JP2011158371A - Three-dimensional position measuring and marking system, and method of using the same - Google Patents

Three-dimensional position measuring and marking system, and method of using the same Download PDF

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JP2011158371A
JP2011158371A JP2010021016A JP2010021016A JP2011158371A JP 2011158371 A JP2011158371 A JP 2011158371A JP 2010021016 A JP2010021016 A JP 2010021016A JP 2010021016 A JP2010021016 A JP 2010021016A JP 2011158371 A JP2011158371 A JP 2011158371A
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laser
measuring
dimensional
measurement
marking
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JP5538929B2 (en
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Yoki Kishimoto
Shintaro Sakamoto
Yukinobu Tanaka
洋喜 岸本
幸悦 田中
晋太郎 酒本
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Shinryo Corp
新菱冷熱工業株式会社
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Abstract

A three-dimensional position measurement and marking system that enables measurement in a narrow space. Enables measurement in a short time and reduces the effects of camera shake. Even on the floor or wall behind the obstacle, it can be measured from the side of the obstacle and measured.
SOLUTION: A three-dimensional measuring machine capable of measuring and transmitting data by measuring three-dimensional coordinates of a point collimated by irradiating a laser, and measuring and summarizing capable of receiving a laser and irradiating the laser And a host computer capable of receiving measurement data from a three-dimensional measuring machine and a measurement / marking-out device, calculating coordinates of a designated point, and transmitting / receiving the data. The measuring and marking device has a sensor housing that can rotate around a vertical axis and a laser rangefinder supported by a two-degree-of-freedom rotation mechanism. An incident angle sensor, an inclination sensor, and a prism are mounted on the sensor housing, and laser incident on the prism is irradiated on the incident angle sensor.
[Selection] Figure 2

Description

  TECHNICAL FIELD The present invention relates to a system for performing position measurement at various construction sites such as civil engineering and construction, and positioning work called inking, and in particular, has a laser irradiation function and can automatically control a collimation direction by a telescope or the like. The present invention relates to improvement of a system for improving measurement accuracy and improving work efficiency by using a simple three-dimensional measuring machine (commercially available as a total station).

  In a conventional 3D measurement system, for example, two workers, a worker who has a target for position measurement and a measurer who is in a remote place and collimated with a telescope of a 3D measuring machine, are required. It is necessary to repeat the measurement until the position matches the target position, and it takes a lot of time to move and install the target, which increases the amount of work. Since the 3D measuring machine can only be measured at a position where the laser can reach directly, it is difficult to measure in narrow spaces such as machine rooms and pipe shafts where there are many shadows.

  As another method, there is a method of calculating the tip coordinates of the bar from the coordinates using an indicator bar including two prisms. This also takes time for measurement, and there is a problem that accuracy decreases due to camera shake. If the distance between prisms is increased in order to improve accuracy, the indicator rod becomes longer and the operation becomes troublesome. In addition, in order to work alone, the prisms must be recognized alternately, but there are drawbacks such as camera shake that makes measurement difficult.

In JP-A-7-134029 “position surveying method”, a laser oscillator is mounted on a tracking target to be a target position, an automatic tracking type position sensor on a measurement point automatically searches for a tracking target, and wirelessly transmits position data. Further, a laser beam for marking is irradiated vertically downward from the laser oscillator. This method requires fine adjustment by feedback of the target position.

In Japanese Patent Laid-Open No. 2007-51910 “Three-dimensional coordinate measurement or marking method and positioning method using laser light”, the intersection of the optical paths of laser light irradiated from two directions in the optical path visualization module is used as a reference point, and vertically downward from the reference point. The three-dimensional position is specified as the coordinate position or the inking position.

In Japanese Patent Laid-Open No. 2007-118165 “black position recording device”, marking robots perform marking on the position of a mark point presented by a three-dimensional measuring machine. A laser beam is irradiated from the stamp tip of the marking robot, and marking is performed by matching the stamp point with the mark point.

