JP2019178886A - Distance measurement device - Google Patents

Abstract

To provide a distance measurement device configured to reduce an error in measuring a distance between two arbitrary points and configured to improve measurement accuracy.SOLUTION: The distance measurement device includes a main body, a distance measurement unit for measuring a distance to a measurement target point, an attitude detection unit for detecting an attitude of the main body, and a displacement detection unit for detecting a displacement of the main body during a distance measurement operation by the distance measurement unit in which each of distances to two arbitrary measurement target points measured by the distance measurement unit and the detection results of the attitude detection unit and the displacement detection unit are used to measure a distance between the two points.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a distance measuring device that measures the distance to an object using laser light.

  Conventionally, a distance measuring device that uses a laser beam to measure a direct distance to an object is known. In addition, a technique and apparatus for measuring the distance between any two points by applying this technique is also known. In Patent Document 1, a laser beam is projected onto a measurement target point, an image in a range including the measurement target point is captured, and a direct distance to the target object is determined based on position information of the laser beam in the image. And a distance measuring device that calculates a distance between two points is disclosed. Patent Document 2 discloses a distance measuring device that calculates the distance between two arbitrary points by deflecting laser light.

JP 2017-090422 A JP 2012-058124 A

  However, such a conventional distance measuring device measures the distance between two points that are separated in a predetermined direction after the device is fixed to a measuring table or the like. Therefore, there has been a problem that it is difficult to perform measurement such that the user uses the distance measuring device with his / her hand.

In view of the above, the distance measuring device according to the present invention is
The body,
A distance measurement unit for measuring the distance to the measurement target point;
An attitude detection unit for detecting the attitude of the main body;
A displacement detector for detecting the displacement of the main body during the distance measuring operation by the distance measuring unit;
The distance between the two points is measured using the distance to each of two arbitrary measurement points measured by the distance measurement unit and the detection results of the posture detection unit and the displacement detection unit. To do.

  According to the present invention, it is possible to reduce an error when measuring a distance between two arbitrary points and improve measurement accuracy.

The perspective view of the distance measuring device which concerns on one Embodiment of this invention. The block diagram which shows the internal structure of the distance measuring device which concerns on one Embodiment of this invention. The figure which shows the direct distance measuring method of the distance measuring device which concerns on one Embodiment of this invention. The figure which shows the various sensor installation methods of the distance measuring device which concerns on one Embodiment of this invention. Explanatory drawing of the attitude | position detection method of the distance measuring device which concerns on one Embodiment of this invention. Explanatory drawing of the displacement detection method of the distance measuring device which concerns on one Embodiment of this invention. The figure which shows the distance measurement principle of 2 points | pieces of the distance measuring device which concerns on one Embodiment of this invention. The figure which shows the angle measurement principle between 2 points | pieces of the distance measuring device which concerns on one Embodiment of this invention. The operation | movement flowchart in the distance measuring mode of 2 points | pieces of the distance measuring device which concerns on one Embodiment of this invention. An example of the control screen of the application for smart phones of the distance measuring device which concerns on one Embodiment of this invention. An example of the distance measuring system between two points by cooperation with the smart phone of the distance measuring device which concerns on one Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(First embodiment)
<Overall configuration>
FIG. 1 is a perspective view showing an appearance of a distance measuring device 1 according to an embodiment of the present invention. The front side of the distance measuring device 1 is shown on the left side of FIG. 1, and the back side of the distance measuring device 1 is shown on the right side of FIG. The top surface of the main body 10 is provided with a projection unit 20 that projects laser light toward a measurement target point and a light receiving unit 30 that receives reflected light from the measurement target point.

  In addition, an operation unit 40 that performs distance measurement and changes various settings and a display unit 50 that displays measurement results and various setting items are provided on the front surface of the main body 10. The distance measuring device 1 according to the present embodiment can be used by a user with the hand, and the operation unit 40 is disposed at a position where the distance measuring device 1 can be easily operated with the hand held. ing.

Further, a battery lid 60 is provided on the back surface of the main body 10, and a power supply unit 61 that is an electric circuit that supplies power to each unit in the distance measuring device 1 and a battery are incorporated.

  In the following description, it is assumed that the time difference method is adopted as the distance measurement method. The time difference method is a method of calculating the distance to the measurement target point from the time difference between the laser light emission timing and the reflected light reception timing. The distance measurement method does not necessarily need to be a time difference method, and may be a phase difference method or a triangular distance measurement method well known as other measurement methods.

<Internal configuration>
FIG. 2 shows an internal configuration of the distance measuring apparatus 1 according to one embodiment of the present invention. As shown in FIG. 2, the projection unit 20 controls a laser diode 21 serving as a laser light source, a projection lens 22 that projects the laser light in parallel toward a measurement target point, and light emission of the laser diode 21. It consists of a laser driver 23.

  The laser driver 23 receives the light emission control signal from the distance measuring unit 71 in the control unit 70 and outputs laser light. The laser driver 23 outputs the light emission timing signal S1 of the laser diode 21.

The light emission timing signal S1 is not necessarily output by the laser driver 23, and the projection unit 20 may be configured so that it can be output by another means. For example, a light receiving sensor for detecting the light emission of the laser diode 21 may be provided separately, and the output signal thereof may be used as the light emission timing signal S1.

  The light receiving unit 30 includes a condensing lens 31 that condenses the reflected light from the measurement target point at one point, a light receiving sensor 32 that detects the collected reflected light and outputs a light receiving timing signal S2, and a light receiving timing signal S2. The signal amplifier 33 is configured to amplify the signal.

  In addition, when the voltage level of the light reception timing signal S2 is sufficiently large with respect to the detection capability of the time difference measuring unit 80 described later, the signal amplifying unit 33 may be omitted.

  The light emission timing signal S1 from the projection unit 20 and the light reception timing signal S2 from the light receiving unit 30 are input to the time difference measuring unit 80, respectively. The time difference measuring unit 80 detects the timing at which the two signals S1 and S2 are input, and calculates the time difference ΔT. The distance measuring unit 71 receives information on the time difference ΔT from the time difference measuring unit 80 and calculates the distance.

  The time difference ΔT is not necessarily calculated by the time difference measuring unit 80. The time difference measuring unit 80 outputs only the input times of the two signals S1 and S2, and the distance measuring unit 71 calculates the time difference ΔT based on the information. It is good also as a structure to calculate.

  The distance measuring device 1 is provided with a sensor unit 90. The sensor unit 90 includes a geomagnetic sensor 91 and an acceleration sensor 92.

