JP2769906B2 - Three-dimensional measuring method and device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a three-dimensional measuring method and apparatus suitable for measuring dimensions of large structures.

(Prior Art) Conventionally, arbitrary three points a and 3 of a three-dimensional structure M as shown in FIG.
A plurality of measurement points (eg, a, b, c,
g, h) are obtained from one point A by using a distance measuring angle finder N, and then from another point B, a plurality of points including the three points a, b, c (for example, a, b, c) c, d, e, f), and the measured value at each point is calculated from the three measurement points measured at points A and B, respectively.
A dimension measurement method for a three-dimensional structure is known in which coordinates are converted so that the coordinates of a, b, and c coincide with each other to obtain a value in a common coordinate system, and the dimensions of the three-dimensional structure A are obtained based on the coordinates. Have been.

(Problem to be Solved by the Invention) According to the above-described dimension measuring method, a coordinate system is determined by measuring three arbitrary points a, b, and c. That is, 3 points a, b, c
The XYZ coordinate system is determined, for example, with the plane created by the YZ plane, so that the three points a, b, and c can be collimated from the points A and B. There was a restriction that the dimensions of the structure could not be measured.

An object of the present invention is to provide a simple three-dimensional measuring method and an apparatus therefor with less such restrictions.

(Means for Solving the Problems) In order to achieve the above object, the first invention of the present application is to install a distance measuring angle finder at a first position where substantially the entire three-dimensional structure can be collimated, The distance measurement and the angle measurement data of any two points on the three-dimensional structure or outside the three-dimensional structure, which are fixed points, and the measurement points and the angle measurement data of the measurement points on the three-dimensional structure are measured. The origin, the vertical axis is the z-axis, and the horizontal axis in the linear direction connecting the two orientation points is the x-axis or the y-axis. Move the distance measuring and angle measuring instrument to a second position where the two control points can be collimated, and measure the distance and angle measurement data of the two control points and the other unmeasured measuring points on the three-dimensional structure. The second orthogonal seat is measured by a goniometer and the other one of the orientation points is the origin, the vertical axis is the z axis, and the horizontal axis in the linear direction connecting the two orientation points is the x 'axis or the y' axis. The coordinate values of the control points and the measurement points are obtained in a reference system, and the coordinate values of the first and second rectangular coordinate systems are converted into coordinate values of a single coordinate system, and the coordinate values are calculated between all the measurement points of the three-dimensional structure. Is determined. According to a second aspect of the present invention, a distance measuring goniometer is installed at a first control point position at which substantially the entire three-dimensional structure can be collimated, and a second control point on or outside the three-dimensional structure and the three-dimensional structure are provided. The distance measurement and angle measurement data of the measurement point on the object is measured by the distance measurement angle measuring instrument, and the first
Is the origin, the vertical axis is the z axis, and the horizontal axis in the linear direction connecting the two orientation points is the x-axis or the y-axis. Asked, then
The distance measuring and angle measuring instrument is moved to the second control point, and the distance measuring and angle measuring data of the first measuring point and other measuring points not measured on the three-dimensional structure are measured by the distance measuring angle measuring instrument. , The second control point is the origin, the vertical axis is the z axis, and the first control point and the second control point are in the second orthogonal coordinate system in which the horizontal horizontal axis connecting the two control points is the x ′ axis or the y ′ axis. Determining the coordinate values of the measurement points, and exchanging the coordinate values of the first and second orthogonal coordinate systems into the coordinate values of a single coordinate system to obtain the dimensions between all the measurement points of the three-dimensional structure. And Further, the third invention is a measuring device for carrying out the above-described measuring method, comprising: a distance measuring goniometer and a first position or a first control point position capable of collimating substantially the entire three-dimensional structure. From the two measurement points or the second measurement points on the three-dimensional structure or outside the three-dimensional structure measured by the installed distance measurement angle finder and the distance measurement angle measurement data of the measurement points on the three-dimensional structure, One of the control points or the first control point is the origin, the vertical axis is the Z axis, and the two horizontal points in the first orthogonal coordinate system are the x-axis or the y-axis, and the horizontal axis in the linear direction connecting the two control points is the x-axis or the y-axis. Means for determining the coordinate values of the fixed point or the second control point and the measuring point, and the distance measured by a distance measuring angle gauge installed at a second position or a second control point position where the two control points can be collimated. From one of the two control points or the first control point and the ranging data of the other measurement points on the three-dimensional structure that have not been measured, another one of the control points is used. z-axis origin, the vertical axis a second orientation points, 2
Means for obtaining coordinate values of the control points and measurement points in a second rectangular coordinate system having a horizontal axis in a linear direction connecting two control points as an x 'axis or a y'axis; and the first and second rectangular coordinates The apparatus further comprises means for converting a coordinate value of the system into a coordinate value of a single coordinate system to obtain a dimension between all measurement points of the three-dimensional structure.