In Japanese Patent Laid-Open No. 2005-257656 “PC (CAD) operation laser marking device”, the marking position is indicated by the intersection of line laser beams emitted from two or more marking devices.

  As described above, the position measurement by the conventional three-dimensional measuring machine has a weak point that it can be directly collimated by the three-dimensional measuring machine and cannot be measured unless the laser reaches directly. Further, in the positioning operation, there is a possibility that a laser irradiation point and a target point may be shifted due to a construction error of an object to be positioned such as a floor, a wall, or a ceiling.

A first object of the present invention is to provide a three-dimensional position measurement and ink marking system that enables measurement in a narrow space.
A second object of the present invention is to provide a three-dimensional position measurement and ink marking system that enables measurement in a short time and can reduce the effects of camera shake.
A third object of the present invention is to provide a three-dimensional position measurement and inking system capable of measuring the position and inking on the floor or wall behind the obstacle.
A fourth object of the present invention is to provide a three-dimensional position measurement method as a method of using such a three-dimensional position measurement and marking system.
A fifth object of the present invention is to provide a three-dimensional position marking method as a method of using such a three-dimensional position measurement and marking system.

In order to solve the above-described problems, in the first aspect, the present invention is a system for measuring a three-dimensional target point in various constructions, and measures the three-dimensional coordinates of the point collimated by laser irradiation. A three-dimensional measuring machine capable of transmitting and receiving data, a measuring and marking device capable of receiving a laser and irradiating the laser, and a measurement from the three-dimensional measuring machine and the measuring and marking device A host computer capable of receiving the data, calculating the coordinates of the pointing point, and transmitting and receiving the data.
Further, the measuring and marking device has a sensor housing that can rotate about a vertical axis and a laser rangefinder supported by a two-degree-of-freedom rotating mechanism, and the sensor housing is irradiated from the three-dimensional measuring device. An incident angle sensor that measures the incident angle of the laser, an inclination sensor that measures the rotation angle around the laser light receiving axis, and a prism that irradiates the laser from the three-dimensional measuring machine, and the laser that is irradiated to the prism Provides a three-dimensional position measurement and marking system which is arranged to irradiate the incident angle sensor.

  According to a second aspect of the present invention, there is provided a three-dimensional position measurement method as a method of using the three-dimensional position measurement and marking system. In this method of use, the laser distance meter of the measuring and marking device irradiates a point where the laser is to be measured using the two-degree-of-freedom rotation mechanism, and the three-dimensional measuring device searches for the prism to the prism. And a laser, and the host computer calculates a measurement position based on data from the plurality of sensors.

  According to a third aspect of the present invention, there is provided a three-dimensional position marking method as a method of using the three-dimensional position measurement and marking system. In this method of use, a laser is irradiated from the three-dimensional measuring machine to the inking position, the measuring / inking device is installed in the vicinity of the inking position, and the three-dimensional measuring machine searches for the prism to detect the prism. The host computer calculates the inking position based on the data from the plurality of sensors, and the measuring and inking device irradiates the inking position calculated by the computer with the laser. It is a feature.

  That is, in the present invention, by using a three-dimensional measuring machine (total station) that has a laser irradiation function and can automatically control the collimation direction, measurement and marking at the construction site can be performed alone. In other words, the measurement can automatically measure the three-dimensional coordinates of the position collimated by the telescope, and the inking can be instructed by automatically irradiating the laser at the designated position. Conventionally, in the present invention, the fundamental problem that measurement and inking cannot be performed at a position where the total station alone cannot be collimated is solved as follows.

  The measurement and marking system according to the present invention includes a sensor (incident angle sensor) that receives a laser beam emitted from a total station and measures its incident angle and azimuth angle, and a sensor (tilt sensor) that measures an inclination angle from the direction of gravity. And a two-degree-of-freedom rotation mechanism for setting the laser distance meter and its orientation. The position and orientation of the apparatus can be measured from the incident angle and azimuth angle of the laser emitted from the total station, the inclination angle of the apparatus, and the position coordinates of the apparatus measured by the total station.

