt angle from an initial position of the laser beam irradiation unit when the second point is indicated by irradiating the known point with a cross-shaped laser beam; and The step of inputting the three-dimensional coordinates of the second known point by the known point input means, and the installation position calculating means by which each pan angle and each detected by the fourth angle detecting means and the fifth angle detecting means, respectively. Tilt Based on the angle, the installation posture calculated by the installation posture calculation means, and the three-dimensional coordinates of the first known point and the second known point input by the known point input means, Calculating three-dimensional coordinates.

  The installation information calculation method according to claim 8, wherein the acceleration detecting means detects the acceleration in the first coordinate axis direction, the acceleration in the second coordinate axis direction, and the acceleration in the third coordinate axis direction of the apparatus, and the operating means is in the space. The surface to be irradiated is irradiated with a linear laser beam to indicate a straight line on the surface to be irradiated, or a laser beam having a cross shape is irradiated to the surface to be irradiated to indicate a point on the surface to be irradiated. The laser beam irradiating unit and the rotation driving unit that performs pan driving, tilt driving, and rotation driving of the laser beam irradiating unit are operated to irradiate a linear laser beam on a straight line parallel to the coordinate axis of the space. The first angle detecting means detects the pan angle, tilt angle, and rotation angle from the initial position of the laser beam irradiating means when the straight line is instructed, and the installation posture calculating means comprises the acceleration detecting means According A step of calculating an installation posture of the apparatus based on each detected acceleration and a pan angle, a tilt angle, and a rotation angle detected by the first angle detection unit; and the operation unit includes the laser beam irradiation unit and the rotation When the driving unit is operated to irradiate the first known point whose three-dimensional coordinates are known to irradiate the cross-shaped laser beam and indicate the first known point, the second angle detecting unit detects the laser beam irradiating unit. A step of detecting a pan angle and a tilt angle from an initial position; a step of inputting a three-dimensional coordinate of the first known point by a known point input unit; and a step of operating the laser beam irradiation unit and the rotation driving unit by the operating unit. When the second known point having a known three-dimensional coordinate is irradiated with a cross-shaped laser beam and the second known point is indicated, the third angle detecting unit is at the initial position of the laser beam irradiating unit. Detecting a pan angle and a tilt angle, a step in which the known point input unit inputs a three-dimensional coordinate of the second known point, and an installation position calculating unit including the second angle detecting unit and the third angle. Each pan angle and each tilt angle detected by the detection means, the installation attitude calculated by the installation attitude calculation means, and the three-dimensional coordinates and the second known of the first known point input by the known point input means Calculating the three-dimensional coordinates of the installation position of the apparatus based on the three-dimensional coordinates of the points; and inputting the three-dimensional coordinates of the target points on the irradiated surface to be indicated by the target point input means; The angle calculation means is configured to irradiate the laser beam based on the three-dimensional coordinates of the installation position calculated by the installation position calculation means and the three-dimensional coordinates of the target point input by the target point input means. A step of calculating a pan angle and a tilt angle from an initial position of the projecting means, and a pointing means controls the rotation driving means, and a cross is applied to the target point based on the pan angle and tilt angle calculated by the angle calculating means. And irradiating the target laser beam to indicate the target point.

  The pointing device according to claim 9 irradiates a pointed laser beam on the surface to be irradiated to indicate a point on the surface to be irradiated, and performs pan driving and tilt driving of the laser light irradiating unit. Rotation drive means, operation means for operating the rotation drive means, and the laser beam when the laser beam is irradiated to a known point with known three-dimensional coordinates by operating the operation means and the known point is indicated An angle detection unit that detects a pan angle and a tilt angle from an initial position of the light irradiation unit, an input unit that inputs the three-dimensional coordinates of the known point, and the known point to which the three-dimensional coordinates are input by the input unit. Determining means for determining whether or not it is the third point; waiting means for waiting until the next known point is instructed when the determining means determines that the known point is not the third point; and the determination Said known by means Is determined based on the three-dimensional coordinates input by the input means of the three known points, the pan angles and the tilt angles detected by the angle detection means when it is determined that the third point is the third point. Calculating means for calculating a three-dimensional coordinate and an installation posture of the installation position, wherein the input means inputs a three-dimensional coordinate of a target point on the irradiated surface to be indicated The calculation means calculates a distance from the installation position to the target point based on the three-dimensional coordinates of the installation position calculated by the calculation means and the three-dimensional coordinates of the target point input by the input means. And the laser based on the three-dimensional coordinates of the target point input by the input means, the three-dimensional coordinates of the installation position calculated by the calculation means, the installation posture, and the distance. A pan angle and a tilt angle from an initial position of the irradiation unit are calculated, and the rotation driving unit is configured to perform at least pan driving and tilt driving of the laser beam irradiation unit based on the pan angle and tilt angle calculated by the calculation unit. In any case, the laser beam irradiation means irradiates the target point with the laser beam and indicates the target point.

  The pointing device according to claim 10, wherein the irradiated surface is irradiated with a point-like or linear laser beam to indicate a point or a straight line on the irradiated surface, and pan driving of the laser-light irradiating unit Rotation drive means for performing tilt drive and rotation drive, operation means for operating the rotation drive means, and a point-like laser beam is irradiated to a known point whose three-dimensional coordinates are known by the operation of the operation means. An angle detecting means for detecting a pan angle and a tilt angle from an initial position of the laser beam irradiation means when the known point is instructed; an input means for inputting the three-dimensional coordinates of the known point; and Judgment means for judging whether or not the known point to which the three-dimensional coordinates are inputted is the third point, and when the judgment means judges that the known point is not the third point, the next known point is designated. Wait to wait And the three-dimensional coordinates inputted by the input means of three known points when the judgment means judges that the known point is the third point, and the pan angles detected by the angle detection means. And a calculation unit that calculates a three-dimensional coordinate and an installation posture of the installation position of the indication device based on each tilt angle, wherein the input unit The three-dimensional coordinates of an arbitrary point on the target line and the rotation angle from the initial position of the laser light irradiation means are input, and the calculation means is determined by the three-dimensional coordinates of the installation position calculated by the calculation means and the input means. Based on the input three-dimensional coordinates of the arbitrary point, the distance from the installation position to the arbitrary point is calculated, and the three-dimensional coordinates of the arbitrary point input by the input means, A pan angle and a tilt angle from an initial position of the laser beam irradiation unit are calculated based on the three-dimensional coordinates of the installation position calculated by the output unit, the installation posture, and the distance. Based on the pan angle and tilt angle from the initial position calculated by the calculation means and the rotation angle input by the input means, at least one of pan driving, tilt driving and rotation driving of the laser light irradiation means is performed. The laser beam irradiating means irradiates the target line with a linear laser beam to indicate the target line.

  In an instruction method according to an eleventh aspect, the operating means operates a rotation driving means that performs pan driving and tilt driving of the laser light irradiation means, and the laser light irradiation means irradiates the irradiated surface with a point-like laser light. A step of indicating a known point whose three-dimensional coordinates on the irradiated surface are known; and when the known point is instructed by the laser beam irradiation unit, an angle detection unit is moved from an initial position of the laser beam irradiation unit. A step of detecting a pan angle and a tilt angle; a step of inputting a three-dimensional coordinate of the known point by an input unit; and a determining unit determining that the known point to which the three-dimensional coordinate is input by the input unit is the third point. A step of judging whether or not there is a step of waiting until the next known point is instructed by the waiting means when the judging means judges that the known point is not the third point, and the judging means When it is determined that the known point is the third point, the calculation means has three three-dimensional coordinates inputted by the input means of the three known points, each pan angle and each tilt angle detected by the angle detection means. A step of calculating a three-dimensional coordinate and an installation posture of the installation position of the apparatus based on the above; a step of inputting the three-dimensional coordinate of the target point on the irradiated surface to be instructed by the input unit; and the calculation unit Calculating the distance from the installation position to the target point based on the three-dimensional coordinates of the installation position calculated by the calculation means and the three-dimensional coordinates of the target point input by the input means; Based on the three-dimensional coordinates of the target point input by the input means, the three-dimensional coordinates of the installation position calculated by the calculation means, the installation posture, and the distance, A step of calculating a pan angle and a tilt angle from an initial position of the means; and the rotation driving means, based on the pan angle and the tilt angle from the initial position calculated by the calculation means. And a step of performing at least one of driving and tilt driving, and a step of the laser light irradiating means irradiating the target point with the laser light and indicating the target point.

  According to a twelfth aspect of the present invention, the operating unit operates a rotation driving unit that performs pan driving, tilt driving, and rotation driving of the laser beam irradiation unit, and the laser beam irradiation unit has a point-like laser beam on the irradiated surface. To indicate a known point whose three-dimensional coordinates on the irradiated surface are known, and when the known point is indicated by the laser light irradiation means, an angle detection means is provided for the laser light irradiation means. A step of detecting a pan angle and a tilt angle from an initial position; a step of inputting a three-dimensional coordinate of the known point by an input unit; and a determining unit determining whether the known point to which the three-dimensional coordinate is input by the input unit is Determining whether it is the third point, and waiting when the determination unit determines that the known point is not the third point, and the standby unit waits until the next known point is indicated, Size When it is determined by the means that the known point is the third point, each of the three-dimensional coordinates input by the input means of the three known points by the calculating means, each pan angle detected by the angle detecting means, and each The step of calculating the three-dimensional coordinates and installation posture of the installation position of the apparatus based on the tilt angle, the three-dimensional coordinates of an arbitrary point on the target line on the irradiated surface to be instructed by the input means, and the laser beam irradiation A step of inputting a rotation angle from an initial position of the means; and the calculation means based on the three-dimensional coordinates of the installation position calculated by the calculation means and the three-dimensional coordinates of the arbitrary point input by the input means. And calculating the distance from the installation position to the arbitrary point, and the three-dimensional coordinates of the arbitrary point input by the input unit, The step of calculating the pan angle and the tilt angle from the initial position of the laser beam irradiation means based on the three-dimensional coordinates of the installation position, the installation posture, and the distance, and the rotation driving means are calculated by the calculation means. Performing at least one of pan driving, tilt driving, and rotation driving of the laser light irradiation unit based on a pan angle and a tilt angle from the initial position and a rotation angle input by the input unit; A step of irradiating the target line with a linear laser beam and instructing the target line.

  The installation information calculation apparatus according to claim 13 is a laser beam irradiation unit that irradiates a surface to be irradiated with a point-like laser beam to indicate a point on the surface to be irradiated, and pan driving and tilt driving of the laser beam irradiation unit. A rotation drive means for performing the operation, an operation means for operating the rotation drive means, and a known point whose three-dimensional coordinates are known is irradiated with the laser light by the operation of the operation means to indicate the known point. Angle detecting means for detecting a pan angle and a tilt angle from the initial position of the laser beam irradiation means, input means for inputting the three-dimensional coordinates of the known point, and the known information in which the three-dimensional coordinates are input by the input means A judging means for judging whether or not the point is the third point; a waiting means for waiting until the next known point is instructed when it is judged by the judging means that the known point is not the third point; By the judgment means When it is determined that the known point is the third point, based on the three-dimensional coordinates of the three known points input by the input unit, the pan angle and the tilt angle detected by the angle detection unit. And a calculation means for calculating installation information composed of the three-dimensional coordinates of the installation position and the installation posture of the installation information calculation apparatus.

  In the installation information calculation method according to claim 14, the operation means operates a rotation driving means for performing pan driving and tilt driving of the laser light irradiation means, and the laser light irradiation means irradiates the irradiated surface with point-like laser light. A step of indicating a known point whose three-dimensional coordinates on the surface to be irradiated are known, and an angle detection unit when the known point is specified by the laser beam irradiation unit, an initial position of the laser beam irradiation unit Detecting the pan angle and tilt angle from the input means, the input means inputting the three-dimensional coordinates of the known point, and the judging means including three known points to which the three-dimensional coordinates are inputted by the input means. A step of determining whether or not the eye is an eye; a step of waiting until the next known point is instructed by the waiting means when the determining means determines that the known point is not the third point; When it is determined that the known point is the third point, the calculation means uses the three-dimensional coordinates input by the input means of the three known points, the pan angles and the tilts detected by the angle detection means. Calculating installation information including the three-dimensional coordinates of the installation position of the apparatus and the installation posture based on the angle.

