JP2014114973A - Three-dimensional coordinate measurement system and three-dimensional coordinate measurement method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a three-dimensional coordinate measurement system and a three-dimensional coordinate measurement method for obtaining three-dimensional coordinates of an object without emitting laser.SOLUTION: A three-dimensional coordinate measurement system comprises an objective position measurement device 10 having collimation means 11, turning means 12, 30, elevation means 13, 30, turning angle measurement means 14 for measuring a turning angle, and elevation angle measurement means 15 for measuring an elevation angle, and comprises: objective position measurement device coordinate acquisition means 16 for acquiring self-position three-dimensional coordinates of the objective position measurement device 10; three-dimensional map storage means 31 for storing preliminarily created three-dimensional map information; virtual straight line determination means 30 for plotting the three-dimensional coordinates of the objective position measurement device 10 on the three-dimensional map information and drawing virtual straight lines from the plotted points; and intersection coordinate acquisition means 30 for acquiring three-dimensional coordinates of a point where the virtual straight lines first cross one another when they are extended, and stores the three-dimensional coordinates in a memory 31 as the three-dimensional coordinates of the object.

Description

  The present invention relates to a three-dimensional coordinate measurement system and a three-dimensional coordinate measurement method for measuring three-dimensional coordinates related to an object on the ground surface.

  When shooting an object such as a tank or a vehicle with a firearm, no matter how fast the initial velocity of the bullet released from the firearm is, the trajectory of the bullet draws a parabola under the influence of gravity, etc. It is important to determine the distance from the firearm to the object.

  A laser range finder is disclosed as an object for obtaining a distance to an object (see, for example, Patent Document 1).

JP 2004-101342 A

Such a laser range finder calculates the distance from the laser range finder to the object by emitting the laser toward the object and measuring the time until the laser is reflected by the object and returns. be able to.
Based on the distance to the object obtained in this way, it is possible to accurately hit the object by deciding the elevation angle of the firearm and shooting it.

However, since the laser range finder has a structure that emits a laser to the object, the enemy (object) traces the laser emitted from the laser range finder, and the place where the laser range finder is located is known. There is a problem of end. In this case, not only the enemy can avoid bullets even when shooting, but the place where the laser range finder is located becomes the target of the enemy's attack.
In order to perform more accurate trajectory calculation and further improve the accuracy of hitting, it is desirable to obtain not only the distance to the object but also the three-dimensional coordinates of the object. If the three-dimensional coordinates of the object and the observation point can be obtained, the distance between the object and the observation point can be easily obtained by calculation.

  Accordingly, an object of the present invention is to provide a three-dimensional coordinate measurement system and a three-dimensional coordinate measurement method that can obtain a three-dimensional coordinate of an object without emitting a laser.

  In order to achieve the above object, a three-dimensional coordinate measurement system according to claim 1 of the present invention is a three-dimensional coordinate measurement system for measuring a three-dimensional coordinate related to an object (T) on the ground surface. Aiming means (11) for aiming at the object (T), turning means (12, 30) capable of turning the aiming means (11), and elevation means (13) capable of raising the aiming means (11) 30), and a turning angle from a reference direction when the position of the aiming means (11) is adjusted to the object (T) by the turning means (12, 30) and the elevation means (13, 30) ( A turning angle measuring means (14) for measuring α) and an elevation angle measuring means for measuring an elevation angle (β) from a horizontal plane when the aiming means (11) is adjusted to the object (T). 15) an objective position measuring device ( 0) and an objective position measuring device coordinate acquisition means (16) for acquiring the three-dimensional coordinates of the objective position measuring device (10) by GPS, and the three-dimensional coordinates measured in advance for each point on the ground surface. 3D map storage means (31) for storing the created 3D map information, and the objective position measurement device (31) acquired on the 3D map information via the objective position measurement device coordinate acquisition means (16). 10) plotting the three-dimensional coordinates, and from the plotted point, the turning angle (α ) And virtual straight line determining means (30) for drawing a virtual straight line (35) based on the elevation angle (β), and extending the virtual straight line (35) with respect to the ground surface in the three-dimensional map information An intersection coordinate acquisition means (30) for acquiring the three-dimensional coordinates of the first intersection point, and the three-dimensional coordinates acquired by the intersection coordinate acquisition means (30) are converted into the actual three-dimensional coordinates of the object (T). It is stored in the memory (31) as coordinates.