  In FIG. 2, the configuration of the sensor unit 90 is illustrated as only the geomagnetic sensor 91 and the acceleration sensor 92, but other sensors may be provided. For example, when each of the geomagnetic sensor 91 and the acceleration sensor 92 has temperature characteristics, a configuration may be adopted in which output data calibration of various sensors due to temperature changes is performed by installing a temperature sensor. An arbitrary sensor may be provided and the detection result may be displayed on the display unit 50.

  The geomagnetic sensor 91 detects a vector representing the magnitude and direction of the magnetic field generated by the earth (hereinafter referred to as a geomagnetic vector). The control unit 70 is connected to the geomagnetic sensor 91 via the communication interface, and can acquire the geomagnetic vector in real time.

  The acceleration sensor 92 detects a combined vector of the gravity applied to the apparatus and the acceleration generated with the movement of the apparatus. The control unit 70 is connected to the acceleration sensor 92 via a communication interface, and can acquire a combined vector of gravity and acceleration applied to the apparatus in real time.

  In FIG. 2, the control unit 70 is connected to the geomagnetic sensor 91 and the acceleration sensor 92 via independent communication lines. However, as the geomagnetic sensor 91 and the acceleration sensor 92, a sensor having the same communication interface specifications is adopted, and communication is performed. It is good also as a structure which shares a line. For example, if the geomagnetic sensor 91 and the acceleration sensor 92 corresponding to IIC serial communication are employed and different addresses are set for the respective sensors, the above-described commonality is possible. Thereby, the communication interface resource of the control unit 70 can be saved.

  When the geomagnetic sensor 91 and the acceleration sensor 92 are arranged in the distance measuring device 1, it is desirable that the seating systems XYZ possessed by the sensors are arranged so as to coincide with each other. Although details will be described later, it is possible to easily perform posture detection and displacement detection described later.

  The control unit 70 includes an attitude detection unit 72 that detects the attitude of the distance measurement device 1 in the three-dimensional space based on the acquired data from the geomagnetic sensor 91 and the acceleration sensor 92, and the distance measurement device 1 in the three-dimensional space. A displacement detector 73 that detects the amount of displacement is included. Further, based on the results of the distance measurement unit 71, the posture detection unit 72, and the displacement detection unit 73, a two-point distance calculation unit 74 that calculates a distance between any two points in the three-dimensional space, and a three-dimensional space A point-to-point angle calculation unit 75 that calculates an angle between any two of the points is included. A detailed method for calculating the distance between two points will be described later.

<Direct distance measurement>
Hereinafter, a method for measuring the direct distance from the distance measuring device 1 to the measurement target point will be described. The distance measuring unit 71 outputs a light emission control signal to the laser driver 23. The laser driver 23 receives the light emission control signal and causes the laser diode 21 to emit light. The emitted laser light becomes parallel light via the projection lens 22 and is output from the projection unit 20 toward the measurement target point. At the same time, the laser driver 23 outputs the light emission timing signal S1 of the laser diode 21 to the time difference measuring unit 80.

  The projected laser light is incident on the light receiving unit 30 after reflecting the measurement target point. The laser light incident on the light receiving unit 30 is condensed on the light receiving surface of the light receiving sensor 32 via the condenser lens 31. The light receiving sensor 32 detects the laser beam and outputs a light receiving timing signal S2. The light reception timing signal S <b> 2 is amplified via the signal amplification unit 33 and input to the time difference measurement unit 80.

Time difference measuring unit 80, light emission and the time _{t 1} to timing signal S1 is inputted, measures the time difference ΔT of the time _{t 2} when _the light receiving timing signal S2 is inputted ₍₌ t 2 -t _1), the result distance measurement To the unit 71. This time difference ΔT is also the flight time until the laser light emitted from the laser diode 21 reaches the light receiving sensor 32.

The distance measuring unit 71 calculates the distance D from the distance measuring device 1 to the measurement target point based on the information on the time difference ΔT. In general, the measurement distance D is the distance traveled by the laser light in half of the flight time ΔT of the laser light, and can be obtained by the following equation, where c is the speed of the light.

  Here, the distance D is assumed to be arranged such that the light emitting surface of the laser diode 21 and the light receiving surface of the light receiving sensor 32 exist on the same plane P as shown in FIG. This is the distance from P to the measurement target point on the measurement target.

When the light emitting surface of the laser diode 21 and the light receiving surface of the light receiving sensor 32 are not on the same surface, and when the distance measurement reference surface P is adopted as another different reference surface P ′, it is necessary to obtain as follows. is there. That is, as shown in FIG. 3B, the distance from the reference plane P ′ to the light emitting surface of the laser diode 21 is D ₁ , and the distance from the reference plane P ′ to the light receiving surface of the light receiving sensor 32 is D ₂ . It can be obtained by an expression.

In general, a time delay occurs in signal transmission on a circuit. The time difference ΔT measured by the time difference measuring unit 80 includes this delay time. In order to know the exact time difference from the emission of the laser light to the reception of light, it is necessary to correct this delay time with respect to ΔT. There is. That is, assuming that the delay time on the circuit of the light emission timing signal S1 is Δt ₁ , and the delay time on the circuit of the light reception timing signal S2 is Δt ₂ , the times t ₁ and t ₂ detected by the time difference measuring unit 80 and the laser light are There is the following relationship between the true times t ₁ ′ and t ₂ ′ when the laser diode 21 emits light and the light receiving sensor 32 receives light.

From the above relationship, the true time difference ΔT ′ from the light emission to the light reception of the laser light can be obtained by the following equation.

That is, the distance can be accurately calculated by replacing ΔT in Equation 2 with ΔT ′.

As can be seen from Equation 4, if the delay time Δt ₁ of the light emission timing signal S ₁ and the delay time Δt ₂ of the light reception timing signal S ₂ are the same, ΔT and ΔT ′ are equal. That is, the delay time Delta] t ₁ and Delta] t ₂ is the circuit to be the same, the distance measuring unit and the delay time Delta] t 1 on the calculation of _71, may be ignored Delta] t _2.

<Attitude detection>
Hereinafter, an example of the processing content performed by the posture detection unit 72 in order to detect the posture of the distance measuring device 1 will be described. In order to distinguish the scalar quantity from the vector quantity in handling the mathematical expression, the vector quantity is clearly described as “vector”, and is represented in bold in the mathematical expression.

  Assume that the geomagnetic sensor 91 and the acceleration sensor 92 in the distance measuring device 1 and the seating system XYZ of each of them are arranged so that their directions coincide with each other as shown in FIG. Further, it is assumed that the laser light is projected in the X-axis direction. Further, it is assumed that the distance measuring device 1 is stationary in a three-dimensional space, and the acceleration sensor 92 detects only a gravity vector.

  However, if the acceleration sensor 92 detects only the gravity vector, the distance measuring device 1 does not necessarily have to be stationary. That is, if the distance measuring device 1 is in a constant velocity linear motion, the following attitude detection method can be applied.