  According to the first and third aspects of the present invention, the target point can be automatically irradiated with a cross-shaped laser beam to indicate the target point, so that there is little error and one worker performs the marking work. be able to. Further, even when a plurality of target points are sequentially indicated, it is not necessary to re-install the indicating device each time, and the configuration of the pointing device itself is simple. For this reason, it is possible to reduce errors and costs during the marking operation. Furthermore, it is possible to calculate the installation posture of the pointing device at a high speed with a relatively simple calculation formula by instructing the first straight line, the second straight line, and the third straight line, and to indicate the first known point and the second known point. In addition, by inputting the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point, the three-dimensional coordinates of the installation position of the pointing device can be calculated at high speed with a relatively simple calculation formula.

  According to the second and fourth aspects of the invention, in addition to the effects of the first and third aspects, there is also an effect that the workability is excellent because the straight line instruction for calculating the installation posture of the pointing device only needs to be performed once.

  According to the fifth and seventh aspects of the invention, the cost can be reduced with a simple device configuration, and the installation posture and the three-dimensional coordinates of the installation position of the device can be calculated. In addition, the installation posture of the apparatus can be calculated at a high speed with a relatively simple calculation formula by instructing the first straight line, the second straight line, and the third straight line, and the first known point and the second known point are indicated. By inputting the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point, the three-dimensional coordinates of the installation position of the apparatus can be calculated at a high speed with a relatively simple calculation formula.

  According to the sixth and eighth aspects of the invention, in addition to the effects of the fifth and seventh aspects, there is an effect that the workability is excellent because the straight line instruction for calculating the installation posture of the apparatus is only required once.

  According to the ninth and eleventh aspects of the present invention, the target point can be automatically irradiated with the point-like laser beam to indicate the target point, so that there is little error and one worker performs the marking operation. be able to. Further, even when a plurality of target points are sequentially indicated, it is not necessary to re-install the indicating device each time, and the configuration of the pointing device itself is simple. For this reason, it is possible to reduce errors and costs during the marking operation.

  According to the tenth and twelfth aspects of the present invention, the target line can be automatically irradiated with a linear laser beam to indicate the target line, so that there is little error and one worker performs the marking work. be able to. Further, even when a plurality of target lines are instructed sequentially, it is not necessary to re-install the instruction device each time, and the configuration of the instruction device itself is simple. For this reason, it is possible to reduce errors and costs during the marking operation.

  According to the thirteenth and fourteenth aspects of the invention, the cost can be reduced with a simple device configuration, and installation information including the three-dimensional coordinates of the installation position of the device and the installation posture can be calculated.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIGS. 1 to 4, the pointing device 1 according to the first embodiment includes an MPU (Microprocessing Unit) 2, a RAM (Random Access Memory), a ROM (Read Only Memory, Read-only memory) 4, laser light irradiation unit 5, rotation drive unit 6, angle detection unit 7, operation unit 8, input unit 9, display unit 10, and the like. Are connected to each other through communication. The operation unit 8, the input unit 9, and the display unit 10 are provided in the remote operation unit 12.

The indicating device here refers to a device that indicates a target point by irradiating a surface to be irradiated with a point-like laser beam LP for inking at a construction site, positioning of a building member, surveying, or the like. In the example shown in FIG. 5 in which the indoor space (indoor space, corridor space, staircase space, entrance hall, etc.) 13 is schematically represented by a hexahedron, the first known point K ₁ , whose three-dimensional coordinates are known, 2 The known point K ₂ , the third known point K _3, and the target point B for inking, etc. are set on the ceiling surface 13a of the indoor space 13, but the present invention is not limited to this. May be a wall surface 13b or a floor surface 13c of the indoor space 13, an outdoor outer wall surface, a floor surface of a wooden deck, or the like.

  The ROM 4 stores various control programs for controlling the operations of the units 3 to 10 by the MPU 2 and various screen information and messages displayed on the display unit 10. Note that the storage means for storing the control program and the like is not limited to the ROM 4 and may be rewritable such as a flash memory.

MPU2 functions as a control part which controls operation | movement of each part 3-10 according to the control program memorize | stored in ROM4. The RAM 3 includes a pan angle P and a tilt angle T from the initial position I of the laser beam irradiation unit 5 detected by the angle detection unit 7, a three-dimensional coordinate of the first known point K ₁ input by the input unit 9, a second three-dimensional coordinates of the known point K _2, functions as a storage unit for storing the three-dimensional coordinates and installation posture, etc. of the third three-dimensional coordinates of the known point K _3, calculated instruction device 1 of the installation position a.

  The initial position of the laser beam irradiation unit 5 here refers to a position where the pan angle P and the tilt angle T of the laser beam irradiation unit 5 are both 0 radians (0 °). The known point refers to a point whose three-dimensional coordinates from the reference point (origin) O are known. The three-dimensional coordinates from the reference point O are coordinates in the three-dimensional world (global) coordinate system W with the reference point O as a reference. As shown in FIG. 4, the installation position A of the pointing device 1 is desirably set at the intersection of the pan driving center axis CP and the tilt driving center axis CT of the laser light irradiation unit 5. Reference point O [three-dimensional coordinates on the world coordinate system W are (0, 0, 0). ] Can be set at an appropriate position in addition to the corners of the floor surface 13c as shown in FIG.

  The installation posture of the pointing device 1 is a local coordinate system L unique to the pointing device 1 with the installation position A of the pointing device 1 as a reference, as shown in FIGS. It is expressed by a rotation determinant R representing rotation to the coordinate system L. The rotation determinant R uses the Euler angles α (radians, rotation angle around the Z axis), β (radians, rotation angle around the new Y axis), γ (radians, rotation angle around the new Z axis) It can be expressed as Equation [1], but in addition, roll (roll, rotation around the Z axis), pitch (pitch, rotation around the new Y axis), yaw (yaw, rotation around the new X axis), 3D It can also be expressed as a vector, quaternion, or the like (see “Xu Tsuyoshi, Saburo Tsubasa“ 3D Vision ”Kyoritsu Shuppan, April 1998, p. 19-22”).

  As shown in FIGS. 3 to 5, the laser beam irradiation unit 5 irradiates the irradiated surface with a point-like laser beam LP to indicate a point on the irradiated surface. The color of the laser beam LP may be red or the like, but if a green or blue laser beam LP is employed, even if the laser beam LP is irradiated on a bright irradiated surface that is directly or indirectly exposed to sunlight, the laser beam LP There is an advantage that the light LP is easily visible.

  As shown in FIGS. 2 to 4, the laser light irradiation unit 5 is formed in a cylindrical shape and is accommodated in the main body case 14, and emits the laser light LP from the center of the tip 5 a toward the central axis CL. . The main body case 14 is formed in a hollow cylindrical shape with aluminum or synthetic resin and the upper part is formed in a hemispherical shape, and a slit 15 having a width slightly larger than the diameter of the laser light irradiation part 5 is near the lower part from the top of the main body case 14. Is provided.

  As shown in FIGS. 2 and 4, the rotation driving unit 6 performs pan driving and tilt driving of the laser beam irradiation unit 5. Each of the rotation driving units 6 includes a pan driving unit (not shown) and a tilt driving unit (not shown) configured by a stepping motor, a DC (direct current) servo, and the like. And the tilt driving unit are accommodated in the main body case 14. As shown in FIGS. 2 to 4, the main body case 14 is placed on a disk-shaped substrate 16 made of aluminum or synthetic resin through a rotating shaft (not shown) with the hemispherical upper portion facing upward. It is attached to the shaft. As shown in FIG. 2, the pan driving unit rotates the main body case 14 to drive the pan of the laser beam irradiation unit 5 accommodated in the main body case 14 (for example, the positive direction of the Z axis of the local coordinate system L). Pan angle P = −π to + π radians (−180 ° to + 180 °)] with the counterclockwise direction when viewed from the side being positive. As shown in FIG. 4, the tilt drive unit is configured to drive the tilt of the laser beam irradiation unit 5 [for example, a tilt angle T = −π with the counterclockwise direction when viewed from the positive direction of the Y axis of the local coordinate system L being positive. / 3 to + π / 2 radians (−60 ° to + 90 °)] is performed along the slit 15.

  Here, pan refers to rotation in a horizontal plane (XY plane of the local coordinate system L, for example, a plane parallel to the surface direction of the substrate 16), and tilt refers to a vertical plane (local Rotation within a plane including the Z axis of the coordinate system L, for example, a plane perpendicular to the surface direction of the substrate 16). In addition, the pan driving range, the tilt driving range, and the initial position I of the laser light irradiation unit 5 are not particularly limited, and can be appropriately changed as necessary. In order to increase the tiltable range, the laser light LP may be prevented from being shielded by the main body case 14 by forming the slit 15 longer. Further, the shape of the substrate 16 may be a rectangular plate shape, a polygonal plate shape, etc. in addition to a disk shape.

  The angle detection unit 7 is housed in the main body case 14 and detects the pan angle P and the tilt angle T from the initial position I of the laser beam irradiation unit 5. The detected pan angle P and tilt angle T are stored in the RAM 3.

  The operation unit 8 includes a lever, a key, and the like. In addition to the pan driving unit and the tilt driving unit in the rotation driving unit 6, the laser beam irradiation unit 5 is turned on and off, and the power source of the pointing device 1 is turned on and off. To operate. That is, various operations by the user on the pointing device 1 are performed through the operation unit 8. Here, if the operation unit 8 is provided in the remote operation unit 12 so that the rotation drive unit 6 can be operated remotely, the user can operate at a position away from the pointing device 1, so that workability is excellent. There are advantages.

The input unit 9 includes a key, a keyboard, a keypad, or the like, and includes a first known point K ₁ , a second known point K ₂ , a third known point K ₃ , and a target point B as shown in FIG. Input each three-dimensional coordinate. The input three-dimensional coordinates of the first known point K ₁ , the second known point K ₂ , the third known point K ₃ , and the target point B are stored in the RAM 3. Here, if the input unit 9 is provided in the remote operation unit 12 so that the above three-dimensional coordinates and the like can be input remotely, the user can input at a position away from the pointing device 1, so that workability is improved. There is an advantage of being excellent. In addition, the first known point K ₁ , the second known point K ₂ , the third known point K ₃ , the first known point in the virtual space of the three-dimensional CAD (Computer Aided Design) corresponding to the target point B, etc. 2. By specifying the position of the known point, the third known point, the target point, etc. with a pointing device such as a mouse, trackball, track pad, etc., the first known point K ₁ , the second known point K ₂ , the third known point K ₃ and the three-dimensional coordinates of the target point B are configured to be automatically input, there is an advantage that the user can save time and effort.

The display unit 10 is configured by an LCD (Liquid Crystal Display) or the like, and displays various screen information, messages, and the like. Here, the display unit 10 is provided in the remote control unit 12, and each of the three dimensions of the first known point K ₁ , the second known point K ₂ , the third known point K ₃ , and the target point B input by the input unit 9. If it is configured to display coordinates and the like, the user can input while monitoring the input value, so that there is an advantage that an input mistake by the user can be prevented.

  The operation unit 8, the input unit 9, and the display unit 10 in the remote operation unit 12 can be connected to the bus 11 of the pointing device 1 via an appropriate interface (not shown) by a wired method, or by a wireless method or an infrared method. It can also be connected. The remote operation unit 12 may be a dedicated controller having the operation unit 8, the input unit 9, and the display unit 10, but a notebook PC (Personal Computer, which has the operation unit 8, the input unit 9, and the display unit 10). A personal computer), a PDA (Personal Digital Assistant, portable information terminal), a mobile phone, or the like can also be used.

  In addition, the shape and material of the laser beam irradiation part 5, the main body case 14, and the board | substrate 16 are not specifically limited, It can change suitably as needed. The pointing device 1 may be installed on the floor surface 13c of the indoor space 13 or the like. However, the center axis CP for driving the pan is inclined on the floor surface 13c in the vertical direction or with respect to the floor surface 13c by a support means such as a tripod. It may be possible to irradiate the laser light LP in an appropriate direction by installing it so as to be in a state of being in a state of being suspended or by being suspended by an appropriate suspension means.

  Next, an example of the calculation process of the three-dimensional coordinates and installation posture of the installation position A of the pointing device 1 will be described based on the flowchart shown in FIG. This calculation process is performed according to a command issued by the MPU 2 based on a control program stored in the ROM 4.

