JP2019174390A - Position detection method - Google Patents

Abstract

To provide a position detection method with which it is possible to detect a position easily with high accuracy.SOLUTION: The position detection method includes the steps of: scanning a two-dimensional or three-dimensional detection region R and installing a range sensor 10 for detecting coordinates in a coordinate system CL the origin of which is a predetermined reference point O of an object existing in the detection region R; detecting coordinates in the coordinate system CL of a first point P1 existing in the detection region R by the range sensor 10; detecting coordinates in the coordinate system CL of a second point P2 existing in the detection region R and apart from the first point P1 toward a known direction by the range sensor 10; and finding conversion data M for converting coordinates to an other coordinate system CG the origin of which is the reference point O so that the direction heading from the first point P1 toward the second point P2 is the same as the known direction.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a position detection method, and more particularly to a method of detecting the position of a building outer wall tile or the like.

  The exterior wall tiles of buildings such as condominiums are obliged to conduct a full-term consultation survey every 10 years and to report regularly. The current general investigation method is that the investigator hits the tiles one by one with a percussion stick, etc., determines the presence or absence of defects such as floating from the percussion sound, and the investigator uses the handwriting or PDA to determine the result of the discrimination. Recorded one by one.

  However, since such a survey method is complicated and requires a lot of labor, labor saving, speeding up, and simplification are required. Thus, for example, unmanned robots dedicated to research have been developed (see, for example, Patent Documents 1 and 2).

  In Patent Document 3, in the hammering inspection of a concrete structure such as a tunnel, the position of the worker and the hammer is detected by using a position detection device, the hammer hitting position is estimated from these, and the recorded hammer of the hammer is recorded. It is disclosed that recording is performed in association with hitting sound data.

JP-A-8-201353 Japanese Patent Laid-Open No. 2015-28467 JP, 2006-50876, A

  However, the above-described robot requires a lot of labor in the preparation stage such as installation, and there is a problem that the range that can be investigated by the robot is limited.

  Therefore, the inventor of the present invention has considered that labor saving and speed-up can be achieved if it becomes possible to simplify the recording work of the consultation survey by the investigator. The most complicated task of recording is to identify individual tiles. The tile survey result must be specified by identifying the tile. If there is an error, the reliability of the survey result is lost.

  Therefore, the inventor thinks that it is only necessary to install a range sensor, individually inspect the tiles that exist within the range where the range sensor can detect the position, and record the combination of the tile position and the determination result. It was. However, if the range sensor is not installed correctly, there will be a shift in tile specification. In particular, the range sensor detects a distance and an angle, and unless the range sensor is installed at a correct angle, there is a problem that an error occurs in specifying a tile due to a slight angle shift.

  Note that the technique disclosed in Patent Document 3 has a large estimation error of the hammer hit position, and therefore cannot be applied to a tile survey method that requires a specific tile to be identified and investigated.

  In view of the above points, an object of the present invention is to provide a position detection method capable of easily and accurately detecting the position of a tile or the like.

  The first position detection method of the present invention scans a two-dimensional or three-dimensional detection region and detects coordinates in a coordinate system with a predetermined reference point of an object existing in the detection region as an origin. A step of installing a position detection device; a step of detecting a coordinate in the coordinate system of a first point existing in the detection region by the position detection device; and a location in the detection region by the position detection device. And detecting the coordinates in the coordinate system of the second point away from the first point in a known direction and the direction from the first point toward the second point is the known point. Obtaining conversion data for coordinate conversion to another coordinate system having the reference point as an origin so as to be in the same direction as.

  According to the first position detection method of the present invention, since the conversion data can be easily obtained, even if the installation angle of the position detection device is deviated from the reference angle, the installation angle of the position detection device. Therefore, it is possible to easily improve the position detection accuracy.