  The posture detection unit 72 acquires a geomagnetic vector from the geomagnetic sensor 91 and a gravity vector from the acceleration sensor 92 via the communication interface. Data output from each sensor is a coordinate component of the vector detected by each sensor with respect to the coordinate system XYZ. Hereinafter, the geomagnetic vector and the gravity vector are represented by a geomagnetic vector B and a gravity vector G, respectively.

  Since the coordinate system XYZ is a coordinate system fixed to each sensor, and thus the distance measuring device 1, it is a dynamic coordinate system with respect to the ground surface as the posture of the distance measuring device 1 changes. Therefore, a static coordinate system with respect to the ground surface is formed by the following procedure using the geomagnetic vector B and the gravity vector G obtained from each sensor.

The geomagnetic vector B and the gravity vector G are always in a primary independent relationship as far as the ground surface is considered. However, since the geomagnetism has an inclination with respect to the ground surface, the geomagnetic vector B and the gravity vector G are not orthogonal to each other. Therefore, as shown in FIG. 5A, a plane PG perpendicular to the gravity vector _G is considered, and the geomagnetic vector B ′ is obtained from the projection vector of the geomagnetic vector B on the plane. This method is also known as the Gram-Schmidt orthogonalization method and can be obtained by the following equation.

  Here, the projection vector of the geomagnetic vector B normalized to have a length of 1 is a geomagnetic vector B ′, and the gravity vector G is normalized to have a length of 1 as a gravity vector G ′. Yes. B · G ′ represents the inner product of the geomagnetic vector B and the gravity vector G ′, and | G | represents the absolute value of the gravity vector G. The above-mentioned geomagnetic vector B ′ is a vector that is oriented in the same direction with respect to the geomagnetic vector B and the ground surface and is orthogonal to the gravity vector G.

From the geomagnetic vector B 'and the gravity vector G', the outer product vector N is defined as follows.

  Here, G ′ × B ′ represents the outer product of the gravity vector G ′ and the geomagnetic vector B ′.

The three vectors of the gravity vector G ′, the geomagnetic vector B ′, and the outer product vector N obtained by the above procedure are a group of vectors whose vector lengths are normalized to 1 and orthogonal to each other. The vectors G ′, B ′ and N are static vector groups with respect to the ground surface because the geomagnetic vector B and the gravity vector G are always constant with respect to the ground surface. Therefore, if the vectors G ′, B ′, and N are rewritten as vectors e _x ′, e _y ′, and e _z ′, respectively, and the directions pointed to are the X ′ axis, the Y ′ axis, and the Z ′ axis, the coordinate system X′Y′Z ′ forms a right-handed orthogonal coordinate system. This coordinate system X′Y′Z ′ is adopted as a new reference coordinate system of the distance measuring device 1.

The above-described method for obtaining the coordinate system is an example and is not limited to this. For example, a vector obtained by spatially rotating the vector groups e _x ', e _y ', e _z 'may be adopted as a new coordinate system. Further, it is not always necessary to use an orthogonal coordinate system, and for example, an oblique coordinate system may be adopted.

  As described above, the laser light is projected in the X-axis direction of each sensor. Therefore, as shown in FIG. 5B, if the coordinate component in the X-axis direction in the coordinate system X′Y′Z ′ is obtained, it is possible to know the attitude of the apparatus with respect to the ground surface.

Below, an example is shown about how to obtain | require the coordinate component of the X-axis direction in coordinate system X'Y'Z '. The unit vectors in the X-axis, Y-axis, and Z-axis directions in the coordinate system XYZ on the sensor are vectors e _x , e _y , and _ez , respectively. At this time, an arbitrary vector R in the three-dimensional space can be expressed as follows in the coordinate system XYZ.

Here, R _x , R _y , and R _z are coordinate components of the vector R in the X-axis, Y-axis, and Z-axis directions, respectively. On the other hand, the vector R can be expressed as follows in the coordinate system X′Y′Z ′.

Here, R _x ′, R _y ′, and R _z ′ are coordinate components of the vector R in the X ′ axis, Y ′ axis, and Z ′ axis directions, respectively. Since the above equations 8 and 9 represent the same vector R in the three-dimensional space, the respective right sides can be placed by equations.

When the above equation is rewritten in matrix form, it becomes as follows.

Here, (e _x 'e _y ' e _z ') represents a matrix having vectors e _x ', e _y ', e _z ' as column vectors. From the left side of Equation 11, the matrix _{(e x 'e y' e} z ') inverse matrix of _{(e x' e y 'e} z') multiplied by ^-1 the following equation is obtained.

  This is a coordinate conversion formula from the coordinate system XYZ to the coordinate system X′Y′Z ′. That is, when the coordinate component of the vector represented by the coordinate system XYZ is desired to be represented by the coordinate system X′Y′Z ′, the conversion may be performed based on the above equation.

Since the projection direction of the laser beam is the X-axis direction of the coordinate system XYZ, if R _x = 1, R _y = 0, and R _z = 0 in Equation 12, the X-axis direction in the coordinate system X′Y′Z ′ Are obtained.

  The attitude detection method and calculation method described above are examples, and the present invention is not limited to this. Any configuration and calculation method that can uniquely determine the attitude of the distance measuring device 1 in the three-dimensional space may be used.

  When the posture change is limited only to the elevation direction, that is, when the posture change in the rotation direction around the gravity direction can be ignored, the elevation direction is determined using only the gravity vector G acquired from the acceleration sensor 92. The geomagnetic sensor 91 may be omitted by detecting the change in posture. Even if the posture change is not limited only to the elevation direction, only the posture change in a direction other than the rotation direction about the gravity direction is calculated using only the acceleration sensor 92 without using the geomagnetic sensor 91. By doing this, it is possible to improve the calculation accuracy of the distance between two points, which will be described later, as compared to the case where no posture change is detected.

<Displacement detection>
Below, the processing content performed in the displacement detection part 73 in order to detect the displacement from the stationary state of the distance measuring device 1 is demonstrated. The distance measuring device 1 according to the present embodiment can be used by a user with a hand. Further, when measuring the distance between two points described later, the distance measuring device 1 may be displaced during the direct distance measurement with respect to the two points. In particular, the distance measuring device 1 is used by holding it. In case it becomes noticeable. By detecting the displacement described below and using the result, the accuracy of the distance measurement between the two points can be improved.

  As shown in FIG. 2, the displacement detection unit 73 acquires each data from the geomagnetic sensor 91 and the acceleration sensor 92 at a constant time interval Δt via a communication interface.

  As described above, the information obtained from the acceleration sensor 92 is a combined vector of gravity and acceleration applied to the sensor as shown in FIG. In order to determine the displacement of the device, time series data of acceleration applied to the device during the displacement is required. Therefore, it is necessary to remove the gravity component from the information obtained from the acceleration sensor 92 and extract only the acceleration component.