In this calculation process, when the first known point K ₁ as shown in FIG. 5 is irradiated with the laser light LP by the operation of the operation unit 8 and the first known point K ₁ is instructed (step S1), the angle detection unit. 7 detects the pan angle P ₁ and the tilt angle T ₁ from the initial position I of the laser beam irradiation unit 5 (step S2). Completion of the instruction of the first known point K ₁ may be confirmed by operation of a confirmation key or the like provided on the operation unit 8. Here, prior to the step S1, as "Pick a first known point." Stored in ROM4 like first message requesting an indication of known point K ₁ of is displayed on the display unit 10 If configured, there is an advantage that the operation is easy to understand even for a non-expert user.

Next, when the three-dimensional coordinates (x ₁ , y ₁ , z ₁ ) of the first known point K ₁ are input by the input unit 9 (step S3), is the first known point K _{1 the} third point? It is determined whether or not (step S4). Here, prior to the step S3, a message requesting the input of the "Enter three-dimensional coordinates of the first known point." Stored in ROM4 first three-dimensional coordinates of the known point K _1, such as If it is configured to be displayed on the unit 10, similarly to the above, there is an advantage that the operation is easy to understand even for non-expert users.

If it is determined that the first known point K ₁ is not the third point (NO in step S4), the process returns to step S1, and the same process is repeated for the second second known point K ₂ (step S1). ~ S4). The same applies to the _third third known point K3 (steps S1 to S4). On the other hand, if it is determined that the third known point K ₃ is the third point (YES in step S4), the three-dimensional coordinates (x ₁ , y ₁ , x ₁ ) of the first known point K ₁ input by the input unit 9 are determined. z ₁ ), the three-dimensional coordinates (x ₂ , y ₂ , z ₂ ) of the second known point K ₂ , the three-dimensional coordinates (x ₃ , y ₃ , z ₃ ) of the third known point K ₃ , and the angle detector 7 The three-dimensional coordinates (x _A , y _A , z) of the installation position A of the pointing device 1 based on the pan angles P ₁ , P ₂ , P ₃ and the tilt angles T ₁ , T ₂ , T ₃ detected by _A ) and the installation posture are calculated (step S5), and the process ends.

  In this case, the three-dimensional coordinates of the installation position A of the pointing device 1 and the rotation determinant R as the installation attitude are calculated by solving three simultaneous equations generated according to the mathematical formula [2] stored in the ROM 4.

  As described above, the instruction device 1 also functions as an installation information calculation device that calculates installation information including the three-dimensional coordinates of the installation position A and the installation posture. According to such an installation information calculation apparatus, the cost can be reduced with a simple apparatus configuration, and the installation information consisting of the three-dimensional coordinates of the installation position A and the installation attitude can be calculated. is there.

  Next, an example of the instruction process for the target point B will be described based on the flowchart shown in FIG. This instruction process is also performed according to a command issued by the MPU 2 based on a control program stored in the ROM 4.

In this instruction processing, when the three-dimensional coordinates (x _B , y _B , z _B ) of the target point B on the irradiated surface to be instructed as shown in FIG. 5 are input by the input unit 9 (step S11), A distance dB from the installation position A to the target point _B is calculated based on the calculated three-dimensional coordinates of the installation position A of the pointing device 1 and the input three-dimensional coordinates of the target point B (step S12). ), 3-dimensional coordinates of the input target point B, the three-dimensional coordinates of the installation position a of the calculated the indicator device 1, installation posture, and from the initial position I of the laser beam irradiation unit 5 based on the distance d _B The pan angle P _B and the tilt angle T _B are calculated (step S13). Here, before step S11, a message requesting input of the three-dimensional coordinates of the target point B such as “Please input the three-dimensional coordinates of the target point to be indicated” stored in the ROM 4 is displayed on the display unit. 10 is advantageous in that the operation is easy to understand even for non-expert users, as described above.

In this case, the pan angle P _B and the tilt angle T _B from the initial position I of the laser beam irradiation unit 5 are calculated according to Equation [3] stored in the ROM 4.

Next, the rotation driving unit 6 performs at least one of pan driving and tilt driving of the laser beam irradiation unit 5 based on the calculated pan angle P _B and tilt angle T _B , and the laser beam irradiation unit 5 sets the target point. If B is irradiated with the laser beam LP and the target point B is instructed (step S14), the process ends.

  When the target point B is instructed, the user marks the target point B for inking, or performs inking etc. based on the target point B and the already added mark. That's fine

  According to the pointing device 1 as described above, the target point B can be automatically irradiated with the laser beam LP to indicate the target point B, so that there is little error and one worker can perform ink marking work or the like. It can be carried out. Further, even when a plurality of target points B are sequentially indicated, it is not necessary to re-install the indication device 1 each time, and the configuration of the indication device 1 is simple. For this reason, there is an advantage that it is possible to reduce errors and costs during the inking operation.

In addition, in the instruction method using the pointing device 1, the operation unit 8 operates the rotation driving unit 6, and the laser beam irradiation unit 5 irradiates the surface to be irradiated with the point-like laser beam LP, so 1 known point K ₁ (second known point K _2, third known point K ₃₎ a step of instructing the first known point K ₁ by the laser beam irradiation unit 5 (second known point K _2, third known point When K ₃ ) is instructed, the angle detector 7 detects the pan angle P ₁ (P ₂ , P ₃ ) and the tilt angle T ₁ (T ₂ , T ₃ ) from the initial position I of the laser beam irradiation unit 5. A step in which the input unit 9 inputs the three-dimensional coordinates of the first known point K ₁ (second known point K ₂ , third known point K ₃ ), and the determining means includes the first known point K ₁ ( A step of determining whether or not the second known point K ₂ and the third known point K ₃ ) are the third point, and the first known point K ₁ (second known point K ₂ ) is the third point by the determining means. so A step of waiting means when it is determined that there is no wait until the second known point K ₂ of the following (third known point K ₃₎ is instructed, the third known point K ₃ is in the third point by determining means If it is determined that there is, the calculation means inputs the three-dimensional coordinates of the first known point K ₁ , the three-dimensional coordinates of the second known point K ₂ , and the three-dimensional coordinates of the third known point K ₃ input by the input unit 9. Based on the pan angles P ₁ , P ₂ and P ₃ detected by the angle detector 7 and the tilt angles T ₁ , T ₂ and T ₃ , the three-dimensional coordinates and the installation posture of the installation position A of the pointing device 1 , A step in which the input unit 9 inputs the three-dimensional coordinates of the target point B on the irradiated surface, and a calculator calculates the three-dimensional of the installation position A of the pointing device 1 calculated by the calculator Based on the coordinates and the three-dimensional coordinates of the target point B input by the input unit 9, the target is set from the installation position A. Calculates the distance d _B to B, three-dimensional coordinates of the three-dimensional coordinates, the installation position A of the calculating means the instruction device 1 calculated by the target point B input by the input unit 9, the installation arrangement and, The step of calculating the pan angle P _B and the tilt angle T _B from the initial position I of the laser beam irradiation unit 5 based on the distance d _B , and the rotation driving unit 6 from the initial position I calculated by the calculation means A step of performing at least one of pan driving and tilt driving of the laser light irradiation unit 5 based on the pan angle P _B and the tilt angle T _B , and the laser light irradiation unit 5 irradiates the target point B with the laser light LP. And a step of designating the target point B. The instruction method here refers to a method of instructing a target point by irradiating a surface to be irradiated with a point-like laser beam LP for inking at a construction site, positioning of a building member, surveying, or the like. Such an instruction method has the same advantages as the instruction device 1.

  As shown in FIGS. 8 to 10, the pointing device 21 according to the second embodiment irradiates the irradiated surface with the linear laser beam LL on the tip 5 a of the laser beam irradiation unit 5 in the first embodiment. A converter 22 capable of indicating a straight line on the surface to be irradiated is detachably mounted, and the rotation driving unit 6 is configured to perform pan driving, tilt driving, and rotation driving of the laser light irradiation unit 5. .

  The indicating device here refers to a device that indicates a target line by irradiating the irradiated surface with a linear laser beam LL for inking at a construction site, positioning of a building member, surveying, and the like.

  The converter 22 incorporates a collimator lens, a rod lens, and the like, and a slit 23 is provided at a tip 22a formed in a hemispherical shape. The converter 22 is detachably attached to the tip 5a of the laser beam irradiation unit 5, and the laser beam LP emitted from the tip 5a of the laser beam irradiation unit 5 in the direction of the central axis CL passes through the slit 23 to be a predetermined amount. It converts so that it may radiate | emit with a divergence angle. Therefore, if the converter 22 is attached to the tip 5a of the laser light irradiation unit 5, the straight line on the irradiated surface can be indicated by irradiating the irradiated surface with the linear laser light LL. Note that the mounting method of the converter 22 is not particularly limited, and a conventionally known technique such as a screw type, a magnetic attachment type, or a fitting type can be employed. In addition, a laser beam irradiation unit that can switch and irradiate the irradiated laser beam with the spot laser beam LP and the linear laser beam LL without mounting the converter 22 may be employed.

  The rotation driving unit 6 performs rotation driving in addition to pan driving and tilt driving of the laser light irradiation unit 5. The autorotation here refers to rotation around the central axis CL of the laser beam irradiation unit 5.

  The rotation driving unit 6 includes a rotation driving unit (not shown) configured by a stepping motor, a DC servo, and the like in addition to the pan driving unit and the tilt driving unit. The rotation driving unit is also provided in the main body case 14. Contained. The rotation driving unit rotates the laser beam irradiation unit 5 [for example, the rotation angle J = −π to + π radians with the counterclockwise direction when viewed from the converter 22 side of the central axis CL of the laser beam irradiation unit 5 being positive. (−180 ° to + 180 °)]. In addition, the range in which the laser beam irradiation unit 5 can be driven to rotate is not particularly limited, and can be appropriately changed as necessary. Further, as shown in FIG. 8, the initial position I of the laser beam irradiation unit 5 is also a vertical plane (a plane including the Z axis of the local coordinate system L, for example, a plane perpendicular to the plane direction of the substrate 16). The position is not limited to a position parallel to the direction, and can be changed as needed.

  The angle detection unit 7 detects a pan angle P, a tilt angle T, and a rotation angle J from the initial position I of the laser beam irradiation unit 5. The detected pan angle P, tilt angle T, and rotation angle J are stored in the RAM 3. The initial position of the laser beam irradiation unit 5 here is a position where the pan angle P, the tilt angle T, and the rotation angle J of the laser beam irradiation unit 5 are all 0 radians (0 °).

Next, an example of the target line E instruction processing as shown in FIG. 11 will be described based on the flowchart shown in FIG. This instruction process is also performed according to a command issued by the MPU 2 based on a control program stored in the ROM 4. Further, the three-dimensional coordinates (x _A , y _A , z _A ) of the installation position A of the pointing device 21 and the rotation determinant R as the installation posture have a converter 22 attached to the tip 5 a of the laser beam irradiation unit 5. It is calculated in the same manner as in the first embodiment in the absence. On the other hand, the instruction process for the target line E is performed in a state where the converter 22 is attached to the tip 5 a of the laser beam irradiation unit 5. Further, in the example shown in FIG. 11, the first known point K ₁ , the second known point K ₂ , the third known point K _3, and the target line E for inking are set on the ceiling surface 13 a of the indoor space 13. However, the present invention is not limited to this, and similarly to the first embodiment, the irradiated surface may be a wall surface 13b or a floor surface 13c of the indoor space 13, an outdoor outer wall surface, a floor surface of a wood deck, or the like. .

In this instruction processing, when the input unit 9 inputs the three-dimensional coordinates (x _B , y _B , z _B ) of the arbitrary point B on the target line E on the irradiated surface and the rotation angle J of the laser beam irradiation unit ( In step S21), the distance d _B from the installation position A to the arbitrary point B is calculated based on the calculated three-dimensional coordinates of the installation position A of the pointing device 21 and the three-dimensional coordinates of the arbitrary point B input by the input unit 9. together are calculated (step S22), three-dimensional coordinates of any point B input by the input unit 9, the three-dimensional coordinates of the calculated installation position a of the instruction unit 21, based on the installation position, and the distance d _B The pan angle P _B and the tilt angle T _B from the initial position I of the laser beam irradiation unit 5 are calculated (step S23). Here, before step S21, an arbitrary stored in the ROM 4 such as “input the three-dimensional coordinates of an arbitrary point on the target line to be instructed and the rotation angle from the initial position of the laser beam irradiation unit”, etc. If a message requesting the input of the three-dimensional coordinates of the point B and the rotation angle J is displayed on the display unit 10, the operation is easy to understand even for non-expert users as in the first embodiment. There are advantages.