  The second position detection method of the present invention scans a two-dimensional detection region and detects a distance and an angle in a polar coordinate system having a predetermined reference point of an object existing in the detection region as an origin 2 A step of installing a three-dimensional ranging device, a step of detecting a distance and an angle in the polar coordinate system of the first point existing in the detection region by the two-dimensional ranging device, and the two-dimensional ranging device To detect a distance and an angle in the polar coordinate system of a second point existing in the detection region and away from the first point in a known direction, and the first point in the polar coordinate system An angle for coordinate conversion to another polar coordinate system with the reference point or the first point as the origin so that the direction from the point toward the second point becomes the same direction as the known direction Including at least the desired process The features.

  According to the second position detection method of the present invention, since the angle for coordinate conversion can be obtained, even when the installation angle of the two-dimensional range finder is deviated from the reference angle, the two-dimensional measurement is performed. It becomes possible to easily correct the installation angle of the area device. Furthermore, the first point can be set as the origin. In this case, since the two-dimensional range finder can be installed at an arbitrary position, the installation work can be simplified. In addition, when converting to another coordinate system with the first point as the origin, a displacement for coordinate conversion is also obtained.

  A third position detection method of the present invention is a position detection method for detecting a position on an outer wall surface of a building, and scans a two-dimensional detection region to determine in advance the object existing in the detection region. A step of installing a two-dimensional range finding device for detecting a distance and an angle in a polar coordinate system having the set reference point as an origin so that the detection area is parallel to the outer wall surface; and a first on the outer wall surface; An object is installed so as to extend perpendicularly to the outer wall surface from the point, and the point corresponding to the first point in the polar coordinate system of the object existing in the detection region is detected by the two-dimensional ranging device. A step of detecting a distance and an angle; and an object is installed so as to extend perpendicularly to the outer wall surface from a second point away from the first point in a known direction, and the two-dimensional range finder By the front of the object existing in the detection area Detecting the distance and angle of the point corresponding to the second point in the polar coordinate system, and the direction from the point corresponding to the first point to the point corresponding to the second point is the known direction And at least obtaining a conversion angle for coordinate conversion to another polar coordinate system having the reference point or the first point as an origin so as to be in the same direction.

  According to the third position detection method of the present invention, since the conversion angle for coordinate conversion can be obtained, even if the installation angle of the two-dimensional range finder is deviated from the reference angle, the two-dimensional It becomes possible to easily correct the installation angle of the ranging device. Furthermore, the first point can be set as the origin. In this case, since the two-dimensional range finder can be installed at an arbitrary position, the installation work can be simplified. In the present invention, the term “vertical” is not limited to a complete vertical, but includes a substantially vertical so that a conversion angle capable of detecting a position with a desired accuracy can be obtained. In addition, when converting to another coordinate system with the first point as the origin, a displacement for coordinate conversion is also obtained.

  In the third position detection method of the present invention, an object is installed so as to extend perpendicularly to the outer wall surface from a third point located on the tile of the outer wall surface, and Detecting a distance and an angle of a point corresponding to the third point in the polar coordinate system of the object existing in a detection region; and using the conversion angle, the point corresponding to the third point Preferably, the method includes a step of obtaining at least an angle in another coordinate system and a step of identifying the tile from a distance and an angle in the other coordinate system of a point corresponding to the third point.

  In this case, individual tiles on the outer wall surface can be easily specified. When converting to another coordinate system with the first point as the origin, the distance in the other coordinate system of the point corresponding to the third point is also obtained.

  In the third position detection method of the present invention, it is preferable that both the first point and the second point are located on the corner or center point of the tile or on the tile surface of the tile.

  In this case, it is possible to easily determine a known direction from the first point to the second point with reference to the direction of the tile or its joint.

  Further, in the third position detection method of the present invention, the information on the state of the tile where the third point is located is associated with the distance and angle in the other coordinate system of the point corresponding to the third point. It is preferable to provide the process to memorize | store.

  In this case, it becomes possible to associate each tile on the outer wall surface with information related to the tile.