  In the following, an example of a method for removing gravity components from information obtained from the acceleration sensor 92 and extracting time series data of acceleration will be described. Note that the gravity vector at time t is G (t), the acceleration vector is a (t), the combined vector of gravity and acceleration obtained from the acceleration sensor 92 is M (t), and the geomagnetic vector obtained from the geomagnetic sensor 91 is Let B (t).

The time t _0, the distance measuring device 1 is a stationary state immediately before starting the displacement. At this time, since the acceleration due to the displacement of the distance measuring device 1 is not applied to the acceleration sensor 92, the combined vector M (t ₀ ) detected by the acceleration sensor 92 is equal to the gravity vector G (t ₀ ). That is, the following equation holds.

The gravity vector G (t ₀ ) is stored in the displacement detection unit 73. Further, the geomagnetic vector B (t ₀ ) detected by the geomagnetic sensor 91 at time t ₀ is also stored in the displacement detector 73.

A time after Δt seconds from t _{0 is} defined as t ₁ (t ₁ = t ₀ + Δt). Further, at time t _1, the distance measuring device 1 and had begun to displacement. At this time, both gravity and acceleration are applied to the acceleration sensor 92, and the resultant vector M (t ₁ ) is detected. The acceleration vector a (t ₁ ) at time t ₁ is the difference between this M (t ₁ ) and the gravity vector G (t ₁ ), that is, a (t ₁ ) = M (t ₁ ) −G (t ₁ ). Can be obtained from However, the gravity vector G (t ₁ ) is an unknown quantity. Therefore, if Δt is a sufficiently short time, it can be considered that the posture of the apparatus has hardly changed from time t ₀ . That is, the gravity vector G (t ₁ ) can be regarded as being equal to G (t ₀ ), and the acceleration vector a (t ₁ ) can be expressed by the following equation.

However, the attitude of the apparatus at time t ₁ has actually changed from time t ₀ , and the gravity vector G (t ₁ ) at time t ₁ has changed from G (t ₀ ). it is conceivable that. Therefore, the gravity vector G (t ₁ ) at time t ₁ is predicted from the change in the geomagnetic vector B (t).

On the earth's surface, the directional relationship between geomagnetism and gravity is always constant in this embodiment. That is, if the change in direction of the geomagnetic vector B (t) between times t ₀ and t ₁ is known, the change in direction of gravity can also be uniquely determined. Therefore, as shown in FIG. 6B, when the geomagnetic vector B (t) and the gravity vector G (t) are expressed in spherical coordinate display based on the coordinate system XYZ, the respective zenith angles θ _B (t), θ _G (t) and azimuth angles φ _B (t) and φ _G (t) can be expressed by the following equations.

Here, B _x (t), B _y (t), and B _z (t) are coordinate components in the X-axis, Y-axis, and Z-axis directions of the geomagnetic vector B (t) in the coordinate system XYZ, and G _x ( t), G _y (t), and G _z (t) are coordinate components in the X-axis, Y-axis, and Z-axis directions of the geomagnetic vector G (t) in the coordinate system XYZ.

Direction changes Δθ _B0 and Δφ _B0 between time t ₀ and t ₁ of the geomagnetic vector B (t) can be obtained by the following equations, respectively.

Along with this, the gravity vector G (t ₀ ) should have undergone a similar change in direction from time t ₀ to t ₁ . That is, the directions of gravity vectors θ _G (t ₁ ) and φ _G (t ₁ ) at time t ₁ can be expressed by the following equations, respectively.

From Expression 17, each coordinate component in the coordinate system XYZ of the gravity vector G (t ₁ ) can be obtained by the following expression as an inverse transformation of (Expression 15).

However, it is assumed here that the magnitude of the gravity vector G (t) is | G (t) | is always constant on the ground surface and has not changed from the time t ₀ . The acceleration vector a (t ₁ ) and the gravity vector G (t ₁ ) obtained by the above procedure are stored in the displacement detector 73.

The time after Δt seconds from t ₁ is t ₂ (t ₂ = t ₁ + Δt). At this time, the acceleration sensor 92 detects a combined vector M (t ₂ ) of gravity and acceleration applied to the distance measuring device 1. Here, if Δt is a sufficiently short time again, it can be considered that the attitude of the apparatus has not changed significantly from time t ₁ , and the gravity vector G (t ₂ ) is considered to be equal to G (t ₁ ). be able to. That is, the acceleration vector a (t ₂ ) detected by the acceleration sensor 92 at time t ₂ can be expressed by the following equation.

Further, the gravity vector G (t ₂ ) at the time t ₂ is determined as follows from the direction changes Δθ _B1 and Δφ _B1 between the time t ₁ and the time t ₂ of the geomagnetic vector B (t).

The acceleration vector a (t ₂ ) and the gravity vector G (t ₂ ) obtained by the above procedure are stored in the displacement detection unit 73.

By repeating the above procedure at the time interval Δt, time series data of the acceleration vector a (t) and the gravity vector G (t) can be obtained. In general, the acceleration vector a (t _n ) and the gravity vector G (t _n ) at time t _n can be expressed as follows.

An example of a method for obtaining the displacement from the time t ₀ of the distance measuring device 1 from the time series data of the acceleration vector a (t _n ) obtained by the above procedure is shown below. In general, the acceleration vector a (t) and the position vector x (t) satisfy the following differential equation, and the position vector x (t) resulting from the acceleration vector a (t) can be obtained by solving this. .

Here, at time t ₀ devices because it was stationary, the initial velocity vector is zero. In addition, since the relative displacement from the stationary state may be obtained, the initial position vector may be set to 0. That is, if the velocity vector is v (t), Equation 22 may be solved based on the following initial conditions.

In general, to solve Equation 22 for the position vector x (t), it is necessary to integrate the acceleration vector a (t) twice with respect to time t. However, since the information of the acceleration vector a (t _n ) obtained now is discrete information of the time interval Δt, continuous integration cannot be executed. Therefore, a solution is obtained by a discrete sum as follows.

Where t is the time of the end displacement, n represents a number of divisions obtained by dividing the period from time t ₀ to t at time intervals Delta] t. The solution vector x (t) obtained from Expression 24 is the displacement from the stationary state for the distance measuring device 1 to be obtained. Hereinafter, this solution vector x (t) will be expressed as Δx.

The displacement vector Δx obtained by the above procedure is a displacement viewed from the coordinate system XYZ. In order to replace this with the displacement seen from the coordinate system X′Y′Z ′ that is static with respect to the ground surface, the coordinate conversion may be performed by Equation 12. That is, when the displacement vector viewed from the coordinate system X′Y′Z ′ is expressed as Δx ′, it can be obtained by the following equation.