  Further, the three-dimensional coordinate measuring system according to claim 2, wherein the aiming means (11), the turning means (12, 30), and the elevation means (13, 30) are mounted on and supported by the support means (17). And posture control means (32) for maintaining the support means (17) horizontally.

  The three-dimensional coordinate measurement system according to claim 3 corresponds to the movement of the object (T), and controls the turning means (12, 30) and the elevation means (13, 30) to aim the aiming. The means (11) further includes automatic tracking means (30) that keeps aiming at the object (T).

  The three-dimensional coordinate measurement method according to claim 4 is a three-dimensional coordinate measurement method for measuring a three-dimensional coordinate related to an object (T) on the ground surface, and acquires the three-dimensional coordinate of an observation point, The turning angle (α) from the reference direction and the elevation from the horizontal plane when the object (T) is aimed so that no obstacle exists between the observation point and the object (T) The angle (β) is measured, and the three-dimensional coordinates of the obtained observation points are plotted on the three-dimensional map information created from the three-dimensional coordinates measured for each point on the ground surface in advance, and further plotted. When a virtual straight line (35) is drawn from a point based on the measured turning angle (α) and elevation angle (β), and the virtual straight line (35) is extended with respect to the ground surface in the three-dimensional map information The three-dimensional coordinates of the first intersection Tokushi, characterized by the three-dimensional coordinates in the real three-dimensional coordinates of the object (T).

  Here, the symbols in the parentheses indicate corresponding elements or corresponding matters described in the drawings and embodiments for carrying out the invention described later.

According to the three-dimensional coordinate measuring system of the first aspect of the present invention, the three-dimensional coordinates of the objective position measuring device are acquired by the GPS, and are created from the three-dimensional coordinates measured in advance for each point on the ground surface. Since the three-dimensional map information is stored, the three-dimensional coordinates of the objective position measuring device can be plotted on the three-dimensional map information.
And since the turning angle from the reference direction when the position of the sighting means is adjusted to the object and the elevation angle from the horizontal plane are measured, the turning angle measured from the point plotted on the three-dimensional map information Further, a virtual straight line can be drawn based on the elevation angle, and a point that first intersects when the virtual straight line is extended with respect to the ground surface in the three-dimensional map information can be obtained. Here, since the three-dimensional coordinates of this point are the actual three-dimensional coordinates of the object, the three-dimensional coordinates of the object can be obtained without emitting the laser in this way.

  Further, according to the three-dimensional coordinate measuring system described in claim 2, in addition to the function and effect of the invention described in claim 1, the support means for mounting and supporting the aiming means, the turning means, and the elevation means is maintained horizontally. Therefore, the attitude of the aiming means can be controlled, and the elevation angle from the horizontal plane can be easily measured. Therefore, more accurate three-dimensional coordinates of the object can be obtained.

  Further, according to the three-dimensional coordinate measurement system described in claim 3, in addition to the function and effect of the invention described in claim 1 or 2, it is possible to keep aiming at the object corresponding to the movement of the object. Therefore, the three-dimensional coordinates of the moving object can be obtained continuously. Therefore, since the amount of movement of the target object until the bullet reaches the target object can be predicted even if the target object is moving, the accuracy of hitting the target object is increased.

According to the three-dimensional coordinate measurement method of claim 4, the three-dimensional coordinates of the observation point are acquired, and the object is aimed so that there is no obstacle between the observation point and the object. Measurement points obtained on 3D map information created from 3D coordinates measured in advance for each point on the ground surface by measuring the turning angle from the reference direction and the elevation angle from the horizontal plane when combined. First, when the virtual straight line is extended with respect to the ground surface in the three-dimensional map information by plotting the three-dimensional coordinates and subtracting a virtual straight line from the plotted points based on the measured turning angle and elevation angle Since the three-dimensional coordinates of the intersecting points are acquired and the three-dimensional coordinates are set as the actual three-dimensional coordinates of the object, the three-dimensional coordinates of the object can be obtained without emitting a laser.
Further, since the three-dimensional coordinates of the object are calculated based on the actually measured three-dimensional map information, the turning angle, and the elevation angle, the reliability of the obtained three-dimensional coordinates is high.