  When measuring, manually or automatically adjust the two-degree-of-freedom rotation mechanism to irradiate the laser at the position where you want to measure the laser. The original coordinates can be measured. Furthermore, at the time of inking, the target position can be irradiated with laser by controlling the rotation angle of the two-degree-of-freedom rotation mechanism to an angle calculated from the target inking position manually or automatically. In the present invention, this measurement and marking system can realize measurement and marking that cannot be directly collimated from the total station.

According to the three-dimensional position measurement and positioning system and the method of using the same according to the present invention,
(1) Since it does not require the movement of a three-dimensional measuring machine, it is possible to measure even in narrow spaces. (2) It can be measured in a short time because of one-point measurement, and the effects of camera shake can be reduced. Because it is instructed, the measurement range is not fixed and the accuracy is not lowered due to deflection, etc. (4) Since the laser can be irradiated obliquely, it is possible to measure from the side of the obstacle, and the height of the obstacle (5) Since the laser can be irradiated obliquely, it is possible to go around from the side of the obstacle to indicate the position and mark it, and there is no limit on the height of the obstacle (6) There are no restrictions on the installation location. (7) Since the laser can be irradiated obliquely, it is possible to indicate the point on the floor behind the obstacle, and the indication to the wall is also possible. (8) Do not move, install a small ink-depositing device in an appropriate place (9) It is possible to ensure a certain level of accuracy because of mechanical inking (10) It is only necessary to install a device, and there are advantages such as easy work. It is done.

The perspective view which shows the measuring method of the installation position of a three-dimensional measuring machine. 1 is a schematic diagram of a three-dimensional position measurement and marking system according to the present invention. The perspective view of a measurement and marking device and a two-degree-of-freedom rotation mechanism. The perspective view of an incident angle sensor and an inclination sensor. Sectional drawing of an incident angle sensor. Angle measurement principle diagram of incident angle sensor. The perspective view which shows the setting of a coordinate system. The perspective view which shows the inclination | tilt angle of an inclination sensor. The perspective view showing conversion by angle (alpha), (beta), and (gamma). The perspective view which shows the coordinate in a measurement and marking device. The flowchart showing the measurement procedure by the system of this invention. The front view which shows correction of a laser irradiation position. The flowchart showing the summing-out procedure by the system of this invention.

  FIG. 1 shows a pre-stage for performing three-dimensional position measurement and marking with the system of the present invention. A three-dimensional measuring machine 10 is installed at an appropriate position, and a laser 20 is directed toward a reference recognition target 16. It is an external view of the process which measures the installation position using the host computer 18 which irradiates and incorporates a controller.

  The three-dimensional measuring instrument 10 is generally called a total station and is commercially available. The three-dimensional coordinates of the point collimated by the telescope can be measured by a light wave rangefinder and horizontal / vertical angle measurement. In addition, it is possible to irradiate a laser in an arbitrary direction by irradiating a laser beam that coincides with the line of sight and automatically controlling the horizontal and vertical angles. Further, those having a function of automatically searching and collimating the prism are commercially available, and the system of the present invention uses a three-dimensional measuring machine having the automatic search function.

  The host computer 18 has a built-in controller, interface with the operator, wireless control of the CMM, wireless communication with the measurement and marking device (FIG. 2) (transmission and reception of operation commands and measurement data), and measurement data Collect and perform arithmetic processing using them.

  The reference recognition target 16 is a target installed at a reference point or a reference line on the site in order to measure the installation position of the three-dimensional measuring machine in the absolute coordinate system installed on the site. In the system of the present invention, a self-supporting prism having a leveling function is used as a previous step. The installation position measuring method is a conventionally known technique, and in the present invention, it is not necessary to move the three-dimensional measuring instrument 10 at the time of measurement / inking, and therefore it is possible to correctly install at a position that has been accurately measured in advance. If possible, the process of FIG. 1 can be omitted.