In the above procedure, the displacement vector Δx in the coordinate system XYZ is calculated, and then the coordinate transformation to the coordinate system X′Y′Z ′ is performed to obtain the displacement vector Δx ′. The method for obtaining the displacement vector Δx ′ is as follows. This is not the case. For example, the acceleration vector a (t _n ) may be converted into the coordinate system X′Y′Z ′ first, and then the integration (or series) may be calculated. That is, if the acceleration vector and the velocity vector in the coordinate system X′Y′Z ′ are a ′ (t _n ) and v ′ (t _n ), respectively, the displacement vector Δx ′ is similarly calculated even if it is calculated as follows: Can be sought.

Further, although the displacement detector 73 reads data from the geomagnetic sensor 91 and the acceleration sensor 92 at a constant time interval Δt, it does not have to be constant. If the time interval is sufficiently short to obtain the displacement vector x (t), the width of Δt may be arbitrarily selected. In this case, the time interval Δt _i from the time t ₀ may be stored in the displacement detection unit 73 in time series, and the calculation may be performed by changing Equation 24 as follows.

  In the above procedure, the temporal direction change of the geomagnetic vector B (t) is used to predict the gravity vector G (t) at an arbitrary time, but the prediction method is not limited to this. For example, the distance measuring device 1 may be provided with a gyro sensor so as to acquire the angular acceleration of the device together and predict the direction of the gravity vector G (t) from the information.

<Measurement of distance between two points>
In the following, in order to calculate the distance between any two points in the three-dimensional space by applying the aforementioned “direct distance measurement”, “attitude detection”, and “displacement detection”, the two-point distance calculation unit 74 The processing content to be performed will be described with reference to FIG. Two points in the three-dimensional space to be measured are point A and point B, respectively.

First, the direct distance to the point A is measured by the distance measuring device 1. Let O be the position of the device in the three-dimensional space at this time. The distance from point O to point A can be measured by the method described in “Direct distance measurement”. At the same time, the device attitude in the coordinate system X′Y′Z ′ that is static with respect to the ground surface can be detected by the method described in “Attitude detection”. Thereby, the A point distance vector r _A from the O point toward the A point can be obtained.

  Next, the direct distance to point B is measured by the distance measuring device 1. However, when the device is pointed in the direction of point B, the measurement reference position of point B is generally deviated from the reference position O when point A was measured earlier. The deviation from the O point is detected by the method described in “Displacement detection”. Now, assuming that the position of the device is shifted from the point A to the point B by shifting the position of the device from the point O to the point O ′, the vector from the point O to the point O ′ is exactly “displacement”. It is the displacement vector Δx ′ itself obtained in “Detection”.

  Here, the position of the apparatus is the O point and the O ′ point, but actually, the position of the distance measuring unit 71 that performs “direct distance measurement” is preferably the O point and the O ′ point. That is, it is desirable to detect the displacement of the distance measuring unit 71 as the displacement detection. That is, the displacement of the distance measuring unit 71 is calculated by arranging the position of the acceleration sensor 92 that performs “displacement detection” and the distance measuring unit 71 adjacent to a position that overlaps in the Y-axis direction in the distance measuring device 1, for example. You may do it. Further, the displacement of the distance measuring unit 71 may be calculated from the displacement detected by the acceleration sensor 92 based on the relative position between the distance measuring unit 71 and the acceleration sensor 92 in the distance measuring device 1.

Based on the above, the direct distance from point O ′ to point B is measured. In the same way as when measuring the direct distance from the O point to the A point, the distance from the O 'point to the B point is measured by "Direct distance measurement", and the device in the coordinate system X'Y'Z' is measured by "Attitude detection". Each posture is detected, and a B point distance vector r _B from the O ′ point to the B point is obtained.

When the three vectors r _A , Δx ′, and r _B obtained above are used, it can be seen from FIG. 7 that the distance AB between the two points is obtained by the following equation.

The calculation of Expression 27 may take the absolute value after obtaining the sum of the components of each vector, or may be calculated as follows using the inner product of the vectors.

<Measurement of angle between two points>
In the following, processing contents performed by the angle calculation unit 75 between two points in order to calculate an angle between two arbitrary points in the three-dimensional space by applying the above-described “direct distance measurement” and “posture detection”. This will be described with reference to FIG. Two points in the three-dimensional space to be measured are point A and point B, respectively.

First, the direct distance to the point A is measured by the distance measuring device 1. Let O be the position of the device in the three-dimensional space at this time. The A point distance vector r _A from the O point to the A point in the coordinate system X′Y′Z ′ can be obtained in the same manner as described in “Measurement of distance between two points”.

Next, the direct distance to point B is measured by the distance measuring device 1. A position in the three-dimensional space of the apparatus at this time is defined as O ′. The distance vector r _B from the O ′ point to the B point in the coordinate system X′Y′Z ′ can be obtained in the same manner as described above.

Using the two vectors r _A and r _B obtained above, the angle formed by the two vectors r _A and r _B in the three-dimensional space, that is, the angle θ formed by the two straight lines OA and O′B can be obtained from FIG. It can be seen that the inner product calculation of the vectors can be obtained as follows.

Here, r _Ax , r _Ay , and r _Az are the coordinate components of the distance vector r _{A in} the _X′- axis, Y′-axis, and Z′-axis directions, and r _Bx , r _By , and r _Bz are the X of the distance vector r _B These are coordinate components in the 'axis, Y' axis, and Z 'axis directions.

In the above description, the displacement of the measurement reference position (displacement vector Δx ′ from the O point toward the O ′ point) accompanying the direction of the apparatus from the A point to the B point was not considered. In the same manner as in the case of the above, taking into account the displacement vector Δx ′, the angle formed by OA and OB at the point O or the angle formed by O′A and O′B at the point O ′ is calculated. Also good. At this time, when calculating the angle θ ₁ formed by OA and OB at the point O, the inner product of the vector r _A and Δx ′ + r _B is used, and the angle θ ₂ formed by the O′A and O′B at the point O ′ is calculated. In the case of calculation, the inner product of the vectors r _A −Δx ′ and r _B may be calculated in the same procedure as in Equation 29.

<Operation mode: Direct distance measurement mode>
Hereinafter, an operation mode of the distance measuring device 1 controlled by the control unit 70 will be described. The distance measuring apparatus 1 according to the present embodiment has a direct distance measuring mode as an example of an operation mode.

  When an operation instruction in the direct distance measurement mode is input to the control unit 70 based on an operation input to the operation unit 40, the control unit 70 sets the distance measurement device 1 to the direct distance measurement mode. The control unit 70 performs the following control to directly measure the distance based on the operation input from the operation unit 40.