  Note that, as in the three-dimensional coordinate measurement system and the three-dimensional coordinate measurement method of the present invention, the three-dimensional coordinates are plotted on the three-dimensional map information, and from the plotted points, the virtual angle is calculated based on the measured turning angle and elevation angle. The point which makes the actual three-dimensional coordinates of the object by drawing a straight line and obtaining the intersection is not described in Patent Document 1 described above.

It is a perspective view which shows the objective position measuring apparatus in the three-dimensional coordinate measuring system which concerns on embodiment of this invention. It is a block diagram which shows the electrical structure outline | summary of the three-dimensional coordinate measuring system which concerns on embodiment of this invention. It is a block diagram which shows the electrical structure outline | summary of the horizontal control unit in the three-dimensional coordinate measuring system which concerns on embodiment of this invention. It is a perspective view which shows the outline | summary in which the objective position measuring apparatus shown in FIG. 1 is performing attitude control. It is a flowchart which shows the three-dimensional coordinate measuring method which concerns on embodiment of this invention. It is an en plan view showing the e-coordinate, the n-coordinate, and the turning angle of the objective position measurement device in the horizon coordinate (ENU coordinate) system, measured by the three-dimensional coordinate measurement system according to the embodiment of the present invention. FIG. 2 is a du plan view showing u coordinates and elevation angles of an objective position measurement apparatus in a horizontal coordinate (ENU coordinate) system, which is measured and plotted on three-dimensional map information by a three-dimensional coordinate measurement system according to an embodiment of the present invention. is there. The du plane showing the u-coordinate and the elevation angle of another objective position measurement device in the horizon coordinate (ENU coordinate) system, which is measured and plotted on the three-dimensional map information by the three-dimensional coordinate measurement system according to the embodiment of the present invention. FIG. It is the schematic of the earth which shows a horizon coordinate system. It is a block diagram which shows the electrical structure outline | summary around the arithmetic unit which concerns on the control which calculates the three-dimensional coordinate of a target object in the three-dimensional coordinate measuring system which concerns on embodiment of this invention. In the three-dimensional coordinate measurement system which concerns on embodiment of this invention, it is a monitor figure which shows a mode that an object is aimed. In the three-dimensional coordinate measurement system according to the embodiment of the present invention, it is a block diagram showing an outline of an electrical configuration around an arithmetic unit related to control for aiming at an object.

A three-dimensional coordinate measurement system and a three-dimensional coordinate measurement method according to an embodiment of the present invention will be described with reference to FIGS.
This three-dimensional coordinate measurement system measures the three-dimensional coordinates related to the object T on the ground surface from the ground surface in order to increase the accuracy of hitting the target object T such as a vehicle from a helicopter or the like. is there.

The objective position measuring device 10 is arranged on the ground surface, measures its own three-dimensional coordinates, and measures at which turning angle α and elevation angle β the object T is located with reference to the objective position measuring device 10. It is. The objective position measuring apparatus 10 includes a visual sensor 11, a turning axis servo motor 12, a raising / lowering axis servo motor 13, a turning angle measuring sensor (turning absolute position sensor) 14, a raising / lowering angle measuring sensor (elevation absolute position sensor) 15, and a position detection. Instrument 16, biaxial gimbal (installation surface) 17, biaxial inclinometer 18, and the like.
In the present embodiment, the objective position measurement apparatus 10 is installed at a location away from the firearm that actually shoots.

The visual sensor 11 is a camera or the like that is aimed at the object T, and can display an image captured by the visual sensor 11 on the monitor 21 via the image processing unit 19. On the monitor 21, the reticle 38 is simultaneously displayed together with the object T and the scenery.
The lifting / lowering axis servo motor 13 supports the visual sensor 11 so as to be able to be lifted and lifts the visual sensor 11 with a biaxial gimbal 17 described later as a reference plane.
When the visual sensor 11 is actually raised and lowered, the arithmetic unit 30 described later operates the raising and lowering axis servo motor 13 via the raising and lowering axis servo amplifier 23.
On the other hand, the visual sensor 11 is fixed at the elevation angle β when the elevation shaft servomotor 13 does not operate.