  An overall view of the measurement and marking system according to the present invention is shown in FIG. FIG. 2A is an external view of a process for measuring the position using the three-dimensional measuring device 10 and the measuring / inking device 12, and FIG. 2B is a black ink at a predetermined position using the three-dimensional measuring device 10 and the measuring / inking device 12. Fig. 3 represents a preferred embodiment of the process for performing the dispensing. Details of each process will be described later.

3 shows the configuration of the measurement / inking device in the system of the present invention, FIG. 3A is an overall view of the measuring / inking device 12, and FIG. 3B is the direction of rotation of the two-degree-of-freedom rotation mechanism 22 inside. Represents. The measuring and marking device 12 includes a sensor housing 21 that can rotate around a vertical axis, and a laser distance meter 14 supported by a two-degree-of-freedom rotation mechanism 22. Are mounted with an incident angle sensor 30 for receiving the laser beam, an inclination sensor (built-in) 25 for measuring a rotation angle around the laser light receiving axis, and a prism 34 for measuring the position from the three-dimensional measuring instrument 10. Is supported in a self-supporting manner. As shown in FIG. 3B, the two-degree-of-freedom rotation mechanism 22 is for changing the laser irradiation direction of the laser rangefinder 14 and can rotate about 360 ° around the vertical axis 37 (rotation angle ω 1 ). The distance meter 14 can be rotated about 90 ° around the axis 38 (rotation angle ω 2 ).

  FIG. 4 is a schematic diagram in which the incident angle sensor 30 is formed in a disc shape and the inclination sensor 25 is formed in a flat plate shape. The incident angle sensor 30 measures the angle at which the laser beam irradiated from the three-dimensional measuring machine is incident. In the local coordinate system Σp in which the Zp axis is defined perpendicular to the light receiving surface with the laser light receiving point as the origin. In this sensor, the angle β (incident angle) formed by the laser and the Zp axis and the angle α (azimuth angle) formed by the projected line of the laser on the XpYp plane and the Xp axis can be obtained.

FIG. 5 shows a cross-sectional view of the incident angle sensor 30, and FIG. As shown in FIG. 5, the incident angle sensor 30 includes a pinhole 36 and a two-dimensional position detection element (for example, PSD) 32. When the laser 20 is irradiated to the pinhole 36 as shown in FIG. 6, the laser 20 that has passed through the pinhole 36 is irradiated as a spot S to the light receiving surface of the two-dimensional position detection device, and the output of S as the output of the two-dimensional position detection device Coordinates (x p, y p ) are measured. α is an angle indicating the incident direction of the laser, and is obtained by the following equation.

  In FIG. 6, β represents the incident angle of the laser 20 with respect to the normal direction of the incident angle sensor 30.

  As shown in FIGS. 3 and 4, the inclination sensor 25 measures the rotation angle ψ around the Zp axis of the incident angle sensor 30 and is arranged so that the rotation axis of the inclination sensor 25 is parallel to the Zp axis. ing. The sensor housing 21 containing these sensors can be rotated around the central axis of the apparatus, and a prism 34 is installed concentrically with the laser receiving point of the incident angle sensor 30 to rotate the sensor housing 21. Thus, the laser applied to the prism 34 can be applied to the incident angle sensor 30. As a result, the measuring and marking device 12 can be automatically searched using the automatic prism search function of the three-dimensional measuring machine. Furthermore, a laser can be irradiated to a target position by a two-degree-of-freedom rotation mechanism 22 (both manual and automatic) equipped with a laser distance meter.

  Note that the form shown in FIG. 3 is advantageous mainly when measuring and marking a point below the horizontal plane, but by using a structure that allows the tripod to be flipped up and down from the horizontal plane, It is also possible to change the shape into an advantageous shape for the measurement of the upper point and the marking.