  The user directs the laser beam projection from the operation unit 40 with the distance measuring device 1 facing the measurement target point. In response to the above instruction, the control unit 70 outputs a light emission control signal to the projection unit 20 and projects laser light from the projection unit toward the measurement target point. In this stage, the direct distance measurement is not performed.

  The user determines the position to be truly measured while confirming the irradiation point of the laser beam reflected on the measurement target point. Then, a distance measurement execution instruction is issued directly from the operation unit 40. In response to the instruction, the control unit 70 measures the direct distance to the measurement target point by the method described in “Direct distance measurement”.

  The result of the measured direct distance is displayed on the display unit 50 to notify the user. The user confirms the displayed result, and gives a laser beam projection instruction from the operation unit 40 when the user wants to perform measurement again, or directs the end of the direct distance measurement mode when he wants to finish the measurement.

  In the above description, the direct distance measurement is divided into two steps of “laser light projection” and “distance measurement execution”, and a two-step instruction is requested from the user, but this is not restrictive. For example, by automatically repeating “projection of laser light” and “execution of distance” at regular time intervals, the distance is continuously measured directly, and the measurement result is displayed on the display unit 50 in real time. Also good.

  Further, the two steps of “laser light projection” and “distance measurement execution” may be instructed by one switch of the operation unit 40. For example, a “laser light projection” instruction may be issued by continuing to hold down the switch, and a “distance measurement execution” instruction may be issued when the switch is released. As a result, the laser light is not constantly projected and the danger of the laser light being continuously exposed to the eyes of the user and the surrounding people can be avoided, and the operation of pressing the switch is a single operation. Measurement can be performed and operability is improved.

  In addition, after instructing “projection of laser light”, if “distance measurement execution” is not performed for a certain time, the projection of laser light may be stopped. As a result, the same danger as described above can be avoided, and at the same time, the power consumption of the power supply unit 61 caused by continuing to project the laser light can be reduced.

  Further, a configuration may be adopted in which a plurality of measurements are executed in response to one “distance measurement execution” instruction, and the average value is calculated and displayed in the control unit 70. Thereby, it is possible to suppress variation in the measurement result. In addition, the number of times of measurement may be set by an operation from the operation unit 40.

  Further, the distance measuring device 1 may be provided with a sound generation unit such as a speaker or a buzzer. Thus, not only the measurement completion notification to the user is displayed on the display unit 50 but also the auditory notification, the user can recognize the measurement completion without checking the display unit 50.

  The distance measuring device 1 may be provided with a lamp such as an LED. For example, by mounting blue and red LEDs, the blue LED can be turned on when the measurement is completed normally, and the red LED can be flashed if an abnormality occurs during the measurement. .

<Operation mode: Distance measurement mode between two points>
The distance measuring device 1 according to the present embodiment has a two-point distance measuring mode as an example of an operation mode. The measurement method in this operation mode conforms to the above-mentioned “measurement of distance between two points”.

  When an operation instruction in the two-point distance measurement mode is input to the control unit 70 based on an operation input to the operation unit 40, the control unit 70 sets the distance measurement device 1 to the two-point distance measurement mode. . Based on the operation input from the operation unit 40, the control unit 70 performs the following control in order to measure the distance between two points in the three-dimensional space.

  The user directs the distance measurement device 1 toward the first measurement target point and performs measurement in the same procedure as in the direct distance measurement mode. At this time, the measurement result is displayed on the display unit 50 to notify the user that the first measurement has been completed.

  Simultaneously with the execution of the first measurement, the “displacement detection” function is enabled to detect the displacement of the distance measuring device 1 in the three-dimensional space from the first measurement position.

  The user directs the distance measuring device 1 toward the second measurement target point and performs the measurement in the same procedure as in the direct distance measurement mode. At this time, during the “projection of laser light” step, the “displacement detection” function is continuously enabled, and the processing is terminated based on the instruction to “execute distance measurement”. As a result, the displacement vector Δx ′ from the point O to the point O ′ described in detail in “Measurement of distance between two points” can be accurately detected.

  By displaying the second measurement result and the measurement result of the distance between the two points on the display unit 50, the user is notified that the measurement is completed. The user confirms the displayed result, and if the measurement is to be performed again, the first measurement start instruction is given. If the measurement is to be finished, the two-point distance measurement mode end instruction is given from the operation unit 40. Do.

This operation mode has a function capable of selecting from the operation unit 40 whether the “displacement detection” function is valid / invalid. Thereby, for example, when it is guaranteed that the O point and the O ′ point coincide with each other, the displacement vector Δx ′ of the distance measuring device 1 in Expression 28 can be set to 0, and the processing contents in the control unit 70 Can be reduced. At this time, Equation 29 is reduced to the following cosine theorem and becomes Equation 31.

  FIG. 9 shows an operation flowchart for the two-point distance measurement mode. When the two-point distance measurement mode is set in the distance measuring device 1, a measurement counter N that counts the number of measurements is initialized to 0 in step F1, and the operation waits for a laser projection instruction to be input to the operation unit 40 ( Step F2).

  When a laser projection instruction is input by the operation unit 40, laser light projection is executed (step F3). Next, in step F4, a wait for a distance measurement execution instruction to be input to the operation unit 40 is waited.

  When the distance measurement execution instruction is received, the measurement counter N is incremented (step F5). If N is 1 as a result of the increment (in the case of the first measurement), displacement detection is started (step F7), and the displacement in the three-dimensional space of the distance measuring device 1 using the geomagnetic sensor 91 and the acceleration sensor 92 is started. Start detecting. As a result of the increment, if N is 2 (in the case of measurement at the second point), the displacement detection function is terminated (step F8), and the displacement amount after the start of displacement detection in step F7 is calculated.

  In step F9, the distance measurement unit 71 performs distance measurement of the Nth point and displays the measurement result on the display unit 50 (step F10). At this time, the distance measuring unit 71 detects the posture of the distance measuring unit 71 using the geomagnetic sensor 91 simultaneously with the start of distance measurement.

  If the value of the measurement counter N is 2 at this time, that is, if the measurement of two points that are the target of the distance between the two points is completed, the distance between the two points is calculated (step F12), and the result is also included Is displayed on the display unit 50 (step F13). If the value of the measurement counter N is 1, that is, if only the first measurement has been completed, the process returns to step F2 and waits for the execution of the second measurement cycle. Here, as described above, in the second point measurement instruction, that is, in this operation mode, when the laser projection instruction is not given for a predetermined time, the two-point distance measurement mode may be terminated.