In this case, the pan angle P _B and the tilt angle T _B from the initial position I of the laser beam irradiation unit 5 are calculated according to Equation [3] stored in the ROM 4 as in the first embodiment.

Next, the pan driving of the laser beam irradiation unit 5 is performed by the rotation driving unit 6 based on the calculated pan angle P _B and tilt angle T _B and the rotation angle J of the laser beam irradiation unit 5 input by the input unit 9. Then, at least one of tilt driving and rotation driving is performed, and if the target line E including the arbitrary point B is irradiated by the laser beam irradiation unit 5 with the linear laser beam LL and the target line E is instructed ( Step S23), the process ends. When the target line E is instructed, the user may perform inking or the like along the target line E.

  According to the pointing device 21 as described above, the target line E can be automatically irradiated with the laser beam LL to indicate the target line E, so that there is little error and one worker can perform ink marking work or the like. It can be carried out. Further, even when a plurality of target lines E are instructed sequentially, it is not necessary to re-install the instruction device 21 each time, and the configuration of the instruction device 21 is simple. For this reason, there is an advantage that it is possible to reduce errors and costs during the inking operation.

Note that the instruction method using the instruction device 21 is such that the operation unit 8 operates the rotation driving unit 6, and the laser beam irradiation unit 5 irradiates the irradiated surface with the point-shaped laser beam LP, so that the first on the irradiated surface. 1 known point K ₁ (second known point K _2, third known point K ₃₎ a step of instructing the first known point K ₁ by the laser beam irradiation unit 5 (second known point K _2, third known point When K ₃ ) is instructed, the angle detector 7 detects the pan angle P ₁ (P ₂ , P ₃ ) and the tilt angle T ₁ (T ₂ , T ₃ ) from the initial position I of the laser beam irradiation unit 5. A step in which the input unit 9 inputs the three-dimensional coordinates of the first known point K ₁ (second known point K ₂ , third known point K ₃ ), and the determining means includes the first known point K ₁ ( A step of determining whether or not the second known point K ₂ and the third known point K ₃ ) are the third point, and the first known point K ₁ (second known point K ₂ ) is the third point by the determining means. If it is determined that the second known point K ₁ (third known point K ₃ ) is instructed, the waiting unit waits until the third known point K ₃ is determined as the third point. If it is determined that there is, the calculation means inputs the three-dimensional coordinates of the first known point K ₁ , the three-dimensional coordinates of the second known point K ₂ , and the three-dimensional coordinates of the third known point K ₃ input by the input unit 9. Based on the pan angles P ₁ , P ₂ and P ₃ detected by the angle detector 7 and the tilt angles T ₁ , T ₂ and T ₃ , the three-dimensional coordinates and the installation posture of the installation position A of the pointing device 1 A step in which the input unit 9 inputs the three-dimensional coordinates of the arbitrary point B on the target line E on the irradiated surface and the rotation angle from the initial position I of the laser beam irradiation unit 5; The three-dimensional coordinates of the installation position A of the pointing device 1 calculated by the calculation means and the input unit 9 Calculates the distance d _B to an arbitrary point B from the installation position A on the basis of the three-dimensional coordinates of any point B that is more input, three-dimensional coordinates of any point B input by the input unit 9, by the calculating means three-dimensional coordinates of the calculated installation position a of the indicator device 1, the step of calculating installation posture, and the distance on the basis of the d _B pan angle P _B and the tilt angle T _B from the initial position I of the laser beam irradiation unit 5 Then, the rotation drive unit 6 determines the rotation of the laser beam irradiation unit 5 based on the pan angle P _B and tilt angle T _B from the initial position I calculated by the calculation unit and the rotation angle J input by the input unit 9. It comprises a step of performing at least one of pan driving, tilt driving, and rotation driving, and a step in which the laser beam irradiation unit 5 irradiates the target line E with the linear laser beam LL and instructs the target line E. Can Kill. The instruction method here refers to a method of instructing a target line by irradiating the irradiated surface with a linear laser beam LL for inking at a construction site, positioning of a building member, surveying, or the like. Such an instruction method has the same advantages as the instruction device 21.

  As shown in FIGS. 13 to 15, in the pointing device 31 according to the third embodiment, in addition to the laser beam irradiation unit 5 in which the converter 22 is detachably attached to the tip 5 a in the second embodiment, the tip 5 a A vertical laser beam irradiating unit 5V to which the converter 22 is detachably attached is provided.

  The vertical laser beam irradiating unit 5V is configured in the same manner as the laser beam irradiating unit 5, and as shown in FIGS. And a plane parallel to the surface direction of the vertical surface (a plane including the Z axis of the local coordinate system L, for example, a surface perpendicular to the surface direction of the substrate 16). It is fixed so that a straight line on the irradiated surface can be indicated by irradiating the laser beam LLV.

  The operation unit 8 includes a pan driving unit, a tilt driving unit, and a rotation driving unit in the rotation driving unit 6, ON / OFF of the laser beam irradiation unit 5, ON / OFF of the power source of the pointing device 31, and a vertical laser beam irradiation unit. Operate 5V ON / OFF.

  The linear laser beam LL irradiated by the laser beam irradiation unit 5 and the linear laser beam LLV irradiated by the vertical laser beam irradiation unit 5V intersect at a right angle or a predetermined angle on the irradiated surface, It becomes a cross-shaped laser beam. The target point B is indicated by aligning the intersection of the linear laser beam LL and the linear laser beam LLV thereon. In this cross-shaped laser beam, the linear laser beam LL and the linear laser beam LLV are orthogonal to each other on the irradiated surface, and the linear laser beam LL and the linear laser beam as described above. A light LLV that intersects the irradiated surface at an angle other than a right angle is also included. On the other hand, if the vertical laser light irradiation unit 5V is turned off by the operation of the operation unit 8, only the linear laser light LL from the laser light irradiation unit 5 can be irradiated to the irradiated surface.

  The indicating device here refers to a device that indicates a target point B by irradiating a surface to be irradiated with a cross-shaped laser beam for inking at a construction site, positioning of a building member, surveying, and the like. As the laser beam irradiation unit 5, a laser beam irradiation unit that can irradiate the irradiated surface with a cross-shaped laser beam and a linear laser beam LL by operating the operation unit 8 without mounting the converter 22 is adopted. May be. As shown in FIGS. 8 and 13, the initial position I of the laser beam irradiation unit 5 is also limited to a position rotated + π / 2 radians (90 ° counterclockwise) from the initial position I in the second embodiment. However, it can be appropriately changed as necessary.

  Next, an example of processing for calculating the installation posture of the pointing device 31 and the three-dimensional coordinates of the installation position A will be described based on the flowcharts shown in FIGS. This calculation process is performed according to a command issued by the MPU 2 based on a control program stored in the ROM 4.

  In this calculation process, as shown in FIG. 18, an operation of the operation unit 8 causes a first straight line (for example, a corner X1) parallel to a first coordinate axis (for example, the X axis) of a space (for example, the indoor space 13). When the first straight line is instructed by irradiation with the linear laser beam LL (step S31), the angle detection unit 7 causes the pan angle P, the tilt angle T, and the rotation from the initial position I of the laser beam irradiation unit 5. The angle J is detected (step S32). Completion of the first straight line instruction may be confirmed by operating a confirmation key or the like provided on the operation unit 8. Here, before step S31, a message requesting the first straight line instruction such as “Please specify the first straight line” stored in the ROM 4 may be displayed on the display unit 10. For example, there is an advantage that the operation is easy to understand even for a non-expert user. The space may be an outdoor space other than the indoor space 13.

  Next, as shown in FIG. 19, a linear laser beam LL is irradiated on a second straight line (for example, the corner X2) parallel to the first coordinate axis by operating the operation unit 8, and the second straight line is designated. If it has been performed (step S33), the angle detector 7 detects the pan angle P, the tilt angle T, and the rotation angle J from the initial position I of the laser light irradiation unit 5 (step S34). Completion of the instruction for the second straight line may be confirmed by operation of a confirmation key or the like provided on the operation unit 8. Here, before step S33, a message requesting the second straight line instruction such as “Please specify the second straight line” stored in the ROM 4 may be displayed on the display unit 10. For example, there is an advantage that the operation is easy to understand even for a non-expert user.

  Then, as shown in FIG. 20, a linear laser beam LL is irradiated on a third straight line (for example, a corner line Y3) parallel to the second coordinate axis (for example, the Y axis) of the space by the operation of the operation unit 8. When the third straight line is instructed (step S35), the angle detector 7 detects the pan angle P, the tilt angle T, and the rotation angle J from the initial position I of the laser light irradiation unit 5 (step S36). ). Completion of the instruction for the third straight line may be confirmed by operation of a confirmation key or the like provided on the operation unit 8. Here, before step S35, a message requesting the third straight line instruction such as “Please specify the third straight line” stored in the ROM 4 may be displayed on the display unit 10. For example, there is an advantage that the operation is easy to understand even for a non-expert user.

  Next, based on each detected pan angle P, each tilt angle T, and each rotation angle J, a rotation determinant R as an installation posture of the pointing device 31 is calculated (step S37).

Here, M _L is a determinant representing the three-dimensional coordinates of a certain point on the local coordinate system L, M _W is a determinant representing the three-dimensional coordinates of the point on the world coordinate system W, and the world coordinate system of the installation position A is When the determinant representing the three-dimensional coordinates (x _A , y _A , z _A ) on W is t, the following formula [4] is established.
M _L = RM _W + t (4)

Assuming that the reference point O in the world coordinate system W is coincident with the installation position A, that is, if the three-dimensional coordinates on the world coordinate system W of the installation position A are (0, 0, 0), the formula [4 ], The following formula [5] is established.
M _L = RM _W .. [5]

A unit vector indicating the X-axis direction (1, 0, 0) of the world coordinate system W, a unit vector indicating the Y-axis direction (0, 1, 0), and a unit vector indicating the Z-axis direction (0, 0, 1) Is an X-axis vector V _X , a Y-axis vector V _Y , and a Z-axis vector V _Z on the local coordinate system L expressed by a determinant of 3 rows and 1 column, respectively, from the following equation [5] 6] is established.

When formula [6] is calculated, the following formula [7] is established.
R = [V _X V _Y V _Z ] .. [7]

As shown in FIG. 21, the normal vector (unit vector) of the plane F1 including the laser beam LL indicating the first line and the installation position A is N _X1 , and the laser beam LL indicating the second line and the installation position A are When the normal vector of the plane F2 containing (unit vector) and N _X2, since these normal vector N _X1, N _X2 will be perpendicular to both X-axis vector V _X, X-axis vector V _X is the vector product It is expressed as the following formula [8] as (outer product).
V _X = N _X1 × N _X2 .. [8]

As shown in FIG. 22, assuming that the normal vector (unit vector) of the plane F3 including the laser beam LL indicating the third straight line and the installation position A is N _Y , the normal vector N _Y and the X-axis vector V _X. since it will be perpendicular to both the Y-axis vector V _Y, Y-axis vector V _Y is represented by the following formula as a vector product [9].
V _Y = V _X × N _Y .. [9]

As shown in FIG. 23, since both the X-axis vector V _X and Y-axis vector V _Y is perpendicular to the Z-axis vector V _Z, Z-axis vector V _Z is as the following equation (10) as a vector product It is expressed in
V _Z = V _X × V _Y .. [10]

When the rotation determinant representing the rotation from the initial position I of the laser beam irradiation unit 5 on the local coordinate system L is R _L , the rotation determinant R _L is expressed by a roll (roll, around the Z axis of the local coordinate system L). Rotation), pitch (pitch, rotation around the new Y axis of the local coordinate system L), and yaw (yaw, rotation around the new X axis of the local coordinate system L) are expressed as the following equation [11]. The

Assuming that the normal vector (unit vector) of the plane including the laser beam LL indicating the straight line on the irradiated surface and the installation position A is N, the normal vector N is represented by the rotation determinant R _L and the laser beam irradiation unit 5. Using the unit vector in the Z-axis direction (0, 0, 1) of the local coordinate system L at the initial position I, the following equation [12] is used.