Here, the theory of the measurement and marking system according to the present invention will be described.
(1) Derivation of theoretical formula First, a calculation formula representing the three-dimensional coordinates of the position irradiated with the laser is derived by the laser distance meter 14 of the measuring and marking device 12. As shown in FIG. 7, Σ 1 is a coordinate system with the installation position of the three-dimensional measuring device 10 as the origin, and Σ 2 is a coordinate system with the laser receiving point P 0 of the measurement / marking device 12 as the origin. Parameters representing the attitude of the measuring / marking device are the incident direction α of the laser, the incident angle β, and the rotation angle γ around the laser axis. α and β can be measured by an incident angle sensor. γ is measured by a tilt sensor, but γ depends on α, β, and the irradiation angle θ in the vertical direction of the laser, and therefore does not necessarily match the output ψ of the tilt sensor. Therefore, first, γ is derived by the following method using ψ, α, β, θ.

As shown in FIG. 8, the output Ψ of the inclination sensor 25 includes a vector G (→ superscript) obtained by normal projection of the vector G 0 (→ superscript) in the gravity direction at Σ 1 onto the light receiving surface of the incident angle sensor, and the inclination Since it is equal to the angle formed by the measurement reference direction (vertical direction) vector M (→ superscript) of the sensor, the following equation holds.

Since the measurement reference direction of the tilt sensor 25 before conversion is consistent with the x-axis of the sigma 2, (superscript →) vector M is in the procedure shown m a (→ superscript) = [1,0,0] T below It is obtained by converting. In the following equations, Cθ represents Cos θ, and Sθ represents Sin θ.
1) rotates γ to sigma 2 of z-axis around.

2) Conversion by α and β As shown in FIG. 9, the conversion by α and β is a vector ω (→ superscript) in Σ 2 = [S (α−γ), C (α−γ), 0] T Is synonymous with β rotation around and is converted by the following equation.

3) Rotate θ around Y axis at Σ 1

The vector G (→ superscript) is obtained by converting the gravity direction vector G 0 (→ superscript) = [0, 0, −1] T in Σ 1 with a matrix Q that is orthogonally projected onto the light receiving surface of the incident angle sensor. It is done. When the direction cosine of the incident angle sensor light receiving surface is n (→ superscript) = [n 1 , n 2 , n 3 ] T , the matrix Q is expressed by the following equation.

The direction cosine before conversion is equal to the z-axis direction in Σ 2 and is expressed as n 0 (→ superscript) = [0, 0, 1] T. When this is converted by α, β, γ, and θ as described above, It becomes like the following formula.

Accordingly, the vector G (→ superscript) is expressed as follows.

  Γ can be obtained by substituting α, β, θ, and ψ into the equation obtained by substituting Equation 5 and Equation 8 into Equation 2.

Laser irradiation point of measurement and marking apparatus 12 sequentially converts terms P 2 on the coordinate system sigma 2 measurement and marking apparatus to the point P 0 of the absolute on the coordinate system sigma 0. As shown in FIG. 10, the length measured by the laser distance meter of the measuring and marking device at Σ 2 is k, the length from the Z axis to the two-degree-of-freedom rotation mechanism is k 0 , and the origin O to the Z-axis direction Is set to d, and the rotation angles of the two-degree-of-freedom rotation mechanism are set to ω 1 and ω 2 , respectively.

1) Conversion is performed using ω 1 and ω 2 .

2) rotates γ to sigma 2 about the Z axis.

3) Convert by α, β

Next, Σ 2 is converted to the coordinate Σ 1 of the coordinate measuring machine. Conversion is performed as follows according to the measurement results (φ, θ, L) by the three-dimensional measuring machine.