(Operation) In the first invention of the present application, a measuring point on a structure including two control points is measured by a distance measuring angle finder installed at one point, and a horizontal axis in a linear direction connecting the two control points is defined as an x-axis. Alternatively, it is determined as a first orthogonal coordinate system in which the y-axis is set and the vertical axis is the z-axis. Then, the distance measuring angle finder is moved to another point, and the other measuring points on the structure including the two control points are defined as x'-axis or y'-axis in the horizontal direction connecting the control points. , A second orthogonal coordinate system with the vertical axis as the z-axis. Then, the first and second orthogonal coordinate systems are converted into a single coordinate system by coordinate conversion to obtain the coordinate values of each measurement point. According to the second aspect of the invention, instead of the above-mentioned two points, distance measuring and measuring angles are installed at the first and second control points, and the coordinate values of each measuring point are obtained in the same manner as described above. The coordinate value of each of the measuring points and the dimension between all the measuring points are obtained by using the measuring device of the third invention.

(Example) Hereinafter, an example of the present invention will be described with reference to FIG. 1 and FIG.
And (B) will be described.

In FIG. 1, 1 is a three-dimensional structure to be measured,
Numeral 2 is a distance measuring and angle measuring instrument. This distance measuring and measuring angle measuring instrument 2 has an optical system of a collimating telescope and an optical distance meter, and an encoder is provided in the angle measuring system, and a horizontal angle and an altitude angle (or a zenith angle) are provided. ) Is displayed on the display and data can be transferred. A microcomputer 3 for calculating the coordinate values of the measuring point from the distance to the measuring point, the included angle between the two measuring points and the zenith angle of the measuring point, and these coordinate values The data collector 4 to be stored is connected.

The distance measuring angle finder 2, microcomputer 3 and data collector 4 constitute a three-dimensional measuring apparatus of the present invention.

The distance measuring angle finder 2 is installed at a first position A where the entire three-dimensional structure 1 in front of the structure 1 can be substantially collimated. A sheet prism is used as a measurement point, and a cross line is provided at the center of the sheet. Then, an orthogonal coordinate system (XY) with the machine center as the origin, the X-axis in the north-south direction and the Z-axis in the vertical direction, for example,
-Z) is set (step 10). In addition, any two points C and D other than the three-dimensional structure 1 that can be collimated from both the front side and the back side of the three-dimensional structure 1 are set as control points, and the distance, the horizontal angle, and the zenith angle are measured with the distance measuring angle finder 2. measured, C and coordinate calculation by the microcomputer _{3 (X 1, Y 1,} Z 1), D (X 2, Y 2, Z 2)
Is obtained.

Here, the vertical plane including the straight line passing through the two points C and D is defined as an x-axis (the horizontal direction of the straight line passing through the xz plane (C, D)), the point C is defined as the origin,
An orthogonal coordinate system (xyz) with the vertical direction as the z-axis is set, and this coordinate system (xyz) is defined as a coordinate system (XYZ).
(Step), and the coordinate values of the coordinate system (XYZ) are converted so that the coordinate values of the coordinate system (xyz) are calculated. .

