JP2016206130A - Three-dimensional position measurement system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a three-dimensional position measuring system for improving the operation efficiency of a three-dimensional position measurement.SOLUTION: A three-dimensional position measuring system includes: a measuring device; and a measurement point side device 4 located near a measurement point X. The measuring device includes: a measuring device side distance measuring unit for measuring distance to a prism 3 and an angle measuring unit for measuring an angle; a prism imaging unit; and an image picking up unit for picking up surrounding scenery including the prism 3. The measurement point side device 4 includes: the prism 3; a pointer 121 indicating the measurement point; a device side distance measuring unit for measuring a distance to the measurement point; and an inclination case 5 having a pattern 41 for analyzing an inclination angle from a visual line direction. The pattern 41 is provided at a position shifted by a first fixed distance LF1 from the prism 3 positioned frontward/backward in an optical axis direction of the device side distance measuring unit on a plane perpendicular to an optical axis 123 of the device side distance measuring unit, and measures a three-dimensional position of the measurement point X from the three-dimensional position of the prism 3, the inclination angle of an inclinometer sheet, and the distance obtained by the device side distance measuring unit.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a system for measuring a three-dimensional position of a measurement point.

  In the field of surveying, measurement, or BIM (Building Information Modeling), a target that is not a highly reflective object is provided at the measurement point, the target is captured by a surveying instrument equipped with a non-prism distance measuring unit, and the three-dimensional position of the measurement point There is a method to measure. Alternatively, fix the retroreflective prism to the indicator rod with a known fixed length, and use a bubble tube or the like to secure the vertical state of the indicator rod and measure the prism's three-dimensional position. There is a method of measuring the three-dimensional position of the measurement point by moving vertically downward by the fixed length. The latter method has a work restriction that it cannot be used when the indicator bar must be tilted, such as a corner of a room. In Patent Document 1, a pattern for analyzing the tilt angle from the line-of-sight direction is provided on the indicator bar. By providing an inclined case with this, we are trying to solve this problem.

Japanese Patent Application No. 2015-043533

  However, in any of the above methods, the surveying instrument has a viewpoint for indicating the measurement point. Since the field of view of the telescope of the surveying instrument is limited, it may be difficult to aim at the measurement point from the viewpoint position of the surveying instrument. It is also possible to guide the operator closer to the measurement point by irradiating the laser pointer to the measurement point from the surveying instrument, but the farther the measurement point is from the surveying instrument, the more the laser spreads and the amount of light increases. Because of the decrease, it was difficult to give accurate instructions.

  The present invention is intended to solve the above-described problem, and an object thereof is to provide a three-dimensional position measurement system that improves the work efficiency of three-dimensional position measurement.

  In order to solve the above problems, a three-dimensional position measurement system of the present invention includes a surveying instrument and a measurement point side device near the measurement point, and the surveying instrument measures a distance to a prism. A side distance measuring unit and an angle measuring unit that performs angle measurement, a prism imaging unit, and an image imaging unit that captures a surrounding landscape including the prism, and the measurement point side device includes the prism and the measurement point A device-side distance measuring unit that measures the distance to the measurement point, and a tilt case having a pattern for analyzing the tilt angle from the line-of-sight direction, and the pattern of the tilt case is , Provided on a surface perpendicular to the optical axis of the device-side distance measuring unit at a position deviated from the prism by a first fixed distance before and after the optical axis direction of the device-side distance measuring unit. Take a pattern and view direction from the surveying instrument The tilt angle of the tilt case is calculated, the prism is collimated with the image obtained by the prism imaging unit, the three-dimensional position of the prism obtained by the surveying instrument side distance measuring unit and the angle measuring unit, and the tilt case The three-dimensional position of the measurement point is measured from the inclination angle and the distance obtained by the device-side distance measuring unit.

  In the above aspect, the three-dimensional position measurement system of one aspect is obtained from the inclination angle of the inclined case from the three-dimensional position of the prism by providing the prism center of the prism on the optical axis of the device-side distance measuring unit. In the normal direction of the inclined case, the second fixed distance from the reference point of the device-side distance measuring unit to the prism center and the measurement distance obtained by the device-side distance measuring unit are moved, and the third order of the measurement points Measure the original position.