The normal vector N _{X1 of} the plane F1, the normal vector N _X2 of the plane F2, and the normal vector N _Y of the plane F3 are expressed by Equation [12] and each detected pan angle P, each tilt angle T, each rotation angle. Calculated based on J. The rotation determinant R as the installation posture of the pointing device 31 is calculated based on the calculated normal vectors N _X1 , N _X2 , N _Y and the equations [7] to [10]. The equations [7] to [12] are stored in the ROM.

Next, as shown in FIG. 24, when the first known point K ₁ is irradiated with the cross-shaped laser beam by the operation of the operation unit 8 and the first known point K ₁ is instructed (step S38), angle detection is performed. The pan angle P and the tilt angle T from the initial position I of the laser beam irradiation unit 5 are detected by the unit 7 (step S39). Completion of the instruction of the first known point K ₁ may be confirmed by operation of a confirmation key or the like provided on the operation unit 8. Here, before step S38, a message requesting the instruction of the first known point such as “Please specify the first known point” stored in the ROM 4 is displayed on the display unit 10. Then, there is an advantage that the operation is easy to understand even for a non-expert user.

Then, the three-dimensional coordinates (x ₁ , y ₁ , z ₁ ) of the first known point K ₁ are input by the input unit 9 (step S40). Here, before the step S40, displays a message requesting the input of the "Enter three-dimensional coordinates of the first known point." Stored in ROM4 first three-dimensional coordinates of the known point K _1, such as If it is configured to be displayed on the unit 10, there is an advantage that the operation is easy to understand even for a non-expert user.

Next, when the second known point K ₂ is irradiated with the cross-shaped laser beam by the operation of the operation unit 8 and the second known point K ₂ is instructed (step S41), the angle detecting unit 7 performs the laser beam irradiation unit. The pan angle P and tilt angle T from the initial position I of 5 are detected (step S42). Completion of the instruction of the second known point K ₂ may be confirmed by operation of a confirmation key or the like provided on the operation unit 8. Here, before step S41, as "Pick a second known point." Stored in ROM4 like second message requesting an indication of known point K ₂ of the is displayed on the display unit 10 If configured, there is an advantage that the operation is easy to understand even for a non-expert user.

Then, the three-dimensional coordinates (x ₂ , y ₂ , z ₂ ) of the second known point K ₂ are input by the input unit 9 (step S43). Here, before the step S43, displays a message requesting the input of the "Enter three-dimensional coordinates of the second known point." Stored in ROM4 second three-dimensional coordinates of the known point K ₂ of such If it is configured to be displayed on the unit 10, there is an advantage that the operation is easy to understand even for a non-expert user.

Next, each detected pan angle P and each tilt angle T, the rotation determinant R as the calculated installation attitude, and the input three-dimensional coordinates of the first known point K ₁ and the second known point K ₂ If the three-dimensional coordinates of the installation position A of the pointing device 31 are calculated based on the three-dimensional coordinates (step S44), the process ends.

Here, M _L represents the determinant representing the three-dimensional coordinates on the local coordinate system L of the known point (first known point K ₁ or second known point K ₂ ), and d represents the distance between the installation position A and the known point. When the unit vector indicating the direction (u, v, w) from the installation position A on the local coordinate system L to the known point is V, the following equation [13] is established.
M _L = dV (13)

If the determinant representing the three-dimensional coordinates (x, y, z) of the known point on the world coordinate system W is M _W , the following equation [14] is established from the equations [13] and [4].

  Equation [14] can be expanded into the following equations [15], [16], and [17].

When the unit vector indicating the X-axis direction (1, 0, 0) of the local coordinate system L is V _L , and the rotation angle J when rotating from the initial position I on the local coordinate system L to the known point is 0 radians, From [11], the following equation [18] is established.

The unit vector V indicating the direction (u, v, w) from the installation position A on the local coordinate system L to the known point is calculated based on Equation [18], each detected pan angle P, and each tilt angle T. Is done. The distance d between the 3-dimensional coordinates and the installation position A and known point installation position A pointing device 31 is calculated unit vectors V, three-dimensional coordinates and a second known point K of the first known point K ₁ input It is calculated by solving six simultaneous equations generated from the mathematical formulas [15] to [17] based on the three-dimensional coordinates of ₂ . Equations [15] to [18] are stored in the ROM.

Thus, the instruction device 31 also functions as an installation information calculation device that calculates the installation posture and the three-dimensional coordinates of the installation position A. According to such an installation information calculation device, there is an advantage that the cost can be reduced with a simple device configuration and the installation posture and the three-dimensional coordinates of the installation position A can be calculated. Further, compared to the indication device 1 of the first embodiment and the indication device 21 of the second embodiment, the installation posture of the indication device 31 is relatively simple by the instructions of the first straight line, the second straight line, and the third straight line described above. Can be calculated at a higher speed with a simple calculation formula, and the first known point K ₁ and the second known point K ₂ can be indicated, and the three-dimensional coordinates of the first known point K ₁ and the second known point K ₂ can be input. Thus, there is an advantage that the three-dimensional coordinates of the installation position A of the pointing device 31 can be calculated at a higher speed with a relatively simple calculation formula.

  Next, an example of the instruction process for the target point B as shown in FIG. 25 will be described based on the flowchart shown in FIG. This instruction process is also performed according to a command issued by the MPU 2 based on a control program stored in the ROM 4.

In this instruction process, when the three-dimensional coordinates (x _B , y _B , z _B ) of the target point B on the irradiated surface are input by the input unit 9 (step S51), the calculated three-dimensional of the installation position A Based on the coordinates and the input three-dimensional coordinates of the target point B, the pan angle P and the tilt angle T from the initial position I of the laser beam irradiation unit 5 are calculated (step S52). Prior to step S51, a message requesting input of the three-dimensional coordinates of the target point B such as “Please input the three-dimensional coordinates of the target point” stored in the ROM 4 is displayed on the display unit 10. This configuration has an advantage that the operation is easy to understand even for non-expert users.

Here, the calculated three-dimensional coordinates (x _A , y _A , z _A ) on the world coordinate system W of the installation position A and the three-dimensional coordinates (x _B , y _B , If z _B ) and the distance d _B between the target point B and the installation position A are used, the following equation [19] is established from the equation [18].

  The pan angle P and tilt angle T from the initial position I of the laser beam irradiation unit 5 are calculated by solving three simultaneous equations in the equation [19]. The mathematical formula [19] is stored in the ROM.

  Next, as shown in FIG. 25, the rotation drive unit 6 is controlled, and the target point B is irradiated with a cross-shaped laser beam based on the calculated pan angle P and tilt angle T, and the target point B is instructed. If so (step S53), the process ends.

  According to the pointing device 31 as described above, the target point B can be automatically irradiated with a cross-shaped laser beam to indicate the target point B, so that there is little error and one worker can also perform ink marking work. Etc. can be performed. Further, even when a plurality of target points B are instructed sequentially, it is not necessary to install the instruction device 31 each time, and the configuration of the instruction device 31 is simple. For this reason, there is an advantage that it is possible to reduce errors and costs during the inking operation.

In addition, the instruction method using the instruction device 31 is such that the operation unit 8 operates the laser light irradiation unit 5 and the rotation driving unit 6 to linearly laser a first straight line parallel to the first coordinate axis of the space. A step of detecting the pan angle P, the tilt angle T, and the rotation angle J from the initial position I of the laser beam irradiation unit 5 when the angle detection unit 7 indicates the first straight line by irradiating the light LL; When the operation unit 8 operates the laser beam irradiation unit 5 and the rotation drive unit 6 to irradiate the second straight line parallel to the first coordinate axis with the linear laser beam LL and indicate the second line, The angle detection unit 7 detects the pan angle P, the tilt angle T, and the rotation angle J from the initial position I of the laser beam irradiation unit 5, and the operation unit 8 operates the laser beam irradiation unit 5 and the rotation drive unit 6. And a linear array on a third straight line parallel to the second coordinate axis of the space. A step of detecting the pan angle P, the tilt angle T, and the rotation angle J from the initial position I of the laser beam irradiation unit 5 when the angle detection unit 7 indicates the third straight line by irradiating the light LL; The installation posture calculation means calculates the installation posture of the apparatus based on each pan angle P, each tilt angle T, and each rotation angle J detected by the angle detection unit 7, and the operation unit 8 emits laser light. When the unit 5 and the rotation driving unit 6 are operated to irradiate the first known point K ₁ with a cross-shaped laser beam and indicate the first known point K ₁ , the angle detection unit 7 causes the laser beam irradiating unit 5 to Detecting the pan angle P and tilt angle T from the initial position I, the step of inputting the three-dimensional coordinates of the first known point K _{1 by} the input unit 9, and the operation unit 8 rotating and rotating the laser beam irradiation unit 5. operating the driving unit 6, a cross-shaped array to the second known point K ₂ A step in which the angle detector 7 detects the pan angle P and the tilt angle T from the initial position I of the laser light irradiation unit 5 when the second known point K ₂ is indicated by irradiating the light; and an input unit 9 is a step of inputting the three-dimensional coordinates of the second known point K ₂ , and the installation position calculation means is calculated by each pan angle P and each tilt angle T detected by the angle detection unit 7 and by the installation posture calculation means. Calculating the three-dimensional coordinates of the installation position A of the apparatus based on the installed posture and the three-dimensional coordinates of the first known point K ₁ and the second known point K ₂ input by the input unit 9. The input unit 9 inputs the three-dimensional coordinates of the target point B on the irradiated surface to be instructed, and the angle calculation means includes the three-dimensional coordinates of the installation position A calculated by the installation position calculation means and Target point input by the input unit 9 The step of calculating the pan angle P and the tilt angle T from the initial position I of the laser beam irradiation unit 5 based on the three-dimensional coordinates of the laser beam irradiation unit 5, the instruction unit controls the rotation drive unit 6, and the pan calculated by the angle calculation unit And irradiating the target point B with a cross-shaped laser beam on the basis of the angle P and the tilt angle T to indicate the target point B. The instruction method here refers to a method of instructing a target point B by irradiating a surface to be irradiated with a cross-shaped laser beam for inking at a construction site, positioning of a building member, surveying, or the like. Such an instruction method has the same advantages as the instruction device 31.

  In the third embodiment, the pointing device (not shown) according to the fourth embodiment is provided with an acceleration detector (not shown) at an appropriate position such as the inside of the main body case 14.

  Next, an example of processing for calculating the installation posture of the pointing device and the three-dimensional coordinates of the installation position A will be described based on the flowchart shown in FIG. This calculation process is performed according to a command issued by the MPU 2 based on a control program stored in the ROM 4.

  In this calculation process, first, the acceleration detection unit performs acceleration in the first coordinate axis (for example, X axis) direction, acceleration in the second coordinate axis (for example, Y axis) direction, and third coordinate axis (for example, the local coordinate system L of the pointing device). For example, acceleration in the Z-axis direction is detected (step S61).

  Next, as shown in FIG. 20, by operating the operation unit 8, the linear laser beam LL is applied to a straight line (for example, the entrance corner line Y <b> 3) parallel to the coordinate axis (for example, the Y axis) of the space (for example, the indoor space 13). When the line is irradiated and the straight line is instructed (step S62), the angle detector 7 detects the pan angle P, the tilt angle T, and the rotation angle J from the initial position I of the laser light irradiation unit 5 (step S63). ). Here, before step S62, a message requesting the instruction of the straight line such as “Please specify a straight line parallel to the coordinate axis of the space” stored in the ROM 4 is displayed on the display unit 10. This configuration has the advantage that the operation is easy to understand even for non-expert users.

  Then, based on each detected acceleration, and the detected pan angle P, tilt angle T, and rotation angle J, a rotation determinant R as the installation posture of the pointing device is calculated.

Here, assuming that the local coordinate system L of the pointing device L has an X-axis acceleration A _X , a Y-axis acceleration A _Y , a Z-axis acceleration A _Z , and a gravitational acceleration G, the Z-axis described above The vector V _Z is expressed as the following equation [20].