The turning axis servo motor 12 supports the visual sensor 11 and the elevation shaft servo motor 13 through a turning axis servo amplifier 22 so as to be capable of turning integrally (rotating in the horizontal direction).
The rotation axis is perpendicular to the biaxial gimbal 17.
When the visual sensor 11 is actually turned, the arithmetic unit 30 operates the turning axis servo motor 12 via the turning axis servo amplifier 22.
On the other hand, when the turning axis servo motor 12 does not operate, the visual sensor 11 is fixed at the turning angle α.

The elevation angle measurement sensor 15 measures the elevation angle β from the horizontal plane when the position is adjusted so that the visual sensor 11 is directed toward the object T.
More precisely, the elevation angle measuring sensor 15 measures the elevation angle β from the biaxial gimbal 17, but the biaxial gimbal 17 is kept horizontal as will be described later. The elevation angle β of the visual sensor 11 from the horizontal plane can be obtained by measuring the elevation angle β of the visual sensor 11 from the biaxial gimbal 17.
The turning angle measuring sensor 14 measures the turning angle γ from the vehicle body reference shaft 37 when the position is adjusted so that the visual sensor 11 is directed toward the object T by the turning axis servo motor 12 and the elevation shaft servo motor 13. Further, the deviation angle δ of the vehicle body reference axis 37 from the reference direction (north in this case) is measured by the azimuth meter 24.

  The biaxial gimbal 17 is a turntable that can rotate around the PITCH axis and the YAW axis 37 orthogonal to the PITCH axis, and includes a visual sensor 11, a turning axis servomotor 12, a vertical axis servomotor 13, a biaxial inclinometer 18, an azimuth direction. A total 24 and a position detector 16 are mounted and supported.

The biaxial inclinometer 18 is an inclinometer that is mounted on the biaxial gimbal 17 and measures the inclination of the biaxial gimbal 17 from the horizontal plane. The inclination of the biaxial gimbal 17 can be obtained for two components of the PITCH axis rotation and the YAW axis rotation.
As shown in FIG. 3, based on the inclination of the biaxial gimbal 17 (PITCH axis rotational component and YAW axis rotational component) measured by the biaxial inclinometer 18, the horizontal control unit 32 has the biaxial gimbal 17 The feedback circuit 29 drives the PITCH servomotor 26 via the PITCH axis servo amplifier 25 and drives the YAW axis servomotor 28 via the YAW axis servo amplifier 27 so as to be horizontal.
Thereafter, the feedback control is continued to keep the biaxial gimbal 17 horizontal, such as measuring the inclination of the biaxial gimbal 17 again with the biaxial inclinometer 18 and driving the PITCH servo motor 26 and the YAW axis servo motor 28. Do it. When the objective position measuring device 10 is installed on the ground surface, it is not necessary to always monitor the inclination of the biaxial gimbal 17 with the biaxial inclinometer 18 once the biaxial gimbal 17 can be kept horizontal. .
With this feedback control, as shown in FIG. 4, the biaxial gimbal 17 is horizontal even if the base 20 that supports the entire objective position measurement apparatus 10 is not horizontal.

The position detector 16 measures its own three-dimensional coordinates by the GPS function.
Here, the three-dimensional coordinates that are really necessary are the three-dimensional coordinates of the center position of the visual sensor 11 in the horizontal and elevation rotations. The original coordinates cannot be measured directly. Therefore, the positional deviation between the horizontal and vertical rotation positions of the visual sensor 11 and the position of the position detector 16 is measured in advance, and a parameter corresponding to the positional deviation is obtained from the measured three-dimensional coordinates of the position detector 16. By performing lux correction (parallax correction), the three-dimensional coordinates of the center position of the horizontal and vertical rotations of the visual sensor 11 are obtained.

The arithmetic unit 30 includes a CPU and the like, and controls the entire system according to a control program stored in the memory 31. The arithmetic unit 30 is provided on the base 20.
The memory 31 stores numerical values, three-dimensional map information, and the like measured by the control program and each component. Here, the three-dimensional map information is created from the three-dimensional coordinates measured in advance for each point on the ground surface. This three-dimensional map information does not have to be created specially for this system, and it is only necessary to have altitude data at each latitude / longitude near the point where the object T actually exists. .

A three-dimensional coordinate measurement method using the three-dimensional coordinate measurement system configured as described above will be described with reference to FIGS.
First, the arithmetic unit 30 sets the length of the orthogonal projection d of the aiming line 35 to the en plane to zero and sets a slight increase amount Δd of the d (step S1 (hereinafter referred to as “step”). Omitting the word)). The en plane is a so-called xy plane in horizon coordinates.