  In the above aspect, the three-dimensional position measurement system of one aspect can be analyzed by the image capturing unit at a position that is perpendicular to the optical axis of the device-side distance measuring unit and is collinear with the prism center of the prism. An analysis mark is provided, the reference point of the device-side distance measuring unit is shifted from a straight line passing through the center of the prism and the mark center of the analysis mark, and the reference point of the device-side distance measuring unit with the prism center as the origin In this case, the device-side distance measurement is performed in the normal direction of the tilt case obtained from the tilt angle of the tilt case by moving the reference point from the three-dimensional position of the prism by the shift amount of the reference point. The measurement distance obtained by the unit is moved, and the three-dimensional position of the measurement point is measured.

  In the above aspect, the three-dimensional position of the prism obtained by collimation by the prism imaging unit, in which the target that can be analyzed by the image imaging unit is provided in the inclined case instead of the prism, and the prism imaging unit is an arbitrary configuration Instead of this, it is also preferable to measure the three-dimensional position of the measurement point using the three-dimensional position of the target obtained by collimating the target by the image capturing unit.

  In the above aspect, it is preferable that the device-side distance measuring unit also serves as the pointer by emitting visible light instead of the pointer.

  In the above aspect, the prism, the pointer pointing to the measurement point, the device-side distance measuring unit for measuring the distance to the measurement point, and the surface perpendicular to the optical axis of the device-side distance measuring unit from the line-of-sight direction And a tilting case in which the pattern is disposed at a position deviated from the prism by a first fixed distance before and after the optical axis direction of the apparatus-side distance measuring unit. It is also preferred that an apparatus is used.

  According to the present invention, when the measurement point is pointed to by the pointer of the measurement point side device, the measurement point is automatically measured, so that the work efficiency of the three-dimensional position measurement is improved.

The perspective view which shows the structural example of the three-dimensional position measurement system which concerns on 1st Embodiment. Block diagram showing the internal configuration of the surveying instrument of FIG. The perspective view of the structural example of the measuring point side apparatus of FIG. The block diagram which shows the internal structure of the measuring point side apparatus of FIG. It is a measurement flow figure of the three-dimensional position measurement system concerning a 1st embodiment, (a) is a flow of a basic form, (b) is a flow in the case of performing automatic tracking. The flowchart which calculates the three-dimensional position which concerns on 1st Embodiment Image diagram of FIG. Side view of a configuration example of a measuring point side device according to the second embodiment It is a measurement flow figure of the three-dimensional position measurement system concerning a 2nd embodiment, (a) is a flow of a basic form, and (b) is a flow in the case of performing automatic tracking. The side view of the structural example of the measuring point side apparatus which concerns on 3rd Embodiment. An image diagram for calculating a three-dimensional position according to the third embodiment

  Next, preferred embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
(Whole system)
As shown in FIG. 1, the three-dimensional position measurement system 1 includes a surveying instrument 2 and a measurement point side device 4. A symbol X indicates a measurement point. The surveying instrument 2 is installed at a known point using a tripod. An arrow e indicates the line-of-sight direction of the surveying instrument 2. The measurement point side device 4 is carried by an operator near the measurement point X.

(Surveying instrument)
The surveying instrument 2 is a motor drive total station capable of automatic tracking, and as shown in FIG. 2, a horizontal angle detector 11, a vertical angle detector 12, an inclination sensor 13, an operation unit 14, and a horizontal rotation drive unit. 15, vertical rotation drive unit 16, calculation control unit 17, storage unit 18, communication unit 19, surveying instrument side distance measurement unit 20, prism imaging unit 21, image imaging unit 22, and display unit 23. And a scanning unit 24 and a second image capturing unit 25.