As shown in FIG. 28, the aforementioned Y-axis vector V _Y is orthogonal to the Z-axis vector V _Z and the normal vector N _Y of the aforementioned plane F3, so that the following equation [21 ] Is expressed as follows.
V _Y = V _Z × N _Y .. [21]

As shown in FIG. 23, since both the Z-axis vector V _Z and the Y-axis vector V _Y are orthogonal to the above-described X-axis vector V _X , the X-axis vector V _X is expressed as the following product [22 ] Is expressed as follows.
V _X = V _Z × V _Y .. [22]

The normal vector _NY of the plane F3 is calculated based on the equation [12] and each detected pan angle P, each tilt angle T, and each rotation angle J. The rotation determinant R as the installation posture of the pointing device is calculated based on the calculated normal vector _NY and the equations [7] and [20] to [22]. The mathematical formulas [20] to [22] are also stored in the ROM 4.

  Subsequent processing is the same as in the third embodiment. In addition, the target point B instruction processing is also performed in the same manner as in the third embodiment.

  According to the pointing device as described above, in addition to the same advantages as those of the third embodiment, there is an advantage that workability is excellent because a straight line is required only once when calculating the installation posture of the pointing device.

The instruction method using the pointing device is such that the acceleration detecting unit detects the acceleration in the first coordinate axis direction, the acceleration in the second coordinate axis direction, and the acceleration in the third coordinate axis direction of the device, and the operation unit 8 When the laser beam irradiating unit 5 and the rotation driving unit 6 are operated to irradiate a linear laser beam LL to a first straight line parallel to the first coordinate axis of the space and indicate the first straight line, The angle detection unit 7 detects the pan angle P, the tilt angle T, and the rotation angle J from the initial position I of the laser beam irradiation unit 5, and the operation unit 8 operates the laser beam irradiation unit 5 and the rotation drive unit 6. When the second straight line parallel to the first coordinate axis is irradiated with the linear laser beam LL and the second straight line is indicated, the angle detection unit 7 detects the laser beam irradiation unit 5 from the initial position I. Pan angle P, tilt angle T, and rotation angle J And the operation unit 8 operates the laser beam irradiation unit 5 and the rotation driving unit 6 to irradiate the third straight line parallel to the second coordinate axis of the space with the linear laser beam LL. When the straight line is instructed, the angle detection unit 7 detects the pan angle P, the tilt angle T, and the rotation angle J from the initial position I of the laser beam irradiation unit 5, and the installation posture calculation means includes an acceleration detection unit. A step of calculating the installation posture of the apparatus based on each acceleration detected by the angle detection unit 7 and the pan angle P, tilt angle T, and rotation angle J detected by the angle detection unit 7, and the operation unit 8 includes the laser beam irradiation unit 5 and When the rotation driving unit 6 is operated to irradiate the first known point K ₁ with a cross-shaped laser beam and indicate the first known point K ₁ , the angle detecting unit 7 is the initial position of the laser beam irradiating unit 5. Detect pan angle P and tilt angle T from I That step and, by operating the steps of the input section 9 for inputting the first three-dimensional coordinates of the known point K _1, the operation unit 8 is a laser beam irradiation unit 5 and the rotary drive unit 6, a cross in the second known point K ₂ The angle detection unit 7 detects the pan angle P and the tilt angle T from the initial position I of the laser beam irradiation unit 5 when the second known point K ₂ is indicated by irradiating the laser beam in the shape of; The step of inputting the three-dimensional coordinates of the second known point K _{2 by} the input unit 9, and the installation position calculation means by each pan angle P and each tilt angle T detected by the angle detection unit 7, by the installation posture calculation means calculated calculated installation posture, as well as the three-dimensional coordinates of the installation position a of the apparatus based on the first three-dimensional coordinates and the second three-dimensional coordinates of the known point K ₂ of the known point K ₁ input by the input unit 9 And the input unit 9 to be irradiated The step of inputting the three-dimensional coordinates of the target point B above, and the angle calculation means, the three-dimensional coordinates of the installation position A calculated by the installation position calculation means, and the three-dimensional coordinates of the target point B input by the input unit 9 The step of calculating the pan angle P and the tilt angle T from the initial position I of the laser beam irradiation unit 5 based on the above, and the instruction unit controls the rotation drive unit 6 and the pan angle P and tilt calculated by the angle calculation unit Irradiating the target point B with a cross-shaped laser beam based on the angle T and instructing the target point B. The instruction method here refers to a method of instructing a target point B by irradiating a surface to be irradiated with a cross-shaped laser beam for inking at a construction site, positioning of a building member, surveying, or the like. Such an instruction method has the same advantages as the instruction device.

  In the first to fourth embodiments described above, if a plurality of target points B and target lines E are simultaneously indicated using a plurality of pointing devices 1, 21, and 31, inking work and the like can be performed more efficiently. There is an advantage. In this case, if remote operation and remote input are enabled by a single remote operation unit 12 common to the plurality of instruction devices 1, 21, and 31, the remote operation unit 12 is switched for each of the instruction devices 1, 21, and 31. There is an advantage that it is not necessary and cost can be reduced.

  In addition, a paint that develops or changes color when irradiated with laser light LP, LL, or LLV is applied to the irradiated surface, or a coating material that changes color or changes when irradiated with laser light LP, LL, or LLV is applied to the surface. If a tape or sheet is affixed to the surface to be irradiated, these portions are colored or discolored by the indication of the target point B or the target line E by the indicating devices 1, 21, and 31, and the marking point or marking line is drawn. Therefore, there is an advantage that the labor of inking can be omitted. Examples of the paint and coating material include photochromic materials and thermochromic materials.

  As described above, the pointing device and the pointing method according to the present invention are suitable for reducing errors and costs in the process of marking ink at the construction site, positioning of building members, surveying, etc., and the installation information according to the present invention. The calculation device and the installation information calculation method are suitable for reducing the cost and calculating the three-dimensional coordinates of the installation posture and the installation position of the device.

The block diagram which shows the structural example of the instruction | indication apparatus which concerns on 1st Embodiment. The schematic plan view of an indicating device. The schematic front view of an indicating device. The schematic sectional drawing of the indicating device seen from the positive direction of the Y-axis of a local coordinate system. The schematic diagram of indoor space. The flowchart which shows an example of the calculation process of the three-dimensional coordinate of the installation position of an instruction | indication apparatus, and an installation attitude | position. The flowchart which shows an example of the instruction process of a target point. The schematic plan view of the indicating device which concerns on 2nd Embodiment. The schematic front view of an indicating device. The schematic sectional drawing of the indicating device seen from the positive direction of the Y-axis of a local coordinate system. The schematic diagram of indoor space. The flowchart which shows an example of the instruction | indication process of a target line. The schematic front view of the indicating device which concerns on 3rd Embodiment. The schematic plan view of an indicating device. The schematic sectional drawing of the indicating device seen from the positive direction of the Y-axis of a local coordinate system. The flowchart which shows an example of the calculation process of the three-dimensional coordinate of the installation attitude | position of an instruction | indication apparatus, and an installation position. The flowchart which shows an example of the calculation process of the three-dimensional coordinate of the installation attitude | position of an instruction | indication apparatus, and an installation position. The schematic diagram which shows the state which irradiated the linear laser beam to the 1st entering corner line parallel to the X-axis of a world coordinate system, and indicated the entering corner line. The schematic diagram which shows the state which irradiated the linear laser beam to the 2nd corner line parallel to the X-axis of a world coordinate system, and indicated the corner line. The schematic diagram which shows the state which irradiated the linear laser beam to the 3rd entering corner line parallel to the Y-axis of a world coordinate system, and indicated the entering corner line. The first plane including the linear laser beam indicating the first entering corner line and the installation position, and the second plane including the linear laser beam indicating the second entering corner line and the installation position. The schematic diagram which shows the state which cross | intersected. The schematic diagram which shows the 3rd plane containing the linear laser beam which instruct | indicated the 3rd entering corner line, and an installation position. Explanatory drawing which shows the state to which the X-axis vector, the Y-axis vector, and the Z-axis vector were mutually orthogonally crossed. The schematic diagram which shows the state which irradiated the cross-shaped laser beam to the 1st known point, and indicated the 1st known point. The schematic diagram which shows the state which irradiated the cross-shaped laser beam to the target point and instruct | indicated the target point. The flowchart which shows an example of the instruction process of a target point. The flowchart which shows an example of the calculation process of the installation attitude | position of the instruction | indication apparatus which concerns on 4th Embodiment, and the three-dimensional coordinate of an installation position. The schematic diagram which shows the plane containing the linear laser beam which instruct | indicated the entering corner line, and an installation position.

Explanation of symbols

1, 21, 31 Indicating device 2 MPU
3 RAM
4 ROM
DESCRIPTION OF SYMBOLS 5 Laser beam irradiation part 5V Vertical laser beam irradiation part 6 Rotation drive part 7 Angle detection part 8 Operation part 9 Input part A Installation position B Target point or arbitrary point K ₁ 1st known point K ₂ 2nd known point K ₃ 3rd Known point I Initial position 12 Remote control unit LP Point laser beam LL Linear laser beam LLV Linear laser beam 13 Indoor space (space)
13a Ceiling surface (irradiated surface)
13b Wall surface (irradiated surface)
13c Floor (irradiated surface)
E Target line X1 Corner line (first straight line)
X2 corner line (second straight line)
Y3 entering corner line (third straight line or straight line)

Claims (14)