Incidentally, the coordinate values X ₁ and Y ₁ of C (X ₁ , Y ₁ , Z ₁ ) are, for example, the distance between the setting point A and the control point C, the distance between the setting point A and the control point D, and the point. The angles formed by C, A, and D and the zenith angles of control points C and D are measured, and from these values, the direction angle of control point C at point A is calculated. The distance is calculated from the distance. Coordinate value Z ₁ is calculated from the set point A and orientation points C distance and zenith angle of orientation point C. D
(X ₂ , Y ₂ , Z ₂ ) is calculated from the distance between the setting point A and the control point D, the zenith angle of the point D, the directional angle, and the angle formed by the points C, A, and D.

Next, measurement is performed on measurement points of the three-dimensional structure 1 that can be measured from the point A, for example, a, b, c, d, e, and f (step). The microcomputer 3 obtains the coordinates of the points a to f in the coordinate system (xyz) as described above based on the distance and angle information to each of the measurement points a to f obtained by the distance measurement angle finder 2. Calculate the value (step) and display it on the display unit. If it is desired to continue the measurement, the process returns to the step. The measured coordinate values are stored in the data collector 4.

Next, the range finder 2 is moved to the second position B on the back side of the three-dimensional structure 1 where the control points C and D can be collimated, and the center of the machine is set at the origin O, for example, the horizontal arbitrary direction is set. X 'axis,
An orthogonal coordinate system (X'-Y'-Z) having the vertical direction as the Z axis is set (step). Then, the control points C and D are measured, and the microcomputer 3 calculates coordinate values of C (X ₃ , Y ₃ , Z ₃ ) and D (X ₄ , Y ₄ , Z ₄ ) as described above. .

Here, with D (X ₄ , Y ₄ , Z ₄ ) as the origin, the vertical plane including the straight line passing through C and D is defined as the x′-axis (the horizontal direction of the straight line passing through the x′z plane (C, D)), A rectangular coordinate system (x'-
y'-z) is set and output to the microcomputer 3 (step), and the coordinate values of the control points C and D in the coordinate system (X'-Y'-Z) are coordinate-converted (x'-z).
y'-z) is calculated, and the coordinate system (x'-z) is calculated.
y′-z), the coordinate values of the measurement points are converted to coordinate system (x
−y−z).

Next, measurement points g and h of the three-dimensional structure 1 that can be measured from the point B are measured (step). From the distance measurement and angle measurement information on the measurement points g and h obtained by the distance measurement angle finder 2 by this measurement, the microcomputer 3 calculates the measurement points g and h in the coordinate system (x'-y'-z '). Are calculated (step), and are combined with the coordinate values of the measurement points a to f in the coordinate system (xyz) which have already been obtained. If it is desired to continue the measurement at the step, return to the step. Here, the coordinate values of the measurement points g and h are stored in the data collector 4 and, if necessary, displayed on the display unit of the distance measurement angle finder 2 or an external display (not shown).

The distance measuring angle finder 2 may be installed at each of the two control points C and D. In this case, the coordinate system (XYZ),
(X'-Y'-Z ') becomes unnecessary, and the coordinate system (xy-
z) and (x'-y'-z), for example, only the coordinate conversion of the coordinate system (x'-y'-z) to (x-y-z). In addition, the labor of the measurement work can be reduced. FIG. 3 (A) shows the first control point C
FIG. 3 (B) is a diagram showing a flow when the distance measuring goniometer 2 is installed at the second control point D.

(Effects of the Invention) Since the invention of the present application only needs to set two control points, there is an effect that there is less restriction that the control points cannot be collimated as compared with the conventional method.