  The surveying instrument-side distance measuring unit 20 is a distance measuring unit that collimates the prism 3 and emits distance measuring light such as an infrared laser to measure the distance to the prism 3. The scanning unit 24 scans the prism 3 by emitting scanning light such as an infrared laser having a wavelength different from that of the distance measuring light. The horizontal rotation drive unit 15 and the vertical rotation drive unit 16 are motors that rotate and drive the housing containing the surveying instrument side distance measuring unit 20 in the horizontal and vertical directions. The horizontal angle detector 11 and the vertical angle detector 12 are rotary encoders, which respectively determine the horizontal and vertical rotation angles of the housing that houses the surveying instrument side distance measuring unit 20, and determine the horizontal angle of the collimating optical axis. And an angle measuring unit for obtaining a vertical angle. The inclination sensor 13 is used for detecting the inclination of the housing of the surveying instrument side distance measuring unit 20 and leveling it horizontally.

  The storage unit 18 includes a program for performing ranging and angle measurement, a program for driving the horizontal rotation driving unit 15 and the vertical rotation driving unit 16 based on a signal input from the operation unit 14, and a program for controlling communication. Various programs such as a program, a program for automatically collimating and tracking the prism 3, an image processing program to be described later, and an arithmetic program for calculating a three-dimensional position of the measurement point X to be described later are stored. Various operations required for the program can be performed from the operation unit 14. The arithmetic control unit 17 executes the above programs and performs various calculations and various controls. The communication unit 19 receives signals from the measurement point side device 4 and an external wireless device. When instructed by an external wireless device, the arithmetic control unit 17 rotates and drives the surveying instrument side distance measuring unit 20 in the direction of the measurement point, and also starts / stops automatic tracking. The display unit 23 displays various displays and measurement values.

  The prism imaging unit 21 and the image imaging unit 22 are image sensors that output image signals, and are configured by an aggregate of pixels (pixels) such as a CCD or a CMOS sensor. The image capturing unit 22 captures the scenery around the prism 3 (landscape including the prism 3). The prism imaging unit 21 is provided with a filter that passes only the wavelength of the scanning light, and is configured to receive the scanning light from the scanning unit 24 reflected by the prism 3 so that only the prism 3 is suitably photographed. Has been. The second image capturing unit 25 is an arbitrary component and is used when shooting at a wider angle than the image capturing unit 22. The above is an example of the configuration of the surveying instrument 2, and modifications based on the knowledge of those skilled in the art may be made.

(Measurement point side device)
As shown in FIG. 3, the measurement point side device 4 includes a prism 3 and an inclined case 5 outside the device housing. As shown in FIG. 4, the measurement point side device 4 includes a calculation control unit 117, a storage unit 118, a communication unit 119, a device side distance measuring unit 120, and a laser pointer 121 inside the apparatus housing. . In FIG. 3, the prism 3 accommodated in the inclined case 5 is indicated by a solid line for the sake of explanation.

  The apparatus-side distance measuring unit 120 is a non-prism distance measuring unit that measures the distance to a measurement point based on the time difference until the laser beam is received and the speed of light, and oscillates the laser beam. A distance LM from 122 to the measurement point X is obtained. The communication unit 119 transmits the distance value signal obtained by the non-prism distance measurement to the surveying instrument 2. For example, the laser pointer 121 linearly generates visible red laser light. The optical axis of the laser pointer 121 is configured to coincide with the optical axis 123 of the apparatus-side distance measuring unit 120. The storage unit 118 stores a program for performing non-prism distance measurement and a program for performing communication. The arithmetic control unit 117 executes the above programs.

  The prism 3 is preferably a one-element prism from the viewpoint of miniaturization and the amount of reflected light. However, the prism 3 can emit reflected light parallel to incident light, and the prism imaging unit 21 can perform image analysis of the target center. Can be used, and a reflexive reflective sheet can also be used.

  The prism 3 is fixed to the outer surface opposite to the direction of the optical axis 123 of the device-side distance measuring unit 120. The prism center Pc (optical center point) of the prism 3 is disposed on the optical axis 123. A fixed distance between the reference point 122 of the apparatus-side distance measuring unit 120 and the prism center Pc (hereinafter referred to as a second fixed distance LF2) is measured in advance and registered in the storage unit 18 of the surveying instrument 2.