Finally, P 1 is converted to a point P 0 on Σ 0 by the coordinates [X 0 , Y 0 , Z 0 ] T of the Σ 1 in the absolute coordinate system Σ 0 set in the field and the rotation angle ρ around the Z 0 axis. To do.
Here, [X 0 , Y 0 , Z 0 ] T and ρ refer to the reference point of the site using the reference recognition target shown in FIG. 1 when the three-dimensional measuring machine is installed on the site. Is a value obtained by

(2) Measuring method The measurement / marking device 12 is irradiated with the laser beam at the position to be measured, and the light receiving unit of the incident angle sensor is irradiated with the laser with the three-dimensional measuring machine. Each parameter [ω 1 , ω 2 , k, α, β, γ, φ, θ, L] is measured and calculated by substituting it with [X 0 , Y 0 , Z 0 ] T and ρ into the right side of Equation 13. Then, the coordinates [P 0X , P 0Y , P 0Z ] T of the laser irradiation point can be obtained.

The measurement is performed according to the arrow direction in the flowchart of FIG.
Step 50: Start Step 51: Irradiate the laser beam of the measuring and marking device to the point to be measured Step 52: Issue a prism search command Step 53: The three-dimensional measuring device searches for the prism and irradiates the laser Step 54: Sensor housing Step 55: Issue a measurement command Step 56: Measure parameters [ω 1 , ω 2 , k, α, β, γ, φ, θ, L] with each sensor 57 : Calculate the coordinates of the laser irradiation point of the measuring and marking device Step 58: Display on the operation screen Step 59: Record the measurement result Step 60: Determine whether to continue with the next measurement Step 61: End

The principle and procedure of inking by the measuring / inking device 12 are as follows.
The three-dimensional measuring machine 10 converts the target marking position input to the system into a point on the coordinate system Σ 1 of the three-dimensional measuring machine, and obtains the horizontal angle φ and the altitude angle θ by expressing them in polar coordinates. Irradiate the laser in that direction. At this time, when the incident angle of the laser (angle with the normal of the irradiation surface) is large with respect to the laser irradiation surface, the laser spot is stretched and it is difficult to obtain an accurate irradiation position. Further, when there is an obstacle between the three-dimensional measuring machine and the target position, direct position indication by laser irradiation is impossible. In such a case, the measurement and marking system of the present invention is effective.

  First, as shown in FIG. 1, the installation position of the three-dimensional measuring device 10 is measured, and then the target position is roughly estimated from the laser irradiation position by the three-dimensional measuring device, and if there is an obstacle in the vicinity, it is avoided. The measuring / inking device 12 is installed at the position to be used. A three-dimensional measuring machine automatically searches the prism of the measuring and marking device and irradiates the laser.

As in the case of measurement, a laser is applied to the light receiving portion of the incident angle sensor by a three-dimensional measuring instrument, and the measured values by the three-dimensional measuring instrument and the measured values by the incident angle sensor and the tilt sensor [α, β, γ, φ, θ, L] is obtained and substituted into the right side of Equation 13. On the other hand, substituting the target inking coordinates P d = [P dX , P dY , P dZ ] T into the left side, Equation 13 becomes a simultaneous equation with ω 1 , ω 2 , and k as unknowns, as follows: Become.
Here, f represents a function having ω 1 , ω 2 and k as variables. Solve these simultaneous equations to find ω 1 and ω 2 .

Next, the rotation angle of the two-degree-of-freedom rotation mechanism is set to ω 1 , ω 2 , and the distance k 1 to the irradiation surface is measured simultaneously with the irradiation of the laser of the measuring and marking device. By substituting ω 1 and ω 2 and the measured k 1 into the left side of Equation 13, the coordinates P 0 of the laser irradiation point can be obtained. Here, P 0 is different from P d when there is no surface at the assumed position due to a construction error or the like. Object to the marking (floor, ceiling, wall, etc.) decided direction be adjusted according to, corrects the target value P d of marking coordinates.