  Next, the arithmetic unit 30 operates the swing axis servo motor 12 and the elevating axis servo motor 13 to adjust the position so that the visual sensor 11 is directed to the object T, and the observation point G (objective position measuring device 10) and the object are adjusted. Aiming at the object T so that there is no obstacle between the object T and the object T. At this time, while observing the image displayed on the monitor 21, the observer determines in which direction the visual sensor 11 is directed and operates with the joystick 33 or the like, and based on that, the arithmetic unit 30 operates the swing axis servomotor 12 or the like. Control.

  Specifically, as shown in FIGS. 11 and 12, aiming is not performed only by operating the joystick 33, but in addition to the operation of the joystick 33, the aiming line 35 (the center intersection of the reticle 38) and the monitor 21 of the object T The upper horizontal deviation Δx and the vertical deviation Δy are fed back from the image processing unit 19, and the arithmetic unit 30 controls the turning axis servo amplifier 22 and the elevation axis servo amplifier 23.

Next, the turning angle γ from the vehicle body reference shaft 37 at this time is measured by the turning angle measurement sensor 14, and the deviation angle δ of the vehicle body reference shaft 37 from the reference direction is measured by the bearing meter 24 (S2). Further, the elevation angle β from the horizontal plane is measured by the elevation angle measurement sensor 15, and the value is obtained by the arithmetic unit 30 (S2).
In the present embodiment, as shown in FIG. 7, the objective position measuring device 10 is installed on the ground surface, and the object T is at a higher position than the objective position measuring device 10, so the elevation angle β is from the horizontal plane. The angle looks up.

Next, the position detector 16 detects its own three-dimensional coordinates by GPS, and the arithmetic unit 30 acquires its value G (Φ _g , λ _g , U _g ) (S3). These three-dimensional coordinates are assumed to be after parallax correction.

  Next, as shown in FIG. 6, the arithmetic unit 30 determines the visual sensor 11 from the reference direction based on the deviation angle δ of the vehicle body reference shaft 37 from the reference direction and the turning angle γ of the visual sensor from the vehicle body reference shaft 37. Is calculated (S4). That is, α is obtained by subtracting γ from δ.

Next, coordinate conversion from horizon coordinates to geodetic coordinates is performed based on the coordinates of observation points Φ _g , λ _g and e, n (S5, S6). Here, e is an east direction component in the horizontal coordinate of d, and n is a north direction component in the horizontal coordinate of d (see FIG. 6).
The relationship between the horizon coordinates and the geodetic coordinates is as shown in FIG. 9, where the observation point G is the origin in the horizon coordinates, and the center of gravity of the earth is the origin in the geodetic coordinates.

  Next, 3D map information in the vicinity of the observation point G is read out from the database stored in the memory 31 based on the geodetic coordinates and plotted (S7).

  Next, the three-dimensional coordinates of the objective position measuring device 10 are plotted on the three-dimensional map information, and a virtual straight line 35 (sight line 35) is drawn from the plotted points based on the turning angle α and the elevation angle β. (S8) The line of sight 35 is extended by Δd (S9).

The aiming line 35 is continuously extended, and when the aiming line 35 first intersects the ground surface 36 in the three-dimensional map information (S10), the three-dimensional coordinates of the intersection are acquired (S12). Therefore, setting Δd finely increases the amount of calculation repeatedly but increases the accuracy of the calculated coordinates.
The east direction component (e coordinate) Et of this intersection is the east direction component of d, the north direction component (n coordinate) Nt is the north direction component of d, and the height direction component (u coordinate) Ut is the sight line 35 at that d. The value is Ut = d · tan β + U _g .

Finally, the three-dimensional coordinates T (E _t , N _t , U _t ) are stored as the actual three-dimensional coordinates of the object T.
The stored three-dimensional coordinates T (E _t , N _t , U _t ) are sent to a device / device (for example, a helicopter) having a firearm via the communication unit 34, and the three-dimensional coordinates T (E _t , N _t Shooting is performed based on _t , U _t ).