  The inclined case 5 includes an analysis pattern 41 for analysis and a case 42 that supports the analysis pattern 41. The analysis pattern 41 is provided on a surface perpendicular to the optical axis 123 of the apparatus-side distance measuring unit 120, and is a known distance (hereinafter referred to as a first fixed distance LF1) from the prism center Pc on the optical axis 123. It is fixed at a position that shifts forward. Regarding the description in the front-rear direction, the measurement point X side in the optical axis 123 is the rear. In this embodiment, the analysis pattern 41 is formed as a perfect circle having a required pattern width. However, the analysis pattern 41 may have any shape as long as the center of the analysis pattern 41 (pattern center Kc) is obtained by image analysis. The case 42 is a cylindrical hollow body having an opening 43 in the front and an analysis pattern 41 formed on the front surface, and accommodates the prism 3 therein. The case 42 is fixed to the same side as the prism 3. However, the case 42 may have any configuration as long as the analysis pattern 41 can be fixed before and after the prism 3.

  In the inclined case 5, the prism 3 appears to be located at the pattern center Kc of the analysis pattern 41 when the line-of-sight direction e of the surveying instrument 2 coincides with the optical axis 123 of the apparatus-side distance measuring unit 120. On the other hand, when the line-of-sight direction e does not coincide with the optical axis 123, the prism 3 does not coincide with the pattern center Kc and appears to move in the direction opposite to the line-of-sight movement direction. For this reason, in the tilt case 5, the position of the prism 3 (prism center Pc) changes with respect to the pattern center Kc in accordance with the tilt angle with the line-of-sight direction e. Therefore, by photographing the analysis pattern 41 and analyzing the image, the position direction of the inclined case 5 with respect to the line-of-sight direction can be determined. Thereby, the three-dimensional position of the measurement point X can be measured from the following method.

(Measurement method)
First, the outline of measurement will be described with reference to FIG. The following processing is performed by the arithmetic control unit 17 of the surveying instrument 2 unless otherwise specified. Basically, as shown in (a), first, in step S10, the measurement point X is pointed by the laser pointer 121 of the measurement point side device 4. Next, in step S11, the scanning unit 24 searches and scans the prism 3. Next, in step S12, it is determined whether the prism 3 has been automatically collimated from an image in which only the prism 3 is captured using the prism imaging unit 21. If collimation is not possible, the process returns to step S11. If collimation is possible, the process proceeds to step S13, and the prism 3 is distance-measured and the three-dimensional position of the prism 3 is measured. Next, the process proceeds to step S <b> 14, and the inclined case 5 is photographed by the image capturing unit 22. Steps S13 and S14 may be performed simultaneously. Next, the process proceeds to step S15, and the three-dimensional position of the measurement point X is calculated based on the three-dimensional position of the prism 3, the inclination angle of the inclined case 5, and the distance measured by the apparatus-side distance measuring unit 120. Next, the process proceeds to step S16, the measurement point X is displayed on the display unit 23, and the process ends. When performing automatic tracking, as shown in (b), first, the measurement point X is pointed by the laser pointer 121 of the measurement point side device 4 in step S20, the prism 3 is searched and scanned in step S21, and prism imaging is performed in step S22. Whether or not the prism 3 can be locked (automatic collimation) is determined from an image in which only the prism 3 is photographed using the unit 21, and the subsequent steps S23 to S26 are the same as steps S13 to S16. If the stop of automatic tracking is instructed in step S27, the process proceeds to step S28 to stop tracking. If there is no stop instruction, the process returns to step S22 to continue tracking.