2A and 2B are two-dimensional conceptual diagrams illustrating a position detection method according to the first embodiment of the present invention. FIG. 1A shows a state before correction, and FIG. 1B shows a state after correction. The flowchart of the position detection method which concerns on the 3rd Embodiment of this invention. The conceptual diagram explaining the tile investigation method. The block diagram of a tile survey system.

  A position detection method according to the first embodiment of the present invention will be described.

  This position detection method is a method of detecting the position of an object existing in a two-dimensional or three-dimensional detection region R using the position detection device 10 with reference to FIG. 1A.

  As the position detection device 10, for example, a range sensor, a laser scanner, a laser range finder, a range sensor, or the like can be used. For example, the range sensor is a scanning lightwave distance measuring device that can acquire physical shape data of an object in the detection region R. As a distance measurement method, for example, a TOF (Time of Flight) method or an AM (amplitude modulation) method may be employed.

  Hereinafter, a case where the position detection device 10 is a laser type two-dimensional range sensor will be described as an example. However, the position detection method according to the first embodiment of the present invention is not limited to this.

  Although not shown in detail, the range sensor 10 includes a range sensor, a scanning unit such as a motor that rotates or rotates the range sensor, and a scanning angle detection unit such as an encoder that detects an angular position of the motor. ing.

The distance measuring sensor measures the distance to the measurement point on the object existing within the detectable distance. The distance measuring sensor includes, for example, a light emitting unit that outputs pulsed laser light as measurement light, and the output measurement light is emitted toward a scanning region through an optical window through a lens system. Then, the reflected light with respect to the measurement light is input to the light receiving unit through the mirror through the optical window, and the optical signal is converted into an electrical signal by the light receiving unit and input to the signal processing unit. At this time, it is controlled so that pulsed measurement light is output from the light emitting unit at a predetermined interval in synchronization with the pulse from the encoder, and the reflected light reflected from the surface of the object is input to the light receiving unit. Is done. The optical window may extend all around, but generally has a partial opening such as 270 degrees.
Thereby, referring to FIG. 1A, the range sensor 10 is determined in advance in the detection region R as information on the distance and angle of the measurement point P, more specifically, specific to each range sensor 10. The position in the polar coordinate system (circular coordinate system) CL, which has a reference point O as an origin, and is composed of a distance r from the reference point O and an angle θ from a predetermined direction unique to each range sensor 10. Data (r, θ) can be obtained for the measurement point P.

  When the range sensor 10 is used, the position detection method according to the first embodiment of the present invention is based on the installation step STEP1 for installing the range sensor 10 and the range sensor 10 with reference to FIG. The first point detection step STEP2 for acquiring the position data D1 (r1, θ1) in the polar coordinate system CL of the first point P1 existing in the detection region R and the range sensor 10 exist in the detection region R. The second point detection step STEP3 for obtaining the position data D2 (r2, θ2) in the polar coordinate system CL of the second point P2 that is separated from the first point P1 in a known direction, and the first point The polar coordinate system CL with the reference point O as the origin is changed from the polar coordinate system CL with the reference point O as the origin so that the direction from P1 to the second point P2 is the same as the known direction. A variable for obtaining conversion data M for conversion A replacement data acquisition step STEP4.

  This conversion data M becomes unique conversion data when the polar coordinate system CL is converted to the polar coordinate system CG in the state where the range sensor 10 is installed. The position data D1 and D2 correspond to the coordinates of the present invention, the polar coordinate system CL corresponds to the coordinate system of the present invention, and the polar coordinate system CG corresponds to the other coordinate system of the present invention.

  Depending on the installation angle of the range sensor 10, a difference in angle serving as a reference of a predetermined polar coordinate system CL unique to each range sensor 10 with respect to the coordinate system (for example, the ground surface coordinate system) CG related to the object is determined. Therefore, it is necessary to obtain the conversion data M, that is, the correction angle Δθ in order to correct this difference.