  In step F14, when there is no continuous measurement instruction to the operation unit 40, the two-point distance measurement mode is terminated. If there is a continuous measurement instruction, the process returns to step F1 and the above steps are repeated. In step F14, it is determined that there has been a continuous measurement instruction by receiving a laser projection instruction to the operation unit 40 corresponding to step F2, and the measurement counter N is initialized (step S1), and remains as it is. You may advance to step F3.

<Operation mode: Two-point angle measurement mode>
The distance measuring device 1 according to the present embodiment has a two-point angle measurement mode as an example of an operation mode. The measurement method in this operation mode conforms to the above-mentioned “measurement between two points”.

  When an operation instruction in the two-point angle measurement mode is input to the control unit 70 based on an operation input to the operation unit 40, the control unit 70 sets the distance measuring device 1 to the two-point angle measurement mode. . Based on the operation input from the operation unit 40, the control unit 70 performs the following control in order to measure the angle formed by two points in the three-dimensional space.

  The measurement procedure is basically the same as the two-point distance measurement mode. That is, the user first measures the distance measuring device 1 toward the first measurement target point, and measures the distance measuring device 1 toward the second measurement target point.

  By displaying the measurement result of each of the two points and the calculation result of the angle between the two points on the display unit 50, the user is notified that the measurement has been completed. When the user confirms the displayed result and wants to perform the measurement again, he / she gives an instruction to start the measurement at the first point, and when the user wants to end the measurement, gives an instruction to end the angle measurement mode between the two points. Do.

This operation mode has a function of selecting a measurement angle target from the operation unit 40. As described in detail in “Measurement of the angle between two points”, the angles to be calculated are the angles formed by the straight lines OA and OB at the point O, the angles formed by the straight lines O′A and O′B at the point O ′, _A relative angle between r _A and r _B ignoring the displacement vector Δx ′ is conceivable. Since this can be selected, the user can measure a desired angle. Note that these angles may be selectable, or all or part of the angles may be displayed on the display unit 50. Moreover, the result of combining a plurality of calculated angles may be displayed, for example, an average value may be displayed. In these cases, when the displacement vector Δx ′ exceeds a predetermined value, an error may be displayed. By re-measuring so that the displacement vector Δx ′ falls below a predetermined value, the angle calculation accuracy can be improved.

In addition, this operation mode is not limited to the angle, and may be configured to measure an arbitrary angle of a figure closed by three vectors r _A , Δx ′, and r _B as shown in FIG. Thereby, the user can measure a desired angle by selecting an angle portion to be known in the graphic closed by r _A , Δx ′, and r _B. In addition, you may make it display this closed figure itself on the display part 50, and may display a part or all of each angle.

(Second Embodiment)
<Example of automatic control from an external device>
In the present embodiment, another control mode in the case where the distance measuring apparatus 1 can be equipped with a communication function with an external device will be described below. Examples of the external device include a PC, a smartphone, a tablet terminal, and various industrial electronic devices such as a sequencer. In the following description, only portions different from the first embodiment will be described, and other descriptions will be omitted.

  In this aspect, the distance measuring apparatus 1 includes a communication interface unit with an external device as an internal configuration, and is managed and controlled by the control unit 70. The communication interface unit includes wired communication such as USB, and wireless communication such as Wi-Fi. As the communication protocol, a general communication means such as MODBUS (registered trademark) may be adopted as a connection means, or a unique protocol may be created and adopted.

  The control unit 70 may be configured such that command groups corresponding to various controls of the distance measuring device 1 are prepared. Thus, the external device may be configured to perform arbitrary control of the distance measuring device 1 by transmitting an instruction command corresponding to the desired control to the distance measuring device 1. For example, control instructions such as “direct distance measurement execution” and “measurement result readout” may be prepared.

An example of the control command is shown in Table 1. The type of control that can be assumed is not limited to this.

  When controlling from a PC, a smartphone, or a tablet terminal, an application for each device may be prepared. For example, an application for a smartphone corresponding to an iOS (registered trademark) or Android (registered trademark) OS is prepared, and the instruction command is transmitted via Wi-Fi from a touch operation on the smartphone. It is good also as a structure which performs various controls.

  An example of the state when the distance measuring device 1 is operated from the smartphone 2 and the screen configuration of the application operating on the smartphone 2 are shown in FIG. The screen configuration of the application is an example and is not limited to this.

  In FIG. 10, the distance measuring device 1 is operated using the smartphone 2, the distance between the points A and B is measured in the two-point distance measurement mode, and the result is displayed on the display screen of the smartphone 2. Is shown. On the display screen, the distance from the distance measuring device 1 to the point A and the distance to the point B, and the distance between the two points of the points A and B are displayed together.

<Point-to-point distance measurement system in cooperation with external equipment>
A control mode when the communication function described above is used and linked with an external device will be described below. In the description so far, the geomagnetic sensor 91 and the acceleration sensor 92 are provided in the distance measuring device 1 so that various measurements such as posture detection, displacement detection, and distance measurement between two points can be performed by the distance measuring device 1 alone. It was.

  Here, the geomagnetic sensor 91 and the acceleration sensor 92 are not provided in the distance measuring apparatus 1, and the distance between two points is measured by using the data of the geomagnetic sensor and the acceleration sensor of the external device via the communication function. A configuration for performing the various calculations will be described with reference to FIG. Examples of external devices include smartphones and tablet terminals. Below, an external device is demonstrated as the smart phone 2.

  As shown in FIG. 11A, the distance measuring device 1 and the smartphone 2 are connected to each other by a fixed component 3. Thereby, the distance measuring device 1 and the smart phone 2 can always keep each other's attitude | position and positional relationship in three-dimensional space constant. That is, each data detected by the geomagnetic sensor and the acceleration sensor in the smartphone 2 is equivalent to data detected when each sensor is installed in the distance measuring device 1. Note that the fixed component 3 may be integrally formed with one component constituting the distance measuring device 1. As a fixing method, for example, the smartphone 2 may be fixed by a connector inserted into and removed from the connector, and in that case, data may be transmitted and received through the connector. .

  An application is activated on the smartphone 2, and each detection data is read in real time from the geomagnetic sensor and the acceleration sensor of the smartphone 2 itself.

  The distance measuring device 1 issues a request to the smartphone 2 at a timing when data of the geomagnetic sensor and the acceleration sensor are necessary. The smartphone 2 receives this request and transmits the current values of the geomagnetic sensor and the acceleration sensor to the distance measuring device 1 via the communication interface.

  The distance measuring device 1 receives data of the geomagnetic sensor and the acceleration sensor from the smartphone 2 and uses the data to perform various calculation processes such as posture detection and displacement detection. Thereby, the same function can be realized without providing various sensors in the distance measuring device 1.

However, if displacement detection is calculated based on the acceleration vector a _S (t) detected by the acceleration sensor in the smartphone 2, it calculates the displacement vector Δx _s ′ of the smartphone 2 body. It is generally different from the displacement vector Δx ′ of the distance measuring device 1.