(Three-dimensional position calculation method)
The three-dimensional position calculation method in step S15 or S25 of FIG. 5 in the first embodiment will be described with reference to FIGS. First, in step S111, the pattern center Kc of the analysis pattern 41 is image-analyzed from the visual image captured by the image capturing unit 22 (see FIG. 7). Next, in step S112, the distance measurement value of the prism 3 obtained by the surveying instrument side distance measurement unit 20 and the angle measurement value of the prism 3 obtained by the horizontal angle detector 11 and the vertical angle detector 12 are read from the storage unit 18. . Next, in step S113, the horizontal direction displacement amount and the vertical direction displacement amount of the position of the prism center Pc and the pattern center Kc are obtained from the image of the image capturing unit 22. The prism 3 is photographed by the prism imaging unit 21, but may not be captured depending on the performance of the image imaging unit 22. However, since the three-dimensional position of the prism center Pc can be clearly understood, when the prism 3 is collimated in advance, the prism center Pc is registered in the storage unit 18 at which point on the image of the image capturing unit 22 is located. Just keep it. Then, a position direction vector (direction vector B) of the inclined case 5 (pattern center Kc) is obtained from the horizontal direction deviation amount and the vertical direction deviation amount (see FIG. 7). The direction vector is a vector having only direction information having no size. Next, in step S114, the sphere S having the radius of the first fixed distance LF1 around the prism center Pc is calculated, and the intersection of the sphere S and the direction vector B is obtained. The position information of this intersection is the three-dimensional position of the pattern center Kc. Then, a straight line (direction vector A) passing through the pattern center Kc (three-dimensional position) and the prism center Pc (three-dimensional position) is obtained (see FIG. 7). The direction vector A is the tilt direction of the tilt case 5. Next, in step S115, the device-side distance measuring unit 120 of the measurement point side device 4 performs non-prism distance measurement to obtain a measurement distance LM from the reference point 122 to the measurement point X of the device side distance measuring unit 120. This step S115 may be performed at any timing of steps S11 to S15 or S21 to S25 in FIG. Next, in step S116, the measurement distance LM is acquired from the measurement point side device 4 by communication. Next, in step S117, a second distance from the reference point 122 of the apparatus-side distance measuring unit 120 to the prism center Pc is measured in the direction of the direction vector A from the position (three-dimensional position) of the prism center Pc to the measurement distance LM. The three-dimensional position of the measurement point X is obtained by moving the fixed distance LF2 plus.

(Second Embodiment)
This embodiment is a modification of the first embodiment, and is a case where the prism 3 is not an essential component. About the structure similar to 1st Embodiment, description is abbreviate | omitted using the same code | symbol.

  As shown in FIG. 8, in the measurement point side device 4 of this embodiment, a target T that can be analyzed by the image capturing unit 22 is formed at the position of the prism 3 instead of the prism 3. In addition, in FIG. 8, the target T accommodated in the inclination case 5 is shown as the continuous line for description. The target T is preferably formed of a material having a high contrast such as a black and white pattern. The target center Tc of the target T is disposed on the optical axis 123. A fixed distance (second fixed distance LF2) between the reference point 122 of the apparatus-side distance measuring unit 120 and the target center Tc (second fixed distance LF2) is measured in advance and registered in the storage unit 18 of the surveying instrument 2. The analysis pattern 41 of the tilted case 5 is fixed on a surface perpendicular to the optical axis 123 at a position shifted from the target T by a known distance (first fixed distance LF1) on the optical axis 123. The configuration inside the housing is the same as that shown in FIG.

  Since the surveying instrument 2 of the present embodiment does not target the prism, the second surveying instrument side ranging unit 20 ′ that performs non-prism ranging instead of or in addition to the surveying instrument side ranging unit 20 of FIG. Is provided. Further, the presence or absence of the scanning unit 24 for searching the prism imaging unit 21 and the prism 3 in FIG. 2 is arbitrary. Other configurations are the same as those in FIG. Thereby, the three-dimensional position of the measurement point X can be measured from the following method.