  For example, referring to FIGS. 1A and 1B, in the ground surface coordinate system CG, the direction from the first point P1 to the second point P2 is vertically upward (Z-axis positive in the orthogonal coordinate system (XZ coordinate system)). Direction), the direction from the point P1 indicated by the position data D1 to the point P2 indicated by the position data D2 is vertical so that the polar coordinate system CL performs coordinate conversion to the ground surface coordinate system CG having the reference point O as the origin. A correction angle Δθ that is upward is obtained. Thereafter, if necessary, the ground surface coordinate system CG in the polar coordinate system can be converted into the ground surface coordinate system in the XZ coordinate system.

  Since the conversion data M can be easily obtained as described above, even when the installation angle of the range sensor 10 is unknown or deviated from the reference angle, the correction of the installation angle of the range sensor 10 can be easily performed. Therefore, it is possible to easily improve the accuracy of position detection.

  Specifically, when converting the polar coordinate system to the XZ coordinate system, the accuracy of the angle direction of the polar coordinate system greatly affects the specification of coordinates in the XZ coordinate system. The range sensor 10 was installed by adjusting the mounting angle. However, in this case, the installation work is complicated, and a great deal of labor is required particularly when there are many places to be installed. In the above-described method, it is not necessary to install the range sensor 10 at a strict angle, so that the installation work is simplified.

  Note that the position detection device 10 may acquire the coordinates (position data) of measurement points in a spherical coordinate system, such as a three-dimensional range sensor. Further, the position detection device 10 linearly scans in one direction such as the X-axis direction or two directions of the X-axis direction and the Y-axis direction, and acquires the coordinates of the measurement point in the XYZ coordinate system. There may be. Further, the position detection device 10 may acquire the coordinates of the measurement point in a coordinate system such as an oblique coordinate system or a cylindrical coordinate system.

  Further, the conversion data M may be obtained as an average value or the like based on a plurality of directions connecting these points using three or more points, such as adding detection of a third point or the like.

  Next, a position detection method according to the second embodiment of the present invention will be described.

  In this position detection method, in addition to the polar angle correction according to the first embodiment of the present invention, the origin of the coordinate system is changed from the predetermined reference point O unique to the range sensor 10 to the first point P. Displacement correction to convert to is performed. This eliminates the need for the position of the reference point O to coincide with the origin of the coordinate system when installing the range sensor 10, simplifying the installation work and automatically converting the origin of the coordinate system. It becomes possible.

  Next, a position detection method according to the third embodiment of the present invention will be described. This position detection method can be used when specifying the position of a defect location when investigating the outer wall surface A of a building such as an apartment with reference to FIG. In particular, the present invention can be suitably applied when the investigator hits the tile B attached to the outer wall surface A with the percussion bar 20 and identifies the tile B having a defect such as floating due to the hitting sound. In addition to tiles, it can also be applied when conducting surveys on wall finishing materials such as stone, mortar, sanding, and wood.

  Hereinafter, the position detection method will be described by taking the method of investigating the tile B as an example.

  On the outer wall surface A of the building, tiles B having the same shape are regularly and widely pasted. The tile Attaching mode is often known before the survey based on the design drawings of the building, etc., but if the drawing is lost during the survey, or the tile pasting mode is changed during construction or renovation In some cases, it is preferable to check on site.

  As will be described later, according to the tile survey method, it is possible to specify not only the tile B, but also the position of a structure such as a window. Can be input easily and quickly on site.

  This tile survey method is preferably performed using, for example, a tile survey system 100 described below.

  The tile survey system 100 includes the range sensor 10, the percussion stick 20, a terminal device 30 that an investigator wears, an input device 40, and an information device 50. Here, in order to reduce the size and weight of the terminal device 30, the information device 50 is preferably a PC or the like that is communicably connected to the terminal device 30 through wireless communication or the like.

  The range sensor 10 can detect the distance and the angle to the percussion bar 20 by irradiating the laser and receiving the reflected light rebounding from the vicinity of the tip of the percussion bar 20.