[Brief description of the drawings]

FIG. 1 is an explanatory view of one embodiment of the present invention, FIGS. 2 (A) and (B) are diagrams showing the measurement flow, and FIGS. 3 (A) and (B) are other embodiments of the present invention. FIG. 4 is an explanatory diagram of a conventional method. 1 ... three-dimensional structure 2 ... distance measuring angle measuring instrument 3 ... microcomputer 4 ... data collector

Claims (5)

(57) [Claims] 1. A distance measuring angle measuring instrument is installed at a first position where substantially the entire three-dimensional structure can be collimated, and any two points on or outside the three-dimensional structure, which are control points, are set. The distance measurement and angle measurement data of a measurement point on a three-dimensional structure are measured by the distance measurement angle measuring instrument, and one of the control points is the origin, the vertical axis is the z axis, and the horizontal direction is a straight line connecting the two control points. The coordinate values of the photo control point and the measurement point are obtained in a first rectangular coordinate system having an x-axis or a y-axis, and thereafter, the distance measurement angle finder is moved to a second position where the two photo control points can be collimated. Then, distance measurement and angle measurement data of the two control points and other unmeasured measurement points on the three-dimensional structure are measured with a distance measurement angle measuring instrument, and the other one of the control points is defined as an origin and a vertical axis. The coordinate values of the control points and the measurement points are obtained in a second orthogonal coordinate system in which the horizontal axis in the linear direction connecting the two control points is the x 'axis or the y' axis. Orthogonal to Three-dimensional measurement method characterized by the coordinates of the target system to coordinate conversion into coordinate values of a single coordinate system determining the dimension between all stations of the three-dimensional structure. 2. A distance measuring angle measuring instrument is installed at a first control point position capable of collimating substantially the entire three-dimensional structure, and a second control point on or outside the three-dimensional structure and the three-dimensional structure. The distance measurement and angle measurement data of the measurement points on the structure are measured by the distance measurement angle measuring instrument, and the first control point is the origin, the vertical axis is the z axis, and the horizontal axis is a linear direction connecting the two control points. The coordinate values of the second control point and the measuring point are obtained in a first orthogonal coordinate system having x as an x-axis or a y-axis. The distance measurement and angle measurement data of the control point and other unmeasured measurement points on the three-dimensional structure are measured with a distance measurement angle measuring instrument, and the second control point is the origin and the vertical axis is z
Axis, a coordinate value of the first control point and the measurement point is obtained in a second orthogonal coordinate system in which a horizontal axis in a linear direction connecting the two control points is an x′-axis or a y′-axis. 2. A three-dimensional measurement method, comprising: converting coordinate values of an orthogonal coordinate system into coordinate values of a single coordinate system to obtain dimensions between all measurement points of a three-dimensional structure. 3. The measurement according to claim 1, wherein a sheet prism with a target is provided at the measurement point and the photo control point.
The described three-dimensional measurement method. 4. A three-dimensional structure measured by a distance measuring angle finder and a distance measuring angle finder installed at a first position or a first control point position capable of collimating substantially the entire three-dimensional structure. Or, based on the distance measurement data of two control points or second control points outside the three-dimensional structure and measurement points on the three-dimensional structure, one of the control points or the first control point is defined as an origin and a vertical axis. Means for calculating the coordinate values of the two control points or the second control points and the measurement points of the first orthogonal coordinate system in which the horizontal axis in the linear direction connecting the two control points is the x-axis or the y-axis. And the two control points or the first control points measured by a distance measuring angle locator installed at a second position or a second control point position at which the two control points can be collimated and on the three-dimensional structure. From the distance measurement angle measurement data of the other measurement points that have not been measured, the other one or the second control points of the control points are the origin, the vertical axis is the z-axis,
The horizontal axis in the linear direction connecting the two control points is x 'axis or y'
Means for determining the coordinate values of the control points and measurement points of a second rectangular coordinate system as axes, and converting the coordinate values of the first and second rectangular coordinate systems into coordinate values of a single coordinate system A three-dimensional measuring apparatus comprising: means for determining a dimension between all measurement points of a three-dimensional structure. 5. The three-dimensional measuring apparatus according to claim 4, wherein the collimating telescope of the distance measuring angle measuring instrument and the optical system of the optical distance meter have a coaxial configuration.