According to the three-dimensional coordinate measuring system and the three-dimensional coordinate measuring method configured as described above, the three-dimensional coordinates of the objective position measuring device 10 are acquired by the GPS, and the third order measured in advance for each point on the ground surface. Since the three-dimensional map information created from the original coordinates is stored, the three-dimensional coordinates of the objective position measuring device 10 can be plotted on the three-dimensional map information.
Then, when the position of the visual sensor 11 on the object T is adjusted, the turning angle α from the reference direction is measured, and the elevation angle β from the horizontal plane is measured. From the point plotted on the three-dimensional map information, An aiming line 35 (virtual straight line) can be drawn on the basis of the measured turning angle α and elevation angle β, and the first point of intersection when the aiming line 35 is extended with respect to the ground surface 36 in the three-dimensional map information is obtained. be able to.
Here, since the three-dimensional coordinates of this point are the actual three-dimensional coordinates of the object T, the three-dimensional coordinates of the object T can be obtained without emitting the laser in this way.

  Further, since the biaxial gimbal 17 for mounting and supporting the visual sensor 11, the turning axis servo motor 12, and the elevation axis servo motor 13 is maintained horizontally, the attitude of the vision sensor 11 can be controlled, and the elevation from the horizontal plane can be controlled. The angle β can be easily measured. Therefore, more accurate three-dimensional coordinates of the object can be obtained.

  In addition, since the three-dimensional coordinates of the object T are calculated based on the actually measured three-dimensional map information, the turning angle α, and the elevation angle β, the reliability of the obtained three-dimensional coordinates is high.

In the present embodiment, in response to the movement of the object T, it is possible to automatically track the visual sensor 11 so as to keep aiming at the object T by controlling the turning axis servo motor 12 and the elevation axis servo motor 13. And even better. Of course, the observer may assist to keep aiming at the object T.
As described above, the three-dimensional coordinates of the target T at each time are obtained at predetermined time intervals and sequentially stored in the memory 31, so that the bullet T reaches the target T even if the target T is moving. Therefore, the accuracy of hitting the target T is increased.

  Further, although the object T is located at a position higher than the objective position measuring device 10, the present invention is not limited to this, and the object T may be located at a position lower than the objective position measuring apparatus 10. At this time, the elevation angle β is an angle looking down from the horizontal plane.

Further, the object T needs to be present on the ground surface, but the objective position measuring device 10 does not need to be installed on the ground surface. As shown in FIG. 8, the objective position measuring device 10 is a helicopter having a firearm. The helicopter may be used to shoot at the target T while measuring the three-dimensional coordinates of the target T.
Thus, when the objective position measuring device 10 is mounted on a helicopter and the objective position measuring device 10 moves, it is necessary to always control the attitude of the biaxial gimbal 17 (objective position measuring device 10).

Furthermore, although the biaxial gimbal 17 is maintained horizontally and the posture of the visual sensor 11 is controlled, the present invention is not limited to this, and other methods that can acquire (confirm) a horizontal plane can also be adopted.
Moreover, although the attitude | position of the visual sensor 11 was controlled by the horizontal control unit 32, it is not restricted to this, The arithmetic unit 30 may combine the role of the horizontal control unit 32.

Further, although the reference direction is north, the present invention is not limited to this, and another direction may be used as a reference.
The compass 24 that measures the reference direction includes, but is not limited to, a GPS compass, a magnetic compass, and a gyrocompass.

In the three-dimensional coordinate measurement method according to the present embodiment, the turning angle γ, the deviation angle δ, and the elevation angle β are acquired and the own three-dimensional coordinates are acquired from (S2) (S3). Instead of acquiring the own three-dimensional coordinates, the turning angle γ, the deviation angle δ, and the elevation angle β may be acquired.
In addition, the position detector 16 is attached to the objective position measurement device 10, but the position detector 16 is not limited to this. The position detector 16 may be separated from the objective position measurement device 10 as long as the position shift can be corrected.

Further, although the biaxial inclinometer 18 is used, the present invention is not limited to this, and a biaxial accelerometer may be used.
In addition, although the arithmetic unit 30 is integrated with the objective position measurement device 10, the calculation unit 30 is not limited to this, and may be separate from the objective position measurement device 10.