  The range sensor 10 is fixed to the outer wall surface A of the building using a fixing jig (not shown) so that the outer wall surface A and the range surface are parallel or substantially parallel. The fixing jig is attached to, for example, a camera tripod installed on the ground or a veranda so as to be rotatable or changeable in direction. Further, the fixing jig may be fixed to a scaffolding material or the like that constitutes a scaffolding that is installed on the ground and that is installed by assembling a single pipe or the like. The fixing jig fixes the range sensor 10 in a state where the range sensor 10 is installed at a predetermined location in a state where the mounting direction of the range sensor 10 is fixed by a gripping tool such as a clamp.

  It should be noted that the side surface of the range sensor 10 and the outer wall surface A are parallel or substantially parallel, and that the range sensor 10 is not damaged by being in contact with the outer wall surface A. A cover or the like that protects the outer wall surface A side and protrudes so as to have an end surface parallel to the measurement surface is preferably attached to the measurement sensor 10.

  The percussion bar 20 is used by the investigator to discriminate defects such as the floating of the tile B from the hit sound by hitting the tile B or the like. The percussion bar 20 may be a commercially available product and corresponds to the object of the present invention.

  The terminal device 30 includes a display unit including an LED display, a range sensor 10, an input device 40, and a transmission / reception unit for transmitting / receiving to / from the information device 50. The terminal device 30 is preferably a portable terminal device that can be carried by an investigator alone, and is particularly preferably a wearable terminal such as a glasses type or a head mounted display type.

  The display unit prompts the operation of the input device 40, information input from the input device 40, information on the outer wall surface A of the building, information on the installation position of the range sensor 10, and objects detected by the range sensor 10 The information regarding the position of the image, the information specifying the tile B such as the position, the information regarding the status of the tile B, the information received from the information device 50, and the like are displayed using characters, symbols, drawings, and the like.

  The input device 40 includes a switch, a keyboard, a touch screen, a jog dial, a voice input device, and the like. Using the input device 40, it is possible to input information such as an instruction for detecting information related to the position of the tile B from data transmitted from the range sensor 10 and information related to the state of the tile B. Information input to the input device 40 is transmitted to the terminal device 30 and the information device 50 via the transmission unit. The input device 40 is preferably a small device such as a switch that can be operated with one hand.

  The input device 40 may be integrated with the terminal device 30. The input device 40 may be attached to the percussion stick 20.

  The terminal device 30 preferably further includes a camera. As a result, it is possible to capture the trouble state of the tile B that can be determined from the investigated region and appearance and record the image. Furthermore, if the positional information of the range of the image captured by the camera is also stored, the image organization work can be reduced. Furthermore, if necessary, the tile B or the like may be marked with tape or chalk, and this may be imaged with a camera.

  The information device 50 is, for example, a personal computer or a PDA, and can transmit and receive with the terminal device 30 in a wired manner, preferably wirelessly. Although not shown in detail, the information device 50 is used for transmission / reception with a CPU, a processor such as a multiprocessor, a storage device such as a ROM and a RAM, a range sensor 10, a terminal device 30, and an input device 40. It is composed of a transmission / reception device, an I / O circuit, and the like. Note that the terminal device 30 may perform processing performed by the information device 50 described below.

  In the case of using the range sensor 100 described above, the position detection method according to the third embodiment of the present invention is similar to the position detection method according to the first and second embodiments described above. A first point detection step STEP2, a second point detection step STEP3, and a conversion data acquisition step STEP4 are provided.

  In the installation step STEP1, the distance measuring sensor 10 is installed on the outer wall surface A of the building using the fixing jig described above. The position of the origin in the coordinate system of the survey range can be specified based on known CAD data related to the building. For example, text data of the position information is input to the terminal device 30 by the input device 40 or the like. Further, as will be described later, it is possible to automatically obtain the position of the origin, and in this case, it is not necessary to input the text data of the installation information. In order to improve the accuracy of the installation position, the range sensor 10 is preferably installed at a position where identification is easy, such as an intersection of tiles B joints.