Irradiate the irradiated surface in space with a linear laser beam to indicate a straight line on the irradiated surface, or irradiate the irradiated surface with a cross-shaped laser beam to mark a point on the irradiated surface. Laser light irradiation means for instructing;
Rotation driving means for performing pan driving, tilt driving, and rotation driving of the laser light irradiation means;
Operating means for operating the laser light irradiation means and the rotation driving means;
When the linear laser beam is irradiated on the first straight line parallel to the first coordinate axis of the space by the operation of the operating means and the first straight line is designated, the initial position of the laser light irradiation means is First angle detection means for detecting the pan angle, tilt angle, and rotation angle of
When a linear laser beam is irradiated on a second straight line parallel to the first coordinate axis by the operation of the operating means and the second straight line is designated, panning from the initial position of the laser light irradiation means is performed. Second angle detection means for detecting an angle, a tilt angle, and a rotation angle;
When a linear laser beam is irradiated onto a third straight line parallel to the second coordinate axis of the space by the operation of the operating means and the third straight line is designated, the initial position of the laser light irradiation means is Third angle detecting means for detecting the pan angle, tilt angle, and rotation angle of
The installation posture of the pointing device is calculated based on each pan angle, each tilt angle, and each rotation angle detected by the first angle detection unit, the second angle detection unit, and the third angle detection unit, respectively. Installation posture calculation means;
When the first known point whose three-dimensional coordinates are known is irradiated with a cross-shaped laser beam and the first known point is indicated by the operation of the operating unit, the initial position of the laser beam irradiating unit is Fourth angle detection means for detecting a pan angle and a tilt angle;
When the second known point whose three-dimensional coordinates are known is irradiated with a cross-shaped laser beam and the second known point is indicated by the operation of the operating unit, the initial position of the laser beam irradiating unit is A fifth angle detecting means for detecting a pan angle and a tilt angle;
Known point input means for inputting the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point;
The pan angle and tilt angle respectively detected by the fourth angle detection means and the fifth angle detection means, the installation attitude calculated by the installation attitude calculation means, and the first input by the known point input means. Installation position calculation means for calculating the three-dimensional coordinates of the installation position of the pointing device based on the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point;
Target point input means for inputting the three-dimensional coordinates of the target point on the irradiated surface to be instructed;
Based on the three-dimensional coordinates of the installation position calculated by the installation position calculation means and the three-dimensional coordinates of the target point input by the target point input means, the pan angle and the tilt angle from the initial position of the laser beam irradiation means are determined. An angle calculating means for calculating;
Instruction means for controlling the rotation driving means, and irradiating the target point with a cross-shaped laser beam based on the pan angle and tilt angle calculated by the angle calculation means to indicate the target point;
A pointing device comprising: Irradiate the irradiated surface in space with a linear laser beam to indicate a straight line on the irradiated surface, or irradiate the irradiated surface with a cross-shaped laser beam to mark a point on the irradiated surface. Laser light irradiation means for instructing;
Rotation driving means for performing pan driving, tilt driving, and rotation driving of the laser light irradiation means;
Operating means for operating the laser light irradiation means and the rotation driving means;
Acceleration detecting means for detecting acceleration in the first coordinate axis direction, acceleration in the second coordinate axis direction, and acceleration in the third coordinate axis direction of the pointing device;
When a straight laser beam is irradiated on a straight line parallel to the coordinate axis of the space by the operation of the operating means and the straight line is indicated, the pan angle and tilt angle from the initial position of the laser light irradiation means And first angle detection means for detecting the rotation angle;
An installation posture calculation unit that calculates an installation posture of the pointing device based on each acceleration detected by the acceleration detection unit and a pan angle, a tilt angle, and a rotation angle detected by the first angle detection unit;
When the first known point whose three-dimensional coordinates are known is irradiated with a cross-shaped laser beam and the first known point is indicated by the operation of the operating unit, the initial position of the laser beam irradiating unit is Second angle detection means for detecting a pan angle and a tilt angle;
When the second known point whose three-dimensional coordinates are known is irradiated with a cross-shaped laser beam and the second known point is indicated by the operation of the operating unit, the initial position of the laser beam irradiating unit is Third angle detecting means for detecting a pan angle and a tilt angle;
Known point input means for inputting the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point;
The pan angle and the tilt angle respectively detected by the second angle detection unit and the third angle detection unit, the installation posture calculated by the installation posture calculation unit, and the first input by the known point input unit. Installation position calculation means for calculating the three-dimensional coordinates of the installation position of the pointing device based on the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point;
Target point input means for inputting the three-dimensional coordinates of the target point on the irradiated surface to be instructed;
Based on the three-dimensional coordinates of the installation position calculated by the installation position calculation means and the three-dimensional coordinates of the target point input by the target point input means, the pan angle and the tilt angle from the initial position of the laser beam irradiation means are determined. An angle calculating means for calculating;
Instruction means for controlling the rotation driving means, and irradiating the target point with a cross-shaped laser beam based on the pan angle and tilt angle calculated by the angle calculation means to indicate the target point;
A pointing device comprising: The operating means irradiates the irradiated surface in space with a linear laser beam to indicate a straight line on the irradiated surface, or irradiates the irradiated surface with a cross-shaped laser beam and irradiates the irradiated surface. A laser beam irradiating means for indicating the upper point and a rotation driving means for performing pan driving, tilt driving, and rotation driving of the laser beam irradiating means are operated, and a first parallel to the first coordinate axis of the space is operated. A step in which the first angle detection means detects the pan angle, the tilt angle, and the rotation angle from the initial position of the laser light irradiation means when the first straight line is indicated by irradiating the straight line with the laser light; When,
When the operating means operates the laser light irradiating means and the rotation driving means, and irradiates the second straight line parallel to the first coordinate axis to irradiate a linear laser beam and indicates the second straight line, A second angle detection unit detecting a pan angle, a tilt angle, and a rotation angle from an initial position of the laser beam irradiation unit;
When the operating means operates the laser light irradiating means and the rotation driving means, and irradiates a third straight line parallel to the second coordinate axis of the space to indicate the third straight line. And a third angle detecting unit detecting a pan angle, a tilt angle, and a rotation angle from an initial position of the laser beam irradiation unit;
The installation posture calculation means installs the apparatus based on each pan angle, each tilt angle, and each rotation angle detected by each of the first angle detection means, the second angle detection means, and the third angle detection means. Calculating a posture;
When the operating means operates the laser light irradiating means and the rotation driving means, and irradiates a first known point having a known three-dimensional coordinate with a cross-shaped laser light to indicate the first known point, A fourth angle detection unit detecting a pan angle and a tilt angle from an initial position of the laser beam irradiation unit;
A step of inputting a three-dimensional coordinate of the first known point by a known point input means;
When the operating means operates the laser light irradiating means and the rotation driving means, and irradiates a second known point having a known three-dimensional coordinate with a cross-shaped laser light to indicate the second known point, A fifth angle detection unit detecting a pan angle and a tilt angle from an initial position of the laser beam irradiation unit;
The known point input means inputting the three-dimensional coordinates of the second known point;
The installation position calculation means includes each pan angle and each tilt angle detected by the fourth angle detection means and the fifth angle detection means, the installation attitude calculated by the installation attitude calculation means, and the known point input. Calculating the three-dimensional coordinates of the installation position of the apparatus based on the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point input by the means;
A step of inputting a three-dimensional coordinate of a target point on the irradiated surface to be instructed by a target point input means;
The angle calculation means performs panning from the initial position of the laser light irradiation means based on the three-dimensional coordinates of the installation position calculated by the installation position calculation means and the three-dimensional coordinates of the target point input by the target point input means. Calculating an angle and a tilt angle;
An instruction unit controlling the rotation driving unit, irradiating the target point with a cross-shaped laser beam based on the pan angle and tilt angle calculated by the angle calculation unit, and indicating the target point;
An instruction method characterized by comprising: A step of detecting an acceleration in the first coordinate axis direction, an acceleration in the second coordinate axis direction, and an acceleration in the third coordinate axis direction by the acceleration detecting means;
The operating means irradiates the irradiated surface in space with a linear laser beam to indicate a straight line on the irradiated surface, or irradiates the irradiated surface with a cross-shaped laser beam and irradiates the irradiated surface. A laser beam irradiating means for instructing the upper point and a rotation driving means for performing pan driving, tilt driving, and rotation driving of the laser beam irradiating means are operated to form a straight line in a straight line parallel to the coordinate axis of the space. The first angle detecting means detects the pan angle, tilt angle, and rotation angle from the initial position of the laser light irradiating means when the straight line is indicated by irradiating the laser light;
A step of calculating an installation posture of the apparatus based on each acceleration detected by the acceleration detection unit and a pan angle, a tilt angle, and a rotation angle detected by the first angle detection unit;
When the operating means operates the laser light irradiating means and the rotation driving means, and irradiates a first known point having a known three-dimensional coordinate with a cross-shaped laser light to indicate the first known point, A second angle detection unit detecting a pan angle and a tilt angle from an initial position of the laser beam irradiation unit;
A step of inputting a three-dimensional coordinate of the first known point by a known point input means;
When the operating means operates the laser light irradiating means and the rotation driving means, and irradiates a second known point having a known three-dimensional coordinate with a cross-shaped laser light to indicate the second known point, A third angle detecting unit detecting a pan angle and a tilt angle from an initial position of the laser beam irradiation unit;
The known point input means inputting the three-dimensional coordinates of the second known point;
The installation position calculation means includes each pan angle and each tilt angle detected by the second angle detection means and the third angle detection means, the installation attitude calculated by the installation attitude calculation means, and the known point input. Calculating the three-dimensional coordinates of the installation position of the apparatus based on the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point input by the means;
A step of inputting a three-dimensional coordinate of a target point on the irradiated surface to be instructed by a target point input means;
The angle calculation means performs panning from the initial position of the laser light irradiation means based on the three-dimensional coordinates of the installation position calculated by the installation position calculation means and the three-dimensional coordinates of the target point input by the target point input means. Calculating an angle and a tilt angle;
An instruction unit controlling the rotation driving unit, irradiating the target point with a cross-shaped laser beam based on the pan angle and tilt angle calculated by the angle calculation unit, and indicating the target point;
An instruction method characterized by comprising: Irradiate the irradiated surface in space with a linear laser beam to indicate a straight line on the irradiated surface, or irradiate the irradiated surface with a cross-shaped laser beam to mark a point on the irradiated surface. Laser light irradiation means for instructing;
Rotation driving means for performing pan driving, tilt driving, and rotation driving of the laser light irradiation means;
Operating means for operating the laser light irradiation means and the rotation driving means;
When the linear laser beam is irradiated on the first straight line parallel to the first coordinate axis of the space by the operation of the operating means and the first straight line is designated, the initial position of the laser light irradiation means is First angle detection means for detecting the pan angle, tilt angle, and rotation angle of
When a linear laser beam is irradiated on a second straight line parallel to the first coordinate axis by the operation of the operating means and the second straight line is designated, panning from the initial position of the laser light irradiation means is performed. Second angle detection means for detecting an angle, a tilt angle, and a rotation angle;
When a linear laser beam is irradiated onto a third straight line parallel to the second coordinate axis of the space by the operation of the operating means and the third straight line is designated, the initial position of the laser light irradiation means is Third angle detecting means for detecting the pan angle, tilt angle, and rotation angle of
Based on each pan angle, each tilt angle, and each rotation angle detected by the first angle detection unit, the second angle detection unit, and the third angle detection unit, the installation posture of the installation information calculation device is determined. Installation posture calculating means for calculating;
When the first known point whose three-dimensional coordinates are known is irradiated with a cross-shaped laser beam and the first known point is indicated by the operation of the operating unit, the initial position of the laser beam irradiating unit is Fourth angle detection means for detecting a pan angle and a tilt angle;
When the second known point whose three-dimensional coordinates are known is irradiated with a cross-shaped laser beam and the second known point is indicated by the operation of the operating unit, the initial position of the laser beam irradiating unit is A fifth angle detecting means for detecting a pan angle and a tilt angle;
Known point input means for inputting the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point;
The pan angle and tilt angle respectively detected by the fourth angle detection means and the fifth angle detection means, the installation attitude calculated by the installation attitude calculation means, and the first input by the known point input means. Installation position calculation means for calculating the three-dimensional coordinates of the installation position of the installation information calculation device based on the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point;
An installation information calculation apparatus comprising: Irradiate the irradiated surface in space with a linear laser beam to indicate a straight line on the irradiated surface, or irradiate the irradiated surface with a cross-shaped laser beam to mark a point on the irradiated surface. Laser light irradiation means for instructing;
Rotation driving means for performing pan driving, tilt driving, and rotation driving of the laser light irradiation means;
Operating means for operating the laser light irradiation means and the rotation driving means;
Acceleration detecting means for detecting the acceleration in the first coordinate axis direction, the acceleration in the second coordinate axis direction, and the acceleration in the third coordinate axis direction of the installation information calculation device;
When a straight laser beam is irradiated on a straight line parallel to the coordinate axis of the space by the operation of the operating means and the straight line is indicated, the pan angle and tilt angle from the initial position of the laser light irradiation means And first angle detection means for detecting the rotation angle;
An installation posture calculation unit that calculates an installation posture of the installation information calculation device based on each acceleration detected by the acceleration detection unit and a pan angle, a tilt angle, and a rotation angle detected by the first angle detection unit;
When the first known point whose three-dimensional coordinates are known is irradiated with a cross-shaped laser beam and the first known point is indicated by the operation of the operating unit, the initial position of the laser beam irradiating unit is Second angle detection means for detecting a pan angle and a tilt angle;
When the second known point whose three-dimensional coordinates are known is irradiated with a cross-shaped laser beam and the second known point is indicated by the operation of the operating unit, the initial position of the laser beam irradiating unit is Third angle detecting means for detecting a pan angle and a tilt angle;
Known point input means for inputting the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point;
The pan angle and the tilt angle respectively detected by the second angle detection unit and the third angle detection unit, the installation posture calculated by the installation posture calculation unit, and the first input by the known point input unit. Installation position calculation means for calculating the three-dimensional coordinates of the installation position of the installation information calculation device based on the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point;