(Measurement method)
With reference to FIG. 9, an outline of measurement according to the second embodiment will be described. The following processing is performed by the arithmetic control unit 17 of the surveying instrument 2 unless otherwise specified. Basically, as shown in (a), first, in step S30, the measurement point X is pointed by the laser pointer 121 of the measurement point side device 4. In step S <b> 31, the inclined case 5 is photographed by the image capturing unit 22. Next, in step S32, the pattern center Kc is image-analyzed from the image photographed using the image capturing unit 22, and it is determined whether the target T has been automatically collimated. If collimation is not possible, the process returns to step S31. If collimation has been achieved, the process proceeds to step S33, where the target center Tc is measured for distance measurement, and the three-dimensional position of the target center Tc is measured. Next, the process proceeds to step S34, and the three-dimensional position of the measurement point X is calculated. Next, it transfers to step S35, displays the measurement point X on the display part 23, and complete | finishes. When performing automatic tracking, as shown in (b), first, the measurement point X is pointed by the laser pointer 121 of the measurement point side device 4 in step S20, and the tilted case 5 is photographed by the image capturing unit 22 in step S41. . Next, in step S42, it is determined whether the target center Tc has been locked (automatic collimation). If so, the process proceeds to step S43, and the target center Tc is measured for distance measurement. The other steps S44 to 47 are the same as steps S25 to S28 in FIG.

(Three-dimensional position calculation method)
The three-dimensional position calculation method in step S34 or S44 of FIG. 9 in the second embodiment can be implemented by replacing the “three-dimensional position measurement method” in the first embodiment. If the prism 3 is read as the target T and the prism center Pc is read as the target center Tc of the target T, measurement can be performed in the same manner as in the first embodiment (flow in FIG. 6).

(Third embodiment)
This embodiment is a modification of the first embodiment and is a case where the prism center Pc of the prism 3 does not have to be on the optical axis 123 of the apparatus-side distance measuring unit 120. About the structure similar to 1st Embodiment, description is abbreviate | omitted using the same code | symbol.

  In the measurement point side device 4 of this embodiment, as shown in FIG. 10, the tilt case 5 is shifted from the prism 3, and the analysis mark Q capable of image analysis is accommodated in the tilt case 5. The analysis pattern 41 is formed at a position shifted from the analysis mark Q to the first fixed distance LF1 forward in a direction parallel to the optical axis 123 on a plane perpendicular to the optical axis 123. The mark center Qc of the analysis mark Q is arranged on the plane perpendicular to the optical axis 123 so as to be collinear with the prism center Pc. In addition, the reference point 122 of the apparatus-side distance measuring unit 120 is arranged with a fixed length Dy ′ shifted from the prism center Pc in the −y ′ direction when the direction connecting Qc-Pc is set as the axis y ′. (FIG. 10).

(Three-dimensional position calculation method)
A three-dimensional position calculation method according to the third embodiment will be described with reference to FIG. First, the image analysis is performed on the mark center Qc of the analysis mark Q from the visual image captured by the image capturing unit 22. Next, the three-dimensional position of the prism 3 (the distance measurement value and the angle measurement value of the prism center Pc) is read from the storage unit 18. Next, the horizontal displacement amount and the vertical displacement amount between the position of the prism center Pc and the mark center Qc are obtained from the image of the image pickup unit 22, and the three directions are obtained from the prism center Pc, the mark center Qc, and the viewpoint E of the surveying instrument 2. A first plane A including a point is obtained (see FIG. 11). Next, the image analysis is performed on the pattern center Kc of the analysis pattern 41 from the image captured by the image capturing unit 22. Next, the horizontal deviation amount and the vertical deviation amount between the mark center Qc and the pattern center Kc on the image of the image pickup unit 22 are obtained, and the mark radius from the pattern center Kc to the mark center Km is obtained. Next, the long side radius of the analysis pattern 41 is image-analyzed. Next, the horizontal direction inclination angle θx and the vertical direction inclination angle θy of the inclined case 5 viewed from the line-of-sight direction of the surveying instrument 2 are obtained. In the tilted case 5, the position of the analysis mark Q with respect to the analysis pattern 41 changes according to the tilt angle with the line-of-sight direction, and therefore the change in the tilt angle with the line-of-sight direction is related to the long side radius and the mark radius. Can be attached. An example of this function is in Japanese Patent Publication No. 2014-102246. Next, the normal direction (direction vector A) of the inclined case 5 viewed from the line-of-sight direction of the surveying instrument 2 is obtained from the inclination angles θx and θy, and the second plane having the direction vector A as the normal line at the mark center Qc. B is obtained (see FIG. 11). Next, a Qc-Pc direction vector I is obtained from the intersection line of the plane A and the plane B. Next, the apparatus-side distance measuring unit 120 obtains a measurement distance LM. Next, from the position of the prism center Pc (three-dimensional position), it moves -Dy 'in the direction of the Qc-Pc direction vector I, and further moves the measurement distance LM in the direction of the direction vector A, Find the 3D position.