  The approximate range of the detection region R is known from the appearance of the range sensor 10. Therefore, the range sensor 10 is fixed in such an installation manner that the inspection region R overlaps the survey range.

  In the first point detection step STEP2, the investigator presses the percussion bar 20 to a point on the outer wall surface A so that the extending direction of the percussion bar 20 is perpendicular or substantially perpendicular to the outer wall surface A. Thus, the fact that the investigator is currently pressing with respect to the first point P1 is input from the input device 40. Thereby, the distance sensor 10 detects the position data D1 including the distance r1 and the angle θ1 of the object (percussion stick) existing in the detection region R in this state, and the position data D1 is transmitted to the information device 50, It is recorded by the information device 50 as position data D1 related to one point P1.

  The first point P1 exists in the detection region R of the range sensor 10 in a state where, for example, the corner of the tile B, the center of the tile B, and the intersection of the tile B joints are pressed by the tip of the percussion bar 20 This is the position of the percussion stick 20 to be performed.

  In addition, it is preferable to press the percussion stick 20 so as to be as perpendicular to the outer wall surface A as possible. And what is pressed against the outer wall surface A is not limited to the percussion bar 20, and a long and narrow bar may be used. In this case, the tip portion is flat so that it can be easily pressed vertically against the outer wall surface A, and a rod-like member extends vertically from the flat tip portion. It is preferable that it is the aspect which is. Further, instead of pressing the percussion stick 20 or the like against the outer wall surface A, there may be a gap between the tip of the percussion stick 20 or the like and the outer wall surface A.

  In the second point detection step STEP3, the position data D2 related to the second point P2 is recorded by the information device 50, as in the first point detection step STEP2. The second point P2 is located away from the first point P1 in a known direction such as a vertical direction or a horizontal direction, such as several tiles.

  For example, when the percussion bar 20 is pressed against the upper right corner of a predetermined tile B with respect to the first point P1, the vertical direction of the second point P2 is one or more tiles B from the tile B. Alternatively, the tip of the percussion stick 20 is pressed against the upper right corner of the tile B separated in a known direction such as the horizontal direction. Further, when the percussion stick 20 is pressed against the joint of the tile B with respect to the first point P1, the percussion stick is placed at a joint away from the first point P1 in a known direction such as a vertical direction or a horizontal direction along the joint, for example. Press 20 tips.

  The known direction is obtained based on, for example, the regularity of sticking of the tile B. For example, it is possible to specify the horizontal direction and the vertical direction using the intersection of the joints of the tile B.

  In order to improve the detection accuracy, it is preferable that the second point P2 is located on or near a straight line extending by connecting the reference point O of the range sensor 10 and the first point P1. For example, when the known direction is the vertical direction, the first point P1 and the second point P2 are directly above or directly below the reference point O, and when the known direction is the horizontal direction, the first point P1. In addition, it is preferable that the second point P2 is located directly beside the reference point O.

  In the conversion data acquisition step STEP4, as described above, a direction from the first point P1 to the second point P2 is obtained, and this direction is the same as the known direction, and the first point P1 is set to the origin O1. Correction data M such as Hereinafter, an investigation work is performed using the correction data M.

  In the position detection method according to the third embodiment of the present invention, the individual tiles existing in the detection region R are further searched while all the tiles B existing in the detection region R have not been investigated (STEP 6: NO). A tile investigation step STEP5 for examining the status of the tile B is performed. After the survey of all the tiles B existing in the detection region R is completed (STEP 6: YES), STEP 6 is repeated through the installation process S1 in which the position of the range sensor 10 is changed and installed. Then, when the survey on the entire range of the outer wall surface A of the building or all the tiles B within the predetermined range is completed (STEP 7: YES), the survey is finished.