Therefore, it is possible to set when you connected by brackets 3, as shown in FIG. 11 (a), indicate the relative position of the distance measuring device 1 and the smart phone 2, the relative position vector r _s in the coordinate system XYZ as a parameter It is good to configure as follows. Thereby, even the acceleration sensor in the smartphone 2 can determine the displacement vector Δx ′ of the distance measuring device 1 as follows. The setting of the relative position vector r _s, for example may be previously set for each of the smartphone 2 models. In this case, for example, the relative position vector r _s may be set by inputting a model name on an application operating on the smartphone 2 or by acquiring model information stored in the smartphone 2. The relative position vector r _s of each of the smartphone 2 models, may be used a method such as obtained from the table stored in the server (not shown).

In the first point and the time of each measurement second point, 'calculated by the coordinate transformation of coordinate components of each _r s1' coordinate system X'Y'Z vector _{r s,} and _{r s2} '. Then, as can be seen from FIG. 11B, the displacement vector Δx ′ of the distance measuring device 1 can be calculated by the following equation.

  In the above description, the distance measurement device 1 side performs various calculation processes such as posture detection and displacement detection, but this is not restrictive. For example, the distance measuring device 1 may perform a distance measurement in response to a request from the smartphone 2, and the smartphone 2 may receive the result to perform various calculation processes on the smartphone 2 side.

(Third embodiment)
In this embodiment, the configuration is the same as in the first embodiment or the second embodiment, but the display control when the two-point distance measurement mode is executed is different. In the following description, only portions different from the first embodiment will be described, and other descriptions will be omitted.

  In the present embodiment, “horizontal distance measurement mode” or “vertical distance measurement mode” can be selected by operating the operation unit 40.

  When the “horizontal distance measurement mode” is selected, the horizontal component at the distance between the two points calculated in the “distance between two points measurement mode” described in the first embodiment, that is, the ground surface in the X′Y′Z ′ coordinates. Is calculated and displayed on the Y′Z ′ plane parallel to the distance or the distance in the Y′-axis direction or the Z′-axis direction. However, display on the display unit 50 at the same time as other distances such as the distance in the three-dimensional space calculated by the X′Y′Z ′ coordinates is not hindered.

  When the “vertical distance measurement mode” is selected, similarly, the vertical component in the distance between two points calculated in the “distance measurement mode between two points” described in the first embodiment, that is, X′Y′Z ′. A distance on the X′Y ′ plane or Y′Z ′ plane perpendicular to the ground surface in coordinates or a distance in the X ′ axis direction is calculated and displayed. However, display on the display unit 50 at the same time as other distances such as the distance in the three-dimensional space calculated by the X′Y′Z ′ coordinates is not hindered.

  In this way, by configuring the “horizontal distance measurement mode” or the “vertical distance measurement mode” to be selectable, the distance on the plane or axis desired by the user can be calculated. A desired distance can be measured regardless of a physical shape or the like.

  In the embodiment described above, posture and displacement detection are performed when the distance to the measurement target point is measured. For example, according to the method described with reference to FIG. 9, posture detection is performed at the same time as laser light is projected and distance measurement is started, but light is received immediately before laser light projection or after laser light projection. Posture detection may be performed after calculating the distance to the measurement target point.

  Similarly, in the displacement detection, an example has been described in which measurement is continued from the start of the distance measurement to the first measurement target point to the end of the distance measurement to the second measurement target point. It is not necessarily limited to this. For example, the displacement detection used for calculating the distance between two points may be started when a predetermined time has elapsed or the amount of displacement has been detected since the start of the distance measurement to the first measurement target point. . In addition, the displacement is intermittently detected at a predetermined timing until the second distance measurement is executed, and the predetermined time or the number of samples is traced from the time when the second distance measurement execution instruction is given. The displacement amount may be used for calculating the distance between the two points except for the displacement amount data from the time point.

  The present invention is not limited to the embodiments described above, and various modifications can be made without departing from the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Distance measuring device 2 Smartphone 3 Fixed component 10 Main body 20 Projection part 21 Laser diode 22 Projection lens 23 Laser driver 30 Light reception part 31 Condensing lens 32 Light reception sensor 33 Signal amplification part 40 Operation part 50 Display part 60 Battery cover 61 Power supply part 70 Control unit 71 Distance measurement unit 72 Posture detection unit 73 Displacement detection unit 74 Distance calculation unit between two points 75 Angle calculation unit between two points 80 Time difference measurement unit 90 Sensor unit 91 Geomagnetic sensor 92 Acceleration sensor

Claims (5)

The body,
A distance measurement unit for measuring the distance to the measurement target point;
An attitude detection unit for detecting the attitude of the main body;
A displacement detection unit that detects the displacement of the main body during distance measurement by the distance measurement unit;
The distance between the two points is measured using the distance to each of two arbitrary measurement points measured by the distance measurement unit and the detection results of the posture detection unit and the displacement detection unit. Distance measuring device.   The distance measuring apparatus according to claim 1, wherein the posture detection unit includes a geomagnetic sensor, and the displacement detection unit includes an acceleration sensor. The posture detection unit includes a first posture that is a posture of the distance measurement device at a time when the distance measurement unit measures a distance to the first measurement target point, and a second measurement target point by the distance measurement unit. Using the geomagnetic sensor to calculate a second posture that is the posture of the distance measuring device at the time of measuring the distance to,
The displacement detector calculates a displacement amount of the distance measuring device from the first posture to the second posture using the acceleration sensor,
Using the distance to the first measurement target point, the first posture, the distance to the second measurement target point, the second posture, and the displacement amount, the first measurement target point to the first measurement target point The distance measuring apparatus according to claim 2, wherein the distance to the second measurement target point is measured.   From the distance to the first measurement target point and the first posture, a first vector that is a vector amount from the main body to the first measurement target point is calculated, and the second measurement target point is calculated. A second vector that is a vector quantity from the main body to the second measurement target point is calculated from the distance to the second posture and the second posture, and the first vector, the second vector, and the displacement The distance measuring apparatus according to claim 3, wherein a distance from the first measurement target point to the second measurement target point is measured by vector calculation using a quantity. A distance measurement unit for measuring the distance to the measurement target point;
An attitude detection unit that detects an attitude of the distance measurement unit when measuring the distance;
A displacement detection unit that detects the amount of displacement of the distance measurement unit during the time from when the distance measurement unit measures the distance to the first measurement target point and then measures the distance to the second measurement target point. Prepared,
The distance between the two points is measured using the respective distances to any two measurement target points measured by the distance measurement unit and the detection results of the posture detection unit and the displacement detection unit. Distance measuring system.

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