An installation information calculation apparatus comprising: The operating means irradiates the irradiated surface in space with a linear laser beam to indicate a straight line on the irradiated surface, or irradiates the irradiated surface with a cross-shaped laser beam and irradiates the irradiated surface. A laser beam irradiating means for indicating the upper point and a rotation driving means for performing pan driving, tilt driving, and rotation driving of the laser beam irradiating means are operated, and a first parallel to the first coordinate axis of the space is operated. A step in which the first angle detection means detects the pan angle, the tilt angle, and the rotation angle from the initial position of the laser light irradiation means when the first straight line is indicated by irradiating the straight line with the laser light; When,
When the operating means operates the laser light irradiating means and the rotation driving means, and irradiates the second straight line parallel to the first coordinate axis to irradiate a linear laser beam and indicates the second straight line, A second angle detection unit detecting a pan angle, a tilt angle, and a rotation angle from an initial position of the laser beam irradiation unit;
When the operating means operates the laser light irradiating means and the rotation driving means, and irradiates a third straight line parallel to the second coordinate axis of the space to indicate the third straight line. And a third angle detecting unit detecting a pan angle, a tilt angle, and a rotation angle from an initial position of the laser beam irradiation unit;
The installation posture calculation means installs the apparatus based on each pan angle, each tilt angle, and each rotation angle detected by each of the first angle detection means, the second angle detection means, and the third angle detection means. Calculating a posture;
When the operating means operates the laser light irradiating means and the rotation driving means, and irradiates a first known point having a known three-dimensional coordinate with a cross-shaped laser light to indicate the first known point, A fourth angle detection unit detecting a pan angle and a tilt angle from an initial position of the laser beam irradiation unit;
A step of inputting a three-dimensional coordinate of the first known point by a known point input means;
When the operating means operates the laser light irradiating means and the rotation driving means, and irradiates a second known point having a known three-dimensional coordinate with a cross-shaped laser light to indicate the second known point, A fifth angle detection unit detecting a pan angle and a tilt angle from an initial position of the laser beam irradiation unit;
The known point input means inputting the three-dimensional coordinates of the second known point;
The installation position calculation means includes each pan angle and each tilt angle detected by the fourth angle detection means and the fifth angle detection means, the installation attitude calculated by the installation attitude calculation means, and the known point input. Calculating the three-dimensional coordinates of the installation position of the apparatus based on the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point input by the means;
The installation information calculation method characterized by comprising. A step of detecting an acceleration in the first coordinate axis direction, an acceleration in the second coordinate axis direction, and an acceleration in the third coordinate axis direction by the acceleration detecting means;
The operating means irradiates the irradiated surface in space with a linear laser beam to indicate a straight line on the irradiated surface, or irradiates the irradiated surface with a cross-shaped laser beam and irradiates the irradiated surface. A laser beam irradiating means for instructing the upper point and a rotation driving means for performing pan driving, tilt driving, and rotation driving of the laser beam irradiating means are operated to form a straight line in a straight line parallel to the coordinate axis of the space. The first angle detecting means detects the pan angle, tilt angle, and rotation angle from the initial position of the laser light irradiating means when the straight line is indicated by irradiating the laser light;
A step of calculating an installation posture of the apparatus based on each acceleration detected by the acceleration detection unit and a pan angle, a tilt angle, and a rotation angle detected by the first angle detection unit;
When the operating means operates the laser light irradiating means and the rotation driving means, and irradiates a first known point having a known three-dimensional coordinate with a cross-shaped laser light to indicate the first known point, A second angle detection unit detecting a pan angle and a tilt angle from an initial position of the laser beam irradiation unit;
A step of inputting a three-dimensional coordinate of the first known point by a known point input means;
When the operating means operates the laser light irradiating means and the rotation driving means, and irradiates a second known point having a known three-dimensional coordinate with a cross-shaped laser light to indicate the second known point, A third angle detecting unit detecting a pan angle and a tilt angle from an initial position of the laser beam irradiation unit;
The known point input means inputting the three-dimensional coordinates of the second known point;
The installation position calculation means includes each pan angle and each tilt angle detected by the second angle detection means and the third angle detection means, the installation attitude calculated by the installation attitude calculation means, and the known point input. Calculating the three-dimensional coordinates of the installation position of the apparatus based on the three-dimensional coordinates of the first known point and the three-dimensional coordinates of the second known point input by the means;
A step of inputting a three-dimensional coordinate of a target point on the irradiated surface to be instructed by a target point input means;
The angle calculation means performs panning from the initial position of the laser light irradiation means based on the three-dimensional coordinates of the installation position calculated by the installation position calculation means and the three-dimensional coordinates of the target point input by the target point input means. Calculating an angle and a tilt angle;
An instruction unit controlling the rotation driving unit, irradiating the target point with a cross-shaped laser beam based on the pan angle and tilt angle calculated by the angle calculation unit, and indicating the target point;
The installation information calculation method characterized by comprising. A laser beam irradiation means for irradiating the irradiated surface with a point-like laser beam and indicating a point on the irradiated surface;
Rotation driving means for performing pan driving and tilt driving of the laser light irradiation means;
Operating means for operating the rotation driving means;
A pan angle and a tilt angle from an initial position of the laser beam irradiation unit are detected when the laser beam is irradiated to a known point having a known three-dimensional coordinate by the operation of the operation unit and the known point is indicated. An angle detection means;
Input means for inputting the three-dimensional coordinates of the known point;
Determining means for determining whether or not the known point whose three-dimensional coordinates are input by the input means is the third point;
Standby means for waiting until the next known point is instructed when the determining means determines that the known point is not the third point;
When the determination unit determines that the known point is the third point, the three-dimensional coordinates input by the input unit of three known points, the pan angles and the tilts detected by the angle detection unit Calculation means for calculating the three-dimensional coordinates and installation posture of the installation position of the pointing device based on the angle;
An indicating device comprising:
The input means inputs a three-dimensional coordinate of a target point on the irradiated surface to be instructed,
The calculation means calculates a distance from the installation position to the target point based on the three-dimensional coordinates of the installation position calculated by the calculation means and the three-dimensional coordinates of the target point input by the input means. And the initial position of the laser light irradiation means based on the three-dimensional coordinates of the target point input by the input means, the three-dimensional coordinates of the installation position calculated by the calculation means, the installation posture, and the distance. Calculate the pan angle and tilt angle from
The rotation driving means performs at least one of pan driving and tilt driving of the laser light irradiation means based on the pan angle and tilt angle calculated by the calculation means,
The laser beam irradiating means irradiates the target point with the laser beam and indicates the target point. A laser beam irradiation means for irradiating the irradiated surface with a spot-like or linear laser beam and indicating a point or a straight line on the irradiated surface;
Rotation driving means for performing pan driving, tilt driving, and rotation driving of the laser light irradiation means;
Operating means for operating the rotation driving means;
When a known point with known three-dimensional coordinates is irradiated with a point-like laser beam by the operation of the operation unit and the known point is indicated, the pan angle and the tilt angle from the initial position of the laser beam irradiation unit are set. Angle detecting means for detecting;
Input means for inputting the three-dimensional coordinates of the known point;
Determining means for determining whether or not the known point whose three-dimensional coordinates are input by the input means is the third point;
Standby means for waiting until the next known point is instructed when the determining means determines that the known point is not the third point;
When the determination unit determines that the known point is the third point, the three-dimensional coordinates input by the input unit of three known points, the pan angles and the tilts detected by the angle detection unit Calculation means for calculating the three-dimensional coordinates and installation posture of the installation position of the pointing device based on the angle;
An indicating device comprising:
The input means inputs a three-dimensional coordinate of an arbitrary point on a target line on the irradiated surface to be instructed and a rotation angle from an initial position of the laser light irradiation means,
The calculation means calculates a distance from the installation position to the arbitrary point based on the three-dimensional coordinates of the installation position calculated by the calculation means and the three-dimensional coordinates of the arbitrary point input by the input means. And the initial position of the laser light irradiation means based on the three-dimensional coordinates of the arbitrary point input by the input means, the three-dimensional coordinates of the installation position calculated by the calculation means, the installation posture, and the distance. Calculate the pan angle and tilt angle from
The rotation driving unit is configured to perform pan driving, tilt driving of the laser beam irradiation unit based on a pan angle and a tilt angle from the initial position calculated by the calculation unit, and a rotation angle input by the input unit, and Do at least one of the rotation driving,
The said laser beam irradiation means irradiates the said target line with a linear laser beam, and points out the target line. The operation means operates a rotation driving means for performing pan driving and tilt driving of the laser light irradiation means, and the laser light irradiation means irradiates the irradiated surface with a point-like laser light to form a three-dimensional surface on the irradiated surface. Indicating a known point with known coordinates;
An angle detection unit detecting a pan angle and a tilt angle from an initial position of the laser beam irradiation unit when the known point is instructed by the laser beam irradiation unit;
An input means for inputting the three-dimensional coordinates of the known point;
A step of determining whether or not the known point whose three-dimensional coordinates are input by the input unit is the third point;
When the determination means determines that the known point is not the third point, the standby means waits until the next known point is indicated; and
When the determination unit determines that the known point is the third point, the calculation unit inputs each three-dimensional coordinate input by the input unit of the three known points, and each pan angle detected by the angle detection unit And calculating a three-dimensional coordinate and an installation posture of the installation position of the apparatus based on each tilt angle;
The input means inputting a three-dimensional coordinate of a target point on the irradiated surface to be instructed;
The calculation means calculates a distance from the installation position to the target point based on the three-dimensional coordinates of the installation position calculated by the calculation means and the three-dimensional coordinates of the target point input by the input means. And the initial position of the laser light irradiation means based on the three-dimensional coordinates of the target point input by the input means, the three-dimensional coordinates of the installation position calculated by the calculation means, the installation posture, and the distance. Calculating a pan angle and a tilt angle from:
The rotation driving means performing at least one of pan driving and tilt driving of the laser light irradiation means based on a pan angle and a tilt angle from the initial position calculated by the calculating means;
The laser beam irradiation means irradiating the laser beam to the target point and indicating the target point;
An instruction method characterized by comprising: The operating means operates a rotation driving means that performs pan driving, tilt driving, and rotation driving of the laser light irradiation means, and the laser light irradiation means irradiates the irradiated surface with point-like laser light, and the irradiated surface. Indicating a known point where the upper three-dimensional coordinates are known;
An angle detection unit detecting a pan angle and a tilt angle from an initial position of the laser beam irradiation unit when the known point is instructed by the laser beam irradiation unit;
An input means for inputting the three-dimensional coordinates of the known point;
A step of determining whether or not the known point whose three-dimensional coordinates are input by the input unit is the third point;
When the determination means determines that the known point is not the third point, the standby means waits until the next known point is indicated; and
When the determination unit determines that the known point is the third point, the calculation unit inputs each three-dimensional coordinate input by the input unit of the three known points, and each pan angle detected by the angle detection unit And calculating a three-dimensional coordinate and an installation posture of the installation position of the apparatus based on each tilt angle;
The step of inputting the three-dimensional coordinates of an arbitrary point on the target line on the irradiated surface to be instructed and the rotation angle from the initial position of the laser beam irradiation means;
The calculation means calculates a distance from the installation position to the arbitrary point based on the three-dimensional coordinates of the installation position calculated by the calculation means and the three-dimensional coordinates of the arbitrary point input by the input means. And the initial position of the laser light irradiation means based on the three-dimensional coordinates of the arbitrary point input by the input means, the three-dimensional coordinates of the installation position calculated by the calculation means, the installation posture, and the distance. Calculating a pan angle and a tilt angle from:
The rotation driving unit is configured to perform pan driving, tilt driving of the laser light irradiation unit based on a pan angle and a tilt angle from the initial position calculated by the calculation unit, and a rotation angle input by the input unit, and Performing at least one of rotation driving;
The laser beam irradiation means irradiates the target line with a linear laser beam and indicates the target line; and
An instruction method characterized by comprising: A laser beam irradiation means for irradiating the irradiated surface with a point-like laser beam and indicating a point on the irradiated surface;
Rotation driving means for performing pan driving and tilt driving of the laser light irradiation means;
Operating means for operating the rotation driving means;
A pan angle and a tilt angle from an initial position of the laser beam irradiation unit are detected when the laser beam is irradiated to a known point having a known three-dimensional coordinate by the operation of the operation unit and the known point is indicated. An angle detection means;
Input means for inputting the three-dimensional coordinates of the known point;
Determining means for determining whether or not the known point whose three-dimensional coordinates are input by the input means is the third point;
Standby means for waiting until the next known point is instructed when the determining means determines that the known point is not the third point;
When the determination unit determines that the known point is the third point, the three-dimensional coordinates input by the input unit of three known points, the pan angles and the tilts detected by the angle detection unit Calculating means for calculating installation information comprising three-dimensional coordinates and an installation posture of the installation position of the installation information calculation device based on the angle;
An installation information calculation apparatus comprising: The operation means operates a rotation driving means for performing pan driving and tilt driving of the laser light irradiation means, and the laser light irradiation means irradiates the irradiated surface with a point-like laser light to form a three-dimensional surface on the irradiated surface. Indicating a known point with known coordinates;
An angle detection unit detecting a pan angle and a tilt angle from an initial position of the laser beam irradiation unit when the known point is instructed by the laser beam irradiation unit;
An input means for inputting the three-dimensional coordinates of the known point;
A step of determining whether or not the known point whose three-dimensional coordinates are input by the input unit is the third point;
When the determination means determines that the known point is not the third point, the standby means waits until the next known point is indicated; and
When the determination unit determines that the known point is the third point, the calculation unit inputs each three-dimensional coordinate input by the input unit of the three known points, and each pan angle detected by the angle detection unit And calculating installation information consisting of the three-dimensional coordinates of the installation position of the apparatus and the installation posture based on each tilt angle;
The installation information calculation method characterized by comprising.

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