  In the tile investigation step STEP5, when the investigator recognizes an abnormality in the hitting sound, the fact that the tile B is abnormal is input from the input device 40, and the tip of the placing rod 20 near the center of the tile B. While pressing the button, an instruction to instruct position detection is input from the input device 40. Thereby, since the position of the tile B having an abnormality is specified, the tile B having an abnormality can be specified. At this time, the correction data M is used when specifying the position of the tile B. Note that the tile B is specified by converting the polar coordinate system to XY coordinates as necessary.

  The size of the tile B is known, and even if it is not known, the size can be specified if the investigator measures it. Further, for example, the size of the tile B may be specified by detecting the positions of the percussion bar 20 by pressing both ends of the diagonal line of the tile B.

  In addition to the fact that there is an abnormality in the tile B, the type of abnormality, for example, the floating, cracking, chipping, surface whiteness, etc. of the tile B, the fact that the tile B has been repaired, the floating of the mortar base, etc. You may enter. It should be noted that the missing, broken, and white flowers of the tile B can be identified by visual inspection.

  In addition, when it is recognized that the hitting sound is normal, the fact that there is no abnormality may be recorded in combination with the position in order to reliably investigate the total number of tiles B without omission, but for simplification of the work Recording may be omitted.

  Note that the range of the region R that can be detected by the range sensor 10 fixed at one place differs depending on the detection performance of the range sensor 10. It is necessary to determine the detection range R so that the adjacent tiles B are within the allowable error range so as not to be confused. At this time, the distance measurement resolution and angle measurement resolution of the distance measurement sensor 10, the size of the tile B, the gap between the outer wall surface A and the detection region R, and the like may be taken into consideration. The detection region R is, for example, a range with a radius of m.

  In the installation position changing step STEP7, it is preferable to change the installation position of the range sensor 10 so that the detection region R of the range sensor 10 overlaps at least one tile B. Thereby, the position data detected by the range sensors 10 having different installation positions can be integrated into the same coordinate system by the tile B where the detection areas R overlap.

  In addition, you may integrate a coordinate system on the basis of the specific point of a building, for example, the corner | angular part of a building frame, etc. Further, the investigator may instruct and input the points to be integrated from the input device 40 as in the case of the first point P1 or the second point P2. In this case, it is preferable to integrate at specific points such as the center point of the tile B, the intersection point of the tile B joints, and the intersection point of the seal joints. Thereby, even if it is the outer wall surface A of a complicated form with a bad view, it becomes possible to simplify a tile investigation.

  The survey work is completed when all the tiles B within the predetermined survey range are surveyed as described above. Since all of these investigations can be performed by a single investigator, it is possible to save labor.

  In addition, when the outer wall surface A has an unevenness | corrugation, it is preferable to perform the tile position investigation method mentioned above for every surface, such as a hollow surface and a horizontal surface. Even when the outer wall surface A is not a vertical surface but an oblique surface, the tile B can be specified if the range sensor 10 is installed so that the outer wall surface A and the detection region R are parallel to each other.

  Furthermore, in addition to tile B, the state of outer wall surface A, for example, the presence of corners and exit corners due to protrusions such as handrails, balconies, and pillars, as well as the presence of windows, sash openings, ventilation openings, etc., painting The state of the outer wall surface A such as a surface, a seal joint surface, a lattice surface, or a concrete surface may be recorded together with the position information.

  In this case, it is possible to input a point position by one point, a rectangular region connecting these points by two points, or a rectangular area having this line as a diagonal line in accordance with an input instruction to the input device 40. . As a result, the form of the building and the outer wall surface A can also be input. Therefore, even if there is no drawing or CAD data of the building, the form has been changed since the design. However, it is possible to investigate.

  In addition, it is possible to automatically or semi-automatically create a drawing showing the status of the failure of tile B. It is possible to automatically display a defective portion or a portion that requires detailed inspection, so that the creation of a report can be facilitated and the work can be saved.