For example, in the case of inking on the floor surface, as shown in FIG. 12, the laser is irradiated to a position P 0 that is shifted from the target inking position P d due to the height difference Δh of the floor surface. In the marking on the floor surface, the plane position (P dX , P dY ) of the irradiation point is important, and the height P dZ may follow the floor surface, so P dX , P dY is not changed, and P dZ Is changed to, for example, PeZ . The changed target inking position P d ′ is again substituted into Expression 14, and ω 1 ′ and ω 2 ′ are calculated. The rotation angle of the two-degree-of-freedom rotation mechanism is set to the newly calculated ω 1 ′ and ω 2 ′, and the laser is irradiated to measure the distance k 2 . Then again substituted into the right side of equation 13 obtains the irradiation point coordinates P 0 '. By repeating this, it is possible to finally irradiate a laser beam to a coordinate point that actually exists in the vicinity of the target value and mark the target point.

  FIG. 13 is a flowchart of the inking process. The coordinates of the inking point can be directly input from the operation screen of the personal computer, or can be read by reading a coordinate data file created in advance. Also, the prism search command and the inking position command are transmitted to the system by a button installed on the operation screen.

The inking procedure is performed according to the arrow direction in the flowchart of FIG.
Step 70: Start Step 71: Specify the coordinates of the inking position Step 72: Irradiate the laser to the inking position from the three-dimensional measuring device Step 73: Install the measuring / inking device near the inking target position Step 74 : Issue prism search command Step 75: Search for prism and irradiate laser Step 76: Rotate sensor housing and apply laser to incident angle sensor

Step 77: Issue a command to instruct the marking position Step 78: Calculate the laser irradiation angle (ω 1 , ω 2 ) of the measuring marking device from each measurement data Step 79: Determine the laser direction of the measuring / marking device Set and irradiate Step 80: Measure the distance k 1 to the irradiation point Step 81: Obtain the irradiation point coordinate P 0 from (ω 1 , ω 2 , k 1 ) and compare it with the target coordinate P d Step 82: Step 83 for determining whether or not P d −P 0 <allowable value Step 84 for correcting the target coordinate P d : Step 85 for determining whether or not to proceed to the next inking point Step 85: End.

  As described above in detail, according to the three-dimensional position measurement and marking system according to the present invention, it is not necessary to move the three-dimensional measuring machine, and thus it is possible to measure even in a narrow part. It is possible to measure and reduce the effects of camera shake, enable one person to work, and install a 3D measuring machine to obtain high-precision ink afterwards. The value is quite remarkable.

DESCRIPTION OF SYMBOLS 10 Three-dimensional measuring machine 12 Measuring and marking device 14 Laser distance meter 16 Target 18 Host computer 20 Laser 21 Sensor housing 22 Two-degree-of-freedom rotation mechanism 25 Inclination sensor 30 Incident angle sensor 34 Prism

Claims (3)