  Further, the turning angle α of the visual sensor 11 from the reference direction is indirectly obtained from the turning angle γ of the visual sensor 11 from the vehicle body reference axis 37 and the deviation angle δ of the vehicle body reference shaft 37 from the reference direction. It is not limited to this, and it can be used if it can be obtained directly.

10 Object position measuring device 11 Visual sensor (sighting means)
12 Rotating axis servo motor (swivel means)
13 Elevating axis servo motor (elevating means)
14 Turning angle measuring sensor (turning angle measuring means)
15 Elevation angle measurement sensor (Elevation angle measurement means)
16 Position detector (Object position measuring device coordinate acquisition means)
17 Biaxial gimbal (support means)
18 Biaxial Inclinometer 19 Image Processing Unit 20 Base 21 Monitor 22 Rotating Axis Servo Amplifier 23 Lifting Axis Servo Amplifier 24 Azimuth Meter 25 PITCH Axis Servo Amplifier 26 PITCH Servo Motor 27 YAW Axis Servo Amplifier 28 YAW Axis Servo Motor 29 Feedback Circuit 30 arithmetic units (turning means, elevation means, virtual straight line determination means, intersection coordinate acquisition means, automatic tracking means)
31 memory (three-dimensional map storage means)
32 Horizontal control unit (attitude control means)
33 Joystick 34 Communication unit 35 Aiming line (virtual straight line)
36 Ground surface (elevation data) in 3D map information
37 Body reference axis (swivel axis)
38 Reticle d Projection of the line of sight to the en plane G Observation point T Object α Angle of turn of the visual sensor from the reference direction β Lift angle of the visual sensor from the horizontal plane γ Angle of turn of the visual sensor from the vehicle body reference axis δ Deviation angle of vehicle body reference axis from reference direction

Claims (4)

In a three-dimensional coordinate measurement system that measures three-dimensional coordinates of an object on the ground surface,
Aiming means for aiming at the object;
Turning means capable of turning the aiming means;
A raising and lowering means capable of raising the aiming means;
A turning angle measuring means for measuring a turning angle from a reference direction when the position of the aiming means is adjusted to the object by the turning means and the elevation means;
An objective position measuring device having an elevation angle measuring means for measuring an elevation angle from a horizontal plane when the position of the aiming means is adjusted to the object;
Objective position measuring device coordinate acquisition means for acquiring the three-dimensional coordinates of the objective position measuring device by GPS,
3D map storage means for storing 3D map information created from 3D coordinates measured in advance for each point on the ground surface;
On the three-dimensional map information, the three-dimensional coordinates of the objective position measuring device acquired through the objective position measuring device coordinate acquiring means are plotted, and the turning angle measuring means and the elevation angle are plotted from the plotted points. A virtual straight line determining means for drawing a virtual straight line based on the turning angle and the elevation angle measured through the measuring means;
An intersection coordinate acquisition means for acquiring a three-dimensional coordinate of a point that first intersects when the virtual straight line is extended with respect to the ground surface in the three-dimensional map information;
A three-dimensional coordinate measuring system, wherein the three-dimensional coordinates acquired by the intersection coordinate acquisition means are stored in a memory as actual three-dimensional coordinates of the object. Support means for mounting and supporting the aiming means, the turning means, and the elevation means;
The three-dimensional coordinate measurement system according to claim 1, further comprising posture control means for maintaining the support means horizontally.   3. The automatic tracking unit according to claim 1, further comprising an automatic tracking unit that controls the turning unit and the elevation unit in response to the movement of the object, and the aiming unit keeps aiming at the object. 3D coordinate measurement system. In a three-dimensional coordinate measurement method for measuring three-dimensional coordinates related to an object on the ground surface,
While obtaining the three-dimensional coordinates of the observation point,
Measure the turning angle from the reference direction and the elevation angle from the horizontal plane when aiming the object so that there is no obstacle between the observation point and the object,
Plot the three-dimensional coordinates of the obtained observation points on the three-dimensional map information created from the three-dimensional coordinates measured in advance for each point on the ground surface, and further measure the turning angle measured from the plotted points. And a virtual straight line is drawn based on the elevation angle to obtain a three-dimensional coordinate of a point that first intersects when the virtual straight line is extended with respect to the ground surface in the three-dimensional map information, and the three-dimensional coordinate is obtained as the object. A three-dimensional coordinate measuring method, characterized in that the actual three-dimensional coordinates of an object are used.