  In addition, the investigator may determine the defect state of tile B based on the percussion sound data sampled using a microphone or the like instead of determining the defect state of tile B from the percussion sound (for example, Japanese Patent Laid-Open No. Hei 5- No. 281202, JP-A-7-209262, JP-A-2007-309827). Further, the percussion sound data and the position data of the tile B are stored or transmitted in association with each other, and the defect state of the tile B is determined from the percussion sound data using the information device 50 or another device connected thereto. Good.

  The present invention is not limited to the position detection method according to the first, second, or third embodiment specifically described in the above-described examples, but within the scope described in the claims. It can be changed as appropriate.

  DESCRIPTION OF SYMBOLS 10 ... Position detection apparatus, range sensor (two-dimensional range measurement apparatus), 20 ... Percussion stick (object), 30 ... Terminal device, 40 ... Input device, 50 ... Information equipment, 100 ... Tile investigation system, A ... Outer wall surface B ... tile, R ... detection area.

Claims (6)

Scanning a two-dimensional or three-dimensional detection area, and installing a position detection device that detects coordinates in a coordinate system having a predetermined reference point of an object existing in the detection area as an origin;
Detecting the coordinates in the coordinate system of the first point existing in the detection area by the position detection device;
Detecting, by the position detection device, coordinates in the coordinate system of a second point existing in the detection region and separated from the first point in a known direction;
Obtain transformation data for coordinate transformation to another coordinate system with the reference point as the origin so that the direction from the first point to the second point is the same as the known direction A position detection method comprising: a step. Scanning a two-dimensional detection region and installing a two-dimensional range measuring device for detecting a distance and an angle in a polar coordinate system having a predetermined reference point of an object existing in the detection region as an origin;
Detecting a distance and an angle in the polar coordinate system of the first point existing in the detection area by the two-dimensional ranging device;
Detecting a distance and an angle in the polar coordinate system of a second point existing in the detection region and away from the first point in a known direction by the two-dimensional ranging device;
Another polar coordinate system having the reference point or the first point as an origin so that the direction from the first point to the second point in the polar coordinate system is the same direction as the known direction And a step of obtaining at least an angle for converting the coordinates into the position. A position detection method for detecting a position on an outer wall surface of a building,
A two-dimensional ranging device that scans a two-dimensional detection area and detects a distance and an angle in a polar coordinate system having a predetermined reference point of an object existing in the detection area as an origin, A process of being installed so as to be parallel to the outer wall surface;
An object is installed so as to extend perpendicularly to the outer wall surface from a first point on the outer wall surface, and the two-dimensional range measuring device uses the second coordinate system in the polar coordinate system of the object existing in the detection area. Detecting a distance and an angle of a point corresponding to one point;
An object is installed so as to extend perpendicularly to the outer wall surface from a second point away from the first point in a known direction, and is present in the detection region by the two-dimensional ranging device. Detecting the distance and angle of a point corresponding to the second point in the polar coordinate system of the object;
The reference point or the first point is the origin so that the direction from the point corresponding to the first point to the point corresponding to the second point is the same direction as the known direction And a step of obtaining at least a conversion angle for coordinate conversion to another polar coordinate system. An object is installed so as to extend perpendicularly to the outer wall surface from a third point located on the tile of the outer wall surface, and the polar coordinates of the object existing in the detection region by the two-dimensional ranging device Detecting a distance and angle of a point corresponding to the third point in the system;
Obtaining a distance and an angle in the other coordinate system of a point corresponding to the third point using the conversion angle;
The position detection method according to claim 3, further comprising: specifying the tile from a distance and an angle in the other coordinate system of a point corresponding to the third point.   5. The position detection method according to claim 4, wherein the first point and the second point are both located at a corner or a center point of the tile or on the tile surface of the tile.   5. The method of storing information related to a state of a tile on which the third point is located in association with a distance and an angle of the point corresponding to the third point in the other coordinate system. Or the position detection method of 5.