  1. A system for measuring three-dimensional target points in various constructions,
    A three-dimensional measuring machine that can measure and measure the three-dimensional coordinates of a point that has been collimated by irradiating a laser;
    A measuring and marking device capable of receiving a laser and irradiating the laser;
    A host computer capable of receiving the measurement data from the three-dimensional measuring machine and the measurement and marking device, calculating the coordinates of the indicated point, and transmitting and receiving the data;
    The measuring and marking device has a sensor housing rotatable around a vertical axis and a laser rangefinder supported by a two-degree-of-freedom rotation mechanism;
    The sensor housing is irradiated with an incident angle sensor for measuring an incident angle of a laser emitted from the three-dimensional measuring instrument, an inclination sensor for measuring a rotation angle around a laser receiving axis, and a laser from the three-dimensional measuring instrument. And a prism
    A three-dimensional position measurement and marking system, wherein the laser irradiated to the prism is arranged to be irradiated to the incident angle sensor.
  2. A three-dimensional measuring machine that can measure and measure the three-dimensional coordinates of a point that has been collimated by irradiating a laser;
    A measuring and marking device capable of receiving a laser and irradiating the laser;
    A host computer capable of receiving the measurement data from the three-dimensional measuring machine and the measurement and marking device, calculating the coordinates of the indicated point, and transmitting and receiving the data;
    The measuring and marking device has a sensor housing rotatable around a vertical axis and a laser rangefinder supported by a two-degree-of-freedom rotation mechanism;
    The sensor housing is irradiated with an incident angle sensor for measuring an incident angle of a laser emitted from the three-dimensional measuring instrument, an inclination sensor for measuring a rotation angle around a laser receiving axis, and a laser from the three-dimensional measuring instrument. And a prism
    The laser applied to the prism is a method of using a three-dimensional position measurement and marking system arranged to be applied to the incident angle sensor,
    The laser distance meter of the measuring and marking device irradiates a point where the laser is to be measured using the two-degree-of-freedom rotation mechanism, and the three-dimensional measuring device searches for the prism and irradiates the prism with the laser. A three-dimensional position measurement method, wherein the host computer calculates a measurement position based on data from the plurality of sensors.
  3. A three-dimensional measuring machine that can measure and measure the three-dimensional coordinates of a point that has been collimated by irradiating a laser;
    A measuring and marking device capable of receiving a laser and irradiating the laser;
    A host computer capable of receiving the measurement data from the three-dimensional measuring machine and the measurement and marking device, calculating the coordinates of the indicated point, and transmitting and receiving the data;
    The measuring and marking device has a sensor housing rotatable around a vertical axis and a laser rangefinder supported by a two-degree-of-freedom rotation mechanism;
    The sensor housing is irradiated with an incident angle sensor for measuring an incident angle of a laser emitted from the three-dimensional measuring instrument, an inclination sensor for measuring a rotation angle around a laser receiving axis, and a laser from the three-dimensional measuring instrument. And a prism
    The laser applied to the prism is a method of using a three-dimensional position measurement and marking system arranged to be applied to the incident angle sensor,
    A laser is irradiated from the CMM to the marking position, and the measuring and marking device is installed near the marking position, and the CMM searches for the prism and irradiates the prism with the laser. And the host computer calculates an inking position based on data from the plurality of sensors, and the measuring / inking device irradiates the inking position calculated by the computer with a laser. Positioning method.
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US10209059B2 (en) 2010-04-21 2019-02-19 Faro Technologies, Inc. Method and apparatus for following an operator and locking onto a retroreflector with a laser tracker
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US9151830B2 (en) 2011-04-15 2015-10-06 Faro Technologies, Inc. Six degree-of-freedom laser tracker that cooperates with a remote structured-light scanner
US9482746B2 (en) 2011-04-15 2016-11-01 Faro Technologies, Inc. Six degree-of-freedom laser tracker that cooperates with a remote sensor
US10267619B2 (en) 2011-04-15 2019-04-23 Faro Technologies, Inc. Three-dimensional coordinate scanner and method of operation
US9482529B2 (en) 2011-04-15 2016-11-01 Faro Technologies, Inc. Three-dimensional coordinate scanner and method of operation
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US9686532B2 (en) 2011-04-15 2017-06-20 Faro Technologies, Inc. System and method of acquiring three-dimensional coordinates using multiple coordinate measurement devices
JP2013032983A (en) * 2011-08-02 2013-02-14 Ohbayashi Corp Survey method
US9638507B2 (en) 2012-01-27 2017-05-02 Faro Technologies, Inc. Measurement machine utilizing a barcode to identify an inspection plan for an object
US9482514B2 (en) 2013-03-15 2016-11-01 Faro Technologies, Inc. Diagnosing multipath interference and eliminating multipath interference in 3D scanners by directed probing
US9041914B2 (en) 2013-03-15 2015-05-26 Faro Technologies, Inc. Three-dimensional coordinate scanner and method of operation
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US9395174B2 (en) 2014-06-27 2016-07-19 Faro Technologies, Inc. Determining retroreflector orientation by optimizing spatial fit

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