  In the above description, the reference point 122 of the apparatus-side distance measuring unit 120 has been described as being shifted by Dy ′ in the direction of the Qc-Pc direction vector I (axis y ′), but Dx ′ in the axis x ′ direction shown in FIG. In the case where the position is shifted, the case where the position is shifted by Dz ′ in the direction of the axis z ′ is similarly obtained. That is, the reference point 122 of the apparatus-side distance measuring unit 120 has a known deviation amount D ′ (Dx ′) in the coordinate system x ′, y ′, z ′ of the measurement point-side apparatus 4 with the prism center Pc as the origin. , Dy ′, Dz ′), the measurement point X can be obtained even if the apparatus-side distance measuring unit 120 is arranged at an arbitrary position. For this reason, the design freedom of the measuring point side apparatus 4 increases.

(effect)
As described above, according to the first, second, and third embodiments, if the measurement point is indicated by the laser pointer 121 included in the measurement point side device 4, the three-dimensional position of the measurement point X is automatically measured. The work efficiency of 3D position measurement is improved. For example, even if it is difficult to aim at the measurement point X in the telescope field of the surveying instrument 2, even if the measurement point X is not visible from the surveying instrument 2 due to an obstacle or the like, from the viewpoint on the measurement point side device 4 side. Since the measurement point X can be aimed, it can be easily measured. Further, since there is no need to bring the indicator bar into contact with the measurement point X as in the prior art, even if the indicator bar cannot be placed at the measurement point and is difficult to place, it can be easily measured.

  Further, since the measurement point X can be aimed not from the viewpoint of the surveying instrument 2 but from the viewpoint on the measurement point side device 4 side, the measurement accuracy is also improved.

  In addition, the inclined case 5 can be easily formed from the analysis pattern 41 and the case 42 instructing the analysis pattern 41, and is therefore very inexpensive. Further, if the distance of the first fixed distance LF1 is made longer, the amount of movement of the prism 3 appears to be larger correspondingly, so that sensitivity design can be easily performed.

  Moreover, the measurement trajectory of the measurement point can also be measured by continuously measuring with the automatic tracking function shown in FIG. Further, since the locus (measurement point X) is recorded as data in real time, the arithmetic control unit 17 can also acquire information such as the speed at which the locus is drawn.

(Modification)
Next, preferred modifications of the first to third embodiments will be described.

  In the first to third embodiments, instead of the laser pointer 121, the measurement point side device 4 preferably uses a device that oscillates visible light in the device side distance measuring unit 120. As a result, since visible light also serves as a laser pointer on the apparatus-side distance measuring unit 120, the optical axis 123 also coincides, and measurement can be performed while aiming at the measurement point X with visible light.

  In the first to third embodiments, even if the analysis pattern 41 of the inclined case 5 is fixed at a position shifted backward from the prism 3 by the first fixed distance LF1 in the direction of the optical axis 123, the measurement method is not limited. It is the same.

  In the first to third embodiments, it is also preferable to provide the lighting device 8 on the back surface of the inclined case 5. As a result, the analysis pattern 41, the target T, and the mark Q can be photographed even in a dark place, which is effective during measurement at night or the like.

  As described above, the preferred embodiment and the modified examples of the preferred three-dimensional position measurement system 1 according to the present invention have been described. Such forms are also included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Three-dimensional position measurement system 2 Surveying instrument 3 Prism 4 Measuring point side apparatus 5 Inclined case 11 Horizontal angle detector (angle measuring part)
12 Vertical angle detector (angle measuring section)
17 Arithmetic control unit 20, 20 'Surveying instrument side ranging unit 21 Prism imaging unit 22 Image imaging unit 41 Pattern 120 Apparatus side ranging unit 121 Laser pointer 122 Reference point 123 Optical axis Kc Pattern center Pc Prism center T Target Tc Target center Q Analysis mark Qc Mark center LM Measurement distance LF1 First fixed distance LF2 Second fixed distance

Claims (6)

A surveying instrument and a measuring point side device in the vicinity of the measuring point,
The surveying instrument has a surveying instrument-side ranging unit that measures a distance to the prism, a measuring unit that performs angle measurement, a prism imaging unit, and an image imaging unit that captures the surrounding landscape including the prism,
The measurement point side device includes the prism, a pointer that points to the measurement point, a device side distance measuring unit that measures a distance to the measurement point, and an inclination having a pattern for analyzing an inclination angle from the line-of-sight direction. A case, and
The pattern of the inclined case is provided on a surface perpendicular to the optical axis of the device-side distance measuring unit at a position deviated from the prism by a first fixed distance before and after the optical axis direction of the device-side distance measuring unit,
The image capturing unit captures the pattern, calculates the tilt angle of the tilt case with respect to the line-of-sight direction from the surveying instrument,
Three-dimensional position of the prism obtained by the surveying instrument side ranging unit and the angle measuring unit by collimating the prism with the image obtained by the prism imaging unit, the inclination angle of the inclined case, and the apparatus side ranging A three-dimensional position measurement system for measuring a three-dimensional position of the measurement point from a distance obtained by the unit.
The prism center of the prism is provided on the optical axis of the device-side distance measuring unit, and the device-side distance measurement is performed from the three-dimensional position of the prism in the normal direction of the inclined case obtained from the inclination angle of the inclined case. The three-dimensional position of the measurement point is measured by moving the second fixed distance from the reference point of the unit to the prism center and the measurement distance obtained by the device-side distance measurement unit. The described three-dimensional position measurement system.
An analysis mark that can be analyzed by the image capturing unit is provided at a position that is perpendicular to the optical axis of the device-side distance measuring unit and is collinear with the prism center of the prism;
The reference point of the device-side distance measuring unit is shifted from a straight line passing through the center of the prism and the mark center of the analysis mark, and a deviation amount of the reference point of the device-side distance measuring unit with the prism center as an origin is set in advance. In search of
The measurement distance obtained by the device-side distance measuring unit is moved from the three-dimensional position of the prism by the amount of deviation of the reference point and in the normal direction of the tilt case obtained from the tilt angle of the tilt case. The three-dimensional position measurement system according to claim 1, wherein the three-dimensional position of the measurement point is measured.
In place of the prism, a target that can be analyzed by the image pickup unit is provided in the inclined case, and the prism image pickup unit is arbitrarily configured, and the prism image obtained by collimation by the prism image pickup unit is replaced with the three-dimensional position of the prism. The three-dimensional position according to any one of claims 1 to 3, wherein a three-dimensional position of the measurement point is measured using a three-dimensional position of the target obtained by collimating the target by an image capturing unit. Position measurement system.
5. The three-dimensional position measurement system according to claim 1, wherein instead of the pointer, the apparatus-side distance measuring unit also serves as the pointer by emitting visible light.
  A prism, a pointer pointing to the measurement point, a device-side distance measuring unit for measuring the distance to the measurement point, and a tilt angle from the line-of-sight direction on a plane perpendicular to the optical axis of the device-side distance measuring unit. An inclined case having a pattern for analysis, and arranging the pattern at a position deviated from the prism by a first fixed distance before and after the optical axis direction of the apparatus-side distance measuring unit. The measuring point side apparatus used for the three-dimensional position measuring system in any one of 